KR101686524B1 - 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
KR101686524B1
KR101686524B1 KR1020150114415A KR20150114415A KR101686524B1 KR 101686524 B1 KR101686524 B1 KR 101686524B1 KR 1020150114415 A KR1020150114415 A KR 1020150114415A KR 20150114415 A KR20150114415 A KR 20150114415A KR 101686524 B1 KR101686524 B1 KR 101686524B1
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motion
camera
section
axis
head
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KR1020150114415A
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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
    • 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

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Operations Research (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 a gantry driving time of a surface mounting machine. The method for minimizing a gantry driving time of a surface mounting machine includes: a step of inputting a sLb-camera-pLa path among moving paths of a head by a head moving path input unit; a step of generating a speed curve of a motion according to an inputted moving path of the head by a motion speed curve generation unit; a step of generating an orbit of the motion according to the inputted moving path of the head by a motion orbit generation unit; and a step of moving the head by adjusting a gantry by a gantry driving unit based on the generated speed curve of the motion and the orbit of the motion.

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 sLb-camera-pLa path) in which the X-axis distance from the movement is shorter than the Y-axis distance (X & 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- Y) Driving the gantry of the surface mount to minimize the driving time of the gantry on the path (X-Y) path (sLb-camera -pLa path) where the X-axis distance from the camera to the PCB mounting position is longer than the Y-axis distance 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 Minimize the gantry driving time of the surface mount in the short (X <Y) path from the camera to the mounting position of the PCB in the path (X> Y) where the X-axis distance is longer than the Y-axis distance (sLb-camera -pLa path) The method includes the steps of: inputting sLb-camera-pLa path in the movement path of the head by the head movement path input unit; generating a velocity curve of motion according to the input path of the movement by the velocity curve generation unit of motion A step of generating a trajectory of motion along the movement path of the input head by the trajectory generation section of the motion, and a step of generating a motion trajectory of the gantry based on the velocity curve of the generated motion and the motion trajectory By adjusting the gantry by ET comprises the step of moving the head; 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 has an equivalent speed section d and an equal deceleration section e between the component sucking position and the camera position, and the constant deceleration section f ), A constant velocity section (g) and an equivalent velocity section (h) exist; The motion velocity curve of the Y axis includes an equivalent velocity section (a) and a constant velocity section (b) between the component attraction position and the camera position, and a constant deceleration section (b) between the camera position and the mounting position of the PCB c) is present; The trajectory of the motion includes an X-axis direction change section (i) between the component attraction position and the camera position (coordinates: 0, 0), and a tilt reduction section j between the camera position and the component mounting position. Is present.

In the method for minimizing the gantry driving time of the surface seal member according to the above embodiment, the constant velocity sections b and g may exhibit the maximum velocity and the signs may be different from each other.

In the method for minimizing the gantry driving time of the surface seal according to the above embodiment, the equivalent speed section (a) may have a slope larger than the equal deceleration section (c).

According to the method of 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 the vision inspection is shorter than the distance of the Y axis (X &lt; Y ) When the path of the head (sLb-camera -pLa path) in which the distance of the X axis is longer than the distance of the Y axis (X> Y) in the movement from the camera to the mounting position of the PCB is inputted, (D) and an equal deceleration section (e) exist and the constant deceleration section (f), the constant speed section (g) and the equivalent speed section (h) exist between the camera position and the PCB mounting position. (A) and a constant velocity section (b) exist between the component position and the camera position from the component pickup position and the Y-axis where the constant deceleration section (c) exists between the camera position and the mounting position of the PCB Motion velocity curve A motion speed curve is generated and an X-axis direction change section (i) exists between the position of the component attraction position and the camera position (coordinates: 0, 0) and a slope decrease section (j) exists between the camera position and the component mounting position There is an excellent effect that the gantry driving time of the surface acoustic wave can be minimized by moving the head by adjusting the driving of the gantry in accordance with the velocity curve and the trajectory of the generated motion after generating the trajectory of the motion.

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 the sLb-camera -pLa 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.
FIG. 5A is a view showing a speed curve of a conventional stop motion for the head movement path of the sLb-camera -pLa shown in FIG. 2. FIG.
5B is a view showing the locus of the conventional stop motion with respect to the head movement path of the sLb-camera -pLa shown in 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 sLb-camera-pLa 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 shorter than the distance of the Y axis (X &lt; Y) in the movement from the component adsorption position of the feeder to the camera for vision inspection, (X &gt; Y) path (hereinafter referred to as an sLb-camera-pLa path) in which the distance of the X axis is longer than the distance of the Y axis in the movement from the camera to the PCB mounting position.

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 (for example, sLb-camera -pLa 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 sLb-camera -pLa 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.

The present invention proposes a method of maximizing the speed of the camera position by further increasing the moving distance by moving the direction of the X axis which is the short axis in the path from the component suction position to the camera position. The trajectory of the motion as shown in FIG. 6B is 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 d and an equal deceleration section e between the component sucking position and the camera position, and the constant deceleration section f ), A constant velocity section (g), and an equivalent velocity section (h).

The motion speed curve of the Y 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) exists between the camera position and the PCB mounting position do.

At the camera position, the X-axis motion speed represents the velocity (1.06 m / s).

The constant velocity sections (b, g) represent the maximum velocity (2 m / s) and have different signs from each other.

The equivalent speed section (a) has a greater slope than the equal deceleration section (c).

The trajectory of the motion generated in the step S30 is such that the X-axis direction change section i exists between the component attraction position and the camera position (coordinates: 0, 0) as shown in FIG. 6B, There is a slope reduction interval j between the component mounting positions.

In this way, the direction of the X axis, which is the short axis, is reversed in the path from the component suction position to the camera position to further secure the movement distance, thereby increasing the movement speed of the head (about 1.06 m / s) Can be minimized.

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 component adsorption position of the feeder to the camera for vision inspection is shorter than the distance of the Y axis (X <Y) from the camera to the mounting position of the PCB (Hereinafter referred to as sLb-camera -pLa path) in which the distance of the X axis is longer than the distance of the Y axis (X> Y).

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.O m / sec 2 G acceleration 3.0 3.0 g 3 Gravitational acceleration 9.81 9.81 m / sec 2 4 Maximum acceleration 29.4 29.4 m / sec 2 5 Adsorption position -20 -150 mm 6 Camera location 0 0 mm 7 Location -300 250 mm

[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 speeds of the X and Y axes are 0, and the speed directions of both the X and Y axes are the same.

The Y-axis distance is longer than the X-axis distance from the suction position of the component to the camera position, and the X-axis distance is longer than the Y-axis distance from the camera position to the PCB mounting position.

The drive time to the camera position by adsorbing the component is 0.143 seconds (the time the Y axis is longer than the X axis)

The driving time from the camera position to the component mounting position is 0.218 seconds (the time for the X axis to move longer than the Y axis)

The total driving time of the gantry is 0.361 seconds.

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

In the driving method according to the embodiment of the present invention, in order to minimize the gantry driving time, the moving distance is further secured by moving the X axis, which is the short axis, in the path from the component attraction position to the camera position. That is, a speed curve as shown in FIG. 6A appears.

The driving time from the camera position to the mounting position of the PCB is 0.191 seconds (the time the X axis moves), and the total driving time of the gantry Is 0.300 second.

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.

Figure 112015078554290-pat00001

As a result, in order to minimize the gantry driving time, the driving method according to the embodiment of the present invention moves the direction of the X axis, which is the short axis, in the path from the component attraction position to the camera position, So that the gantry driving time can be minimized. It can be seen that the driving method according to the embodiment of the present invention reduces the gantry driving time by 17% as compared with the conventional method.

According to the method of 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 shorter than the distance of the Y axis (X &lt; Y ) When the path of the head (sLb-camera -pLa path) in which the distance of the X axis is longer than the distance of the Y axis (X> Y) in the movement from the camera to the mounting position of the PCB is inputted, (D) and an equal deceleration section (e) exist and the constant deceleration section (f), the constant speed section (g) and the equivalent speed section (h) exist between the camera position and the PCB mounting position. (A) and a constant velocity section (b) exist between the component position and the camera position from the component pickup position and the Y-axis where the constant deceleration section (c) exists between the camera position and the mounting position of the PCB Motion velocity curve (I) exists between the component suction position and the camera position (coordinates: 0, 0), and there exists a slope reduction interval (j) between the camera position and the component mounting position There is an excellent effect that the gantry driving time of the surface acoustic wave can be minimized by moving the head by adjusting the driving of the gantry in accordance with the velocity curve and the trajectory of the generated motion after generating the trajectory of the motion.

In other words, according to the method of minimizing the gantry driving time of the surface sealant according to the embodiment of the present invention, the movement distance of the head is further secured by moving the direction of the X axis which is the short axis in the path from the component suction position to the camera position, By increasing the speed, the gantry driving time can be minimized.

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 mounting unit is a path for sequentially moving the component adsorption position of the feeder, the position of the camera for performing the vision inspection, and the mounting position of the PCB. In the movement from the component adsorption position of the feeder to the position of the camera for performing the vision inspection, (X &gt; Y) is shorter than the Y-axis distance (X &lt; Y) and the X-axis distance is greater than the Y-axis distance (X> Y) in the movement from the camera position to the PCB mounting position, (SLb-camera-pLa path) in which the direction of movement of the X-axis from the position of the camera for performing the vision inspection to the mounting position of the PCB is different from the moving direction of the X- / RTI &gt;
A step of inputting the sLb-camera -pLa 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 d and an equal deceleration section e between the component sucking position and the camera position,
An equi-deceleration section f, a constant-speed section g, and an equivalent speed section h exist between the camera position and the PCB mounting position;
The motion velocity curve of the Y-
There is an equivalent speed section (a) and a constant speed section (b) between the component sucking position and the camera position,
There is an equal deceleration section (c) between the camera position and the mounting position of the PCB;
The trajectory of the motion,
An X-axis direction change section (i) exists between the component attraction position and the camera position (coordinates: 0, 0)
Wherein a slope reduction interval (j) exists between the camera position and the component mounting position. The method according to claim 1,
Wherein the constant velocity section (b, g) has the absolute value of the velocity and the absolute value of the largest velocity relative to the other sections, the constant velocity section (b) has a positive velocity, (g) is a method of minimizing the gantry driving time of a surface treatment organ having a negative value. The method according to claim 1,
Wherein the equivalent speed section (a) has a slope greater than the equal deceleration section (c).
KR1020150114415A 2015-08-13 2015-08-13 Method of minimizing moving time of gantry in surface mounting machine KR101686524B1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007201284A (en) * 2006-01-27 2007-08-09 Juki Corp Electronic component mounting machine
JP2009259886A (en) * 2008-04-14 2009-11-05 Panasonic Corp Component mounting machine, and component mounting method
JP2010098016A (en) * 2008-10-15 2010-04-30 Yamaha Motor Co Ltd Mounting device and drive control method of head unit
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
JP2007201284A (en) * 2006-01-27 2007-08-09 Juki Corp Electronic component mounting machine
JP2009259886A (en) * 2008-04-14 2009-11-05 Panasonic Corp Component mounting machine, and component mounting method
JP2010098016A (en) * 2008-10-15 2010-04-30 Yamaha Motor Co Ltd Mounting device and drive control method of head unit
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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