KR101686529B1 - 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
KR101686529B1
KR101686529B1 KR1020150135423A KR20150135423A KR101686529B1 KR 101686529 B1 KR101686529 B1 KR 101686529B1 KR 1020150135423 A KR1020150135423 A KR 1020150135423A KR 20150135423 A KR20150135423 A KR 20150135423A KR 101686529 B1 KR101686529 B1 KR 101686529B1
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motion
camera
section
axis
head
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KR1020150135423A
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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
    • 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)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

In the present invention, when the distance from the feeder pickup position to the camera for vision inspection is shorter than the Y-axis distance (X <Y) and the distance from the camera to the PCB mounting position is Y (Hereinafter referred to as sLb-camera-pLb path) that is shorter than the axis distance (X &lt; Y). The method for minimizing the gantry driving time of the surface sealer according to the present invention includes the steps of: inputting sLb-camera-pLb path among the movement path of the head by the head movement path input unit; Generating a velocity curve of motion along a movement path of the head, generating a trajectory of motion along the movement path of the input head by the motion trajectory generation unit, and generating a velocity curve of the motion, Moving the head by adjusting the gantry by the gantry drive unit based on the locus; 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 axis There is 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 and the equivalent speed section g ); The motion velocity curve of the Y axis has an equivalent velocity section a and a constant velocity section b between the component attraction position and the camera position and a constant velocity section b between the camera position and the mounting position of the PCB, And an equal deceleration period (c) exist; The trajectory of the motion has a gradient increasing section h between the component attraction position and the camera position (coordinates: 0, 0), and a gradient decreasing section i exists between the camera position and the component mounting position do.

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 &lt; Y) shorter than the Y-axis distance (X &lt; Y) in the movement from the camera to the PCB mounting position 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-axis) (X-axis) where the X-axis distance from the camera to the PCB mounting position is shorter than the Y-axis distance And to provide a method for minimizing time.

In order to achieve the above object, a method for minimizing a gantry driving time of a surface sealer according to an embodiment of the present invention is a method in which a distance between an X-axis and a Y- (X <Y) Minimizing the gantry driving time of the surface mount in the path from the camera to the mounting position of the PCB in the path (X <Y) where the X-axis distance is shorter than the Y-axis distance (sLb-camera -pLb path) A step of inputting an sLb-camera-pLb path in a movement path of a head by a head movement path inputting part, a step of generating a velocity curve of motion according to the input path of the head by a velocity curve generating part of the motion, Generating a trajectory of a motion in accordance with a movement path of the input head by a trajectory generation unit of the motion, and generating a trajectory of the gantry based on the velocity curve of the generated motion and the trajectory of the motion Moving the head by adjusting a gantry by a driving unit; Wherein the velocity curve of the motion consists of an X-axis motion velocity curve and a Y-axis motion velocity curve; X-axis motion speed curve, constant acceleration sections in between the camera position from the component pickup position (d), and so the deceleration interval (e) is valid, and deceleration or the like from the camera is located between the mounting position of the PCB-degree intervals (f ) And an equivalent speed section (g) 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 velocity section b ) And an equal deceleration period (c) exist; The trajectory of the motion has a gradient increasing section h between the component attraction position and the camera position (coordinates: 0, 0), and a gradient decreasing section i exists between the camera position and the component mounting position .

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

In the method for minimizing the gantry driving time of the surface seal according to the above embodiment, the constant deceleration section (e) may have a slope larger than the constant deceleration section (f) have.

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 distance from the camera to the mounting position of the PCB is input (x <Y) path (sLb-camera -pLb path) where the X-axis distance is shorter than the Y-axis distance, the equivalent speed section the motion speed curve of the X axis in which the constant deceleration section f and the equivalent speed section g exist between the camera position and the mounting position of the PCB in the presence of the constant deceleration section e and the constant deceleration section e, The motion of the Y axis in which the equal velocity section a and the constant velocity section b exist between the camera positions and the constant velocity section b and the constant deceleration section c exist between the camera position and the mounting position of the PCB, Velocity curve (I) is present between the camera position and the component mounting position in the presence of the tilt increasing section (h) between the component position and the camera position (coordinates: 0, 0) It is possible to minimize the gantry driving time of the surface acoustic wave by moving the head by adjusting the driving of the gantry according to the velocity curve and the locus of the motion thus generated.

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 sLb-camera -pLb 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 conventional stop motion speed curve for the head movement path of the sLb-camera -pLb 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 sLb-camera -pLb 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 sLb-camera -pLb applied 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 &lt; Y) path (hereinafter referred to as sLb-camera -pLb path) in which the distance of the X axis from the camera to the PCB mounting position is shorter than the Y 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 a movement path of the head (for example, sLb-camera -pLb path among 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 -pLb path (path shown in Fig. 2) is inputted from 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 the present invention, since the distance from the component sucking position to the camera position and from the camera position to the component mounting position of the PCB are all shorter than the distance of the Y axis, the moving speed of the head is determined by the distance of the Y axis. The velocity of the Y axis of the head in the two paths is maximized. 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.

X-axis motion speed curve, part-suction from the constant acceleration period (d), and the like slow down between the camera position location even interval (e) is valid, and the deceleration period (f), and the like between the mounting position of PCB from the camera position There is an equivalent speed section g.

The motion velocity curve of the Y axis has an equivalent velocity section (a) and a constant velocity section (b) between the component attraction position and the camera position, and the constant velocity section (b) (C) exists.

At the camera position, the Y-axis motion speed represents the maximum speed (2m / s) and is faster than the X-axis motion speed (0m / s).

The constant velocity section b has a maximum velocity of 2 m / s and the constant deceleration section e has a gradient greater than the constant deceleration section f.

The trajectory of the motion generated in the step S30 has a gradient increasing section h between the component attraction position and the camera position (coordinates: 0, 0) as shown in Fig. 6B, There is a slope reduction interval (i) between the positions.

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 -pLb path) in which the distance of the X axis is shorter than the distance of the Y axis (X &lt; 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 -20 250 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 the camera stops at the position, the speeds of the X and Y axes are zero.

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

The drive time to the camera position by adsorbing the components is 0.143 seconds (the time the Y axis moves)

The driving time from the camera position to the component mounting position is 0.168 seconds (Y-axis moving time)

The total driving time of the gantry is 0.311 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, a section from the suction position of the component to the position of the camera and the section from the camera position to the mounting position of the PCB have the maximum Y- (I.e., the constant velocity section (b)), thereby increasing the moving speed of the head. That is, a speed curve as shown in FIG. 6A appears.

The drive time from the camera position to the PCB mounting position is 0.134 seconds (Y-axis moving time), and the total drive time of the gantry Is 0.243 sec.

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 112015093285052-pat00001

As a result, in the driving method according to the embodiment of the present invention, a path from the position of attraction of the component to the position of the camera and the path from the position of the camera to the mounting position of the PCB has the maximum Y- (B); And the position of the camera is included in the constant velocity section (b)], thereby increasing the moving speed of the head, thereby minimizing the gantry driving time. It can be seen that the driving method according to the embodiment of the present invention reduces the gantry driving time by 22% 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 the vision inspection is shorter than the distance of the Y axis (X &lt; Y ) When the distance from the camera to the mounting position of the PCB is input (x <Y) path (sLb-camera -pLb path) where the X-axis distance is shorter than the Y-axis distance, the equivalent speed section the motion speed curve of the X axis in which the constant deceleration section f and the equivalent speed section g exist between the camera position and the mounting position of the PCB in the presence of the constant deceleration section e and the constant deceleration section e, The motion of the Y axis in which the equal velocity section a and the constant velocity section b exist between the camera positions and the constant velocity section b and the constant deceleration section c exist between the camera position and the mounting position of the PCB, Velocity curve (I) is present between the camera position and the component mounting position in the presence of the tilt increasing section (h) between the component position and the camera position (coordinates: 0, 0) It is possible to minimize the gantry driving time of the surface acoustic wave by moving the head by adjusting the driving of the gantry according to the velocity curve and the locus of the motion thus generated.

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 path from the suction position of the component to the position of the camera and the path from the camera position to the PCB mounting position, The section having the maximum speed (that is, the constant velocity section (b); And the position of the camera is included in the constant velocity section (b)], thereby increasing the moving speed of the head, thereby minimizing the gantry driving time.

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 < Y) is shorter than the Y-axis distance (X < Y), the X-axis distance from the camera position to the PCB mounting position is shorter than the Y- (SLb-camera-pLb 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 -pLb 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;
X-axis motion speed curve,
There are an equivalent speed section d and an equal deceleration section e between the component sucking position and the camera position,
There are an equal deceleration section f and an equivalent speed section g between the camera position and the mounting position of the PCB;
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,
A constant velocity section (b) and an equal deceleration section (c) exist between the mounting position of the PCB and the camera position;
The trajectory of the motion,
There is a slope increasing section (h) between the component suction position and the camera position (coordinates: 0, 0)
Wherein a slope reduction interval (i) is present between the camera position and the component mounting position. The method according to claim 1,
Wherein the constant velocity section (b) represents the highest one of the motion speeds of the Y axis, wherein the gantry driving time of the surface body is minimized. The method according to claim 1,
Wherein the constant deceleration section (e) has a slope greater than the constant deceleration section (f).
KR1020150135423A 2015-09-24 2015-09-24 Method of minimizing moving time of gantry in surface mounting machine KR101686529B1 (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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