WO2014049772A1 - Dispositif d'assemblage de composants - Google Patents

Dispositif d'assemblage de composants Download PDF

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Publication number
WO2014049772A1
WO2014049772A1 PCT/JP2012/074868 JP2012074868W WO2014049772A1 WO 2014049772 A1 WO2014049772 A1 WO 2014049772A1 JP 2012074868 W JP2012074868 W JP 2012074868W WO 2014049772 A1 WO2014049772 A1 WO 2014049772A1
Authority
WO
WIPO (PCT)
Prior art keywords
stop position
rotation
correction value
backlash
nozzle holder
Prior art date
Application number
PCT/JP2012/074868
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English (en)
Japanese (ja)
Inventor
仁哉 井村
Original Assignee
富士機械製造株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 富士機械製造株式会社 filed Critical 富士機械製造株式会社
Priority to PCT/JP2012/074868 priority Critical patent/WO2014049772A1/fr
Priority to JP2014537947A priority patent/JP6320925B2/ja
Publication of WO2014049772A1 publication Critical patent/WO2014049772A1/fr

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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
    • H05K13/0413—Pick-and-place heads or apparatus, e.g. with jaws with orientation of the component while holding it; Drive mechanisms for gripping tools, e.g. lifting, lowering or turning of gripping tools
    • 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
    • H05K13/041—Incorporating a pick-up tool having multiple pick-up tools

Definitions

  • the present invention relates to a component mounter in which a plurality of nozzle holders are provided on a rotary head (rotary head) so as to be lowered at predetermined intervals in the circumferential direction.
  • a plurality of nozzle holders are arranged on the rotary head in the circumferential direction at a predetermined interval.
  • the suction nozzles are held downward by the nozzle holders, and the rotary head is rotated around the R axis (vertical axis) by the R axis drive mechanism.
  • the rotating head is swung in the circumferential direction integrally with a plurality of sucking nozzles held on the head, and at a predetermined position of the swiveling track, one nozzle holder is lowered by a Z-axis drive mechanism to suck and mount components. And rotate each nozzle holder around its axis ( ⁇ -axis) by the ⁇ -axis drive mechanism to attract each suction nozzle held by each nozzle holder. There is one that corrects the direction (angle) of each part.
  • Patent Document 2 Patent No. 46088772
  • a plurality of suction nozzles are rotatably held by the head, and There is one in which the direction (angle) of each part sucked by each suction nozzle is corrected by collectively rotating the suction nozzle by a toothed belt.
  • the component mounting machine described in Patent Document 2 measures the deviation of the rotation stop position (angle) of the suction nozzle due to the pitch error of the toothed belt that rotates each suction nozzle, and stores the measured value in the storage unit.
  • the rotation stop position of the suction nozzle is corrected with the pitch error correction value during component mounting work.
  • the toothed belt is made of an elastic material such as resin, a pitch error occurs due to expansion and contraction of the toothed belt stretched between the driving pulley on the motor side and the driven pulley on the suction nozzle side. This is because a deviation occurs in the rotation stop position of the driven pulley (the rotation stop position of the suction nozzle).
  • JP 2004-39818 A Japanese Patent No. 4,608,772
  • the ⁇ -axis drive mechanism that rotates the nozzle holder is composed of a metal gear mechanism.
  • the gear mechanism that constitutes the ⁇ -axis drive mechanism Therefore, an error corresponding to the backlash occurs at the rotation stop position of the nozzle holder (suction nozzle).
  • the backlash size differs between forward rotation and reverse rotation of the nozzle holder, the amount of deviation of the rotation stop position of the nozzle holder due to backlash also differs between forward rotation and reverse rotation.
  • the conventional rotary head type component mounting machine is not equipped with a function for correcting the deviation of the rotation stop position of the nozzle holder due to the backlash of the ⁇ -axis drive mechanism, the deviation of the rotation stop position of the nozzle holder due to the backlash. could not be corrected with high accuracy.
  • the problem to be solved by the present invention is to make it possible to accurately correct the deviation of the rotation stop position of the nozzle holder due to the backlash of the ⁇ -axis drive mechanism in the rotary head type component mounting machine.
  • the present invention provides a rotary head that is provided so as to be rotatable around an R axis that extends in the vertical direction, and a plurality of rotary heads that are provided on the rotary head so as to be lowered at predetermined intervals in the circumferential direction.
  • Each of the suction nozzles held by each nozzle holder by rotating the plurality of nozzle holders around the axis of each nozzle holder.
  • a component mounter comprising a ⁇ -axis drive mechanism for correcting the orientation of each sucked component and a Z-axis drive mechanism for individually lowering the plurality of nozzle holders
  • Backlash correction means for correcting a deviation of the rotation stop position of the nozzle holder due to backlash with a backlash correction value
  • the backlash correction means includes a backlash correction value for normal rotation according to a backlash correction direction of the rotation stop position of the nozzle holder. The reverse backlash correction value for reverse rotation is used properly.
  • the backlash correction value for forward rotation and the backlash correction value for reverse rotation are selectively used according to the backlash correction direction of the rotation stop position of the nozzle holder. Therefore, in either case of forward rotation / reverse rotation of the ⁇ -axis drive mechanism Even if it exists, the shift
  • the operator may previously measure the deviation amount of the rotation stop position of the nozzle holder due to backlash at the time of forward rotation / reverse rotation and set each backlash correction value for forward rotation / reverse rotation.
  • the backlash correction value for forward rotation / reverse rotation may be set automatically. Specifically, it comprises backlash correction value setting means for setting backlash correction values for forward rotation / reverse rotation, and the backlash correction value setting means moves the ⁇ -axis drive mechanism while the R-axis drive mechanism is stopped.
  • the rotation stop position of the nozzle holder is measured when the ⁇ -axis drive mechanism is reversed by a predetermined angle so as to exceed the backlash in the reverse rotation direction with the mechanism stopped, and the reverse rotation position is measured based on the measured value.
  • a backlash correction value may be set.
  • the rotation stop position of the nozzle holder becomes the target stop. Since the position is deviated from the position by the amount of backlash, if the rotation stop position of the nozzle holder is measured, the backlash correction value for forward rotation / reverse rotation can be set based on the measured value.
  • the nozzle holder before measuring the rotation stop position of the nozzle holder, the nozzle holder is held with a directional rotation stop position measuring jig capable of measuring the rotation stop position, and the rotation of the nozzle holder is stopped.
  • the rotation stop position of the rotation stop position measuring jig may be measured as the rotation stop position of the nozzle holder. In this way, even if the nozzle holder (suction nozzle) has a non-directional shape, the rotation stop position of the nozzle holder can be determined by holding the directional rotation stop position measuring jig in the nozzle holder. It can measure with high accuracy.
  • the rotation stop position measuring jig is rotated based on an image of the rotation stop position measuring jig captured by the camera. It is better to measure the stop position.
  • the present invention can be applied to existing component mounters at a low cost without the need for a measuring instrument such as a camera dedicated to rotation stop position measurement.
  • the forward rotation backlash correction value and the reverse rotation backlash correction value are assigned to each nozzle holder. It is better to set. In this way, even when the amount of deviation of the rotation stop position due to backlash varies greatly between the nozzle holders, the deviation of the rotation stop position due to backlash can be accurately corrected for each nozzle holder.
  • FIG. 1 is a perspective view showing a configuration of a rotary head driving apparatus according to an embodiment of the present invention.
  • FIG. 2 is a plan view for explaining the arrangement of the nozzle holder.
  • FIG. 3 is a block diagram showing the configuration of the control system of the component mounter.
  • FIG. 4 is a diagram illustrating a method for obtaining the reference position of the nozzle holder.
  • FIG. 5 is a diagram for explaining a method of obtaining the forward rotation backlash correction value.
  • FIG. 6 is a diagram for explaining a method of obtaining the reverse backlash correction value.
  • a plurality of nozzle holders 12 are supported by the rotary head 11 so as to be able to descend at predetermined intervals in the circumferential direction, and suction nozzles 13 for sucking components are held downward and replaceable in each nozzle holder 12. Yes.
  • FIG. 1 only two nozzle holders 12 (suction nozzles 13) are shown, and the other nozzle holders 12 (suction nozzles 13) are not shown.
  • the rotary head 11 is fitted to the lower end of the R-axis 14 extending in the vertical direction, and the R-axis gear 16 of the R-axis drive mechanism 15 is fitted to the upper end of the R-axis 14.
  • a gear 19 fixed to the rotation shaft 18 of the R-axis motor 17 is engaged with the R-axis gear 16, and the R-axis gear 16 is rotated by the rotation of the gear 19 of the R-axis motor 17.
  • the plurality of nozzle holders 12 are rotated together with the plurality of suction nozzles 13 in the circumferential direction of the rotary head 11.
  • the R-axis 14 is rotatably inserted into two upper and lower ⁇ -axis gears 21 and 22 of the ⁇ -axis drive mechanism 20, and the lower ⁇ -axis gear 22 is a gear fitted to the upper end of each nozzle holder 12. 23 is engaged.
  • a gear 26 fixed to the rotary shaft 25 of the ⁇ -axis motor 24 is engaged with the upper ⁇ -axis gear 21, and the ⁇ -axis gears 21 and 22 are integrally rotated by the rotation of the gear 26 of the ⁇ -axis motor 24.
  • Each component sucked by each suction nozzle 13 held by each nozzle holder 12 by rotating the gear 23 and causing each nozzle holder 12 to rotate about the axis ( ⁇ axis) of each nozzle holder 12. The direction (angle) is corrected.
  • a Z-axis drive mechanism 28 for individually lowering the nozzle holder 12 is provided at a predetermined position around the rotary head 11, and the nozzle holder is moved by the Z-axis drive mechanism 28 at a predetermined position on the orbit of the nozzle holder 12. 12 is lowered individually.
  • the Z-axis drive mechanism 28 may be arranged at only one place around the rotary head 11, or may be arranged at four places at a pitch of 90 °, or may be arranged at two places at a pitch of 180 °. Also good.
  • the Z-axis drive mechanism 28 is positioned at 0 °, 90 °, 180 °, and 270 ° with respect to the rotation angle of the rotary head 11. It ’s fine.
  • 0 ° and 180 ° are the X direction (substrate transport direction) and the opposite direction
  • 90 ° and 270 ° are the Y direction (direction perpendicular to the substrate transport direction) and the opposite direction.
  • the Z-axis drive mechanism 28 is provided at the upper end of the nozzle holder 12 by using a Z-axis motor 29 as an actuator and rotating the feed screw 30 by the Z-axis motor 29 to move the Z-axis slide 31 in the vertical direction.
  • the nozzle holder 12 is moved up and down by engaging the Z-axis slide 31 with the engaging piece 32.
  • a Z-axis slide 31 may be moved in the vertical direction using a linear motor as the Z-axis motor 29.
  • a linear solenoid, an air cylinder, or the like may be used instead of the linear motor.
  • the rotary head driving device 10 configured as described above is supported by the XY direction moving device 33 (see FIG. 3) of the component mounting machine and moves in the X direction and the Y direction.
  • the control device 34 (control means) of the component mounting machine includes an input device 35 such as a keyboard, a mouse, and a touch panel, a display device 36 such as a liquid crystal display and a CRT, a component mounting control program, and the like.
  • a storage device 37 and the like for storing a backlash correction value for forward rotation / reverse rotation and the like are connected.
  • the component mounter includes a substrate transport device 38 that transports the circuit board, a component supply device 39 that supplies components to be mounted on the circuit board, and a camera 40 that captures the components sucked by the suction nozzle 13 from the lower surface side. Etc. are provided.
  • the component mounting machine controller 34 controls the XY direction moving device 33, the R-axis motor 17, the ⁇ -axis motor 24, and the Z-axis motor 29 of the rotary head driving device 10 according to a production program (production job) to supply components. While controlling the operation of picking up the component supplied from the device 39 to the component picking area and mounting it on the component mounting area on the circuit board, the part picked up by the picking nozzle 13 is moved to the circuit board. Is picked up by the camera 40 from the lower surface side, and the picked-up image is processed to recognize the suction position / angle of the component.
  • the control device 34 of the component mounting machine is equipped with a function (backlash correction means) that corrects the deviation of the rotation stop position of the nozzle holder 12 due to the backlash of the ⁇ -axis drive mechanism 20 with the backlash correction value.
  • the forward rotation backlash correction value and the reverse rotation backlash correction value are selectively used according to the backlash correction direction of the rotation stop position of the nozzle holder 12. For example, when an additional operation of the ⁇ -axis drive mechanism 20 occurs due to image processing delay, the forward rotation backlash correction value and the reverse rotation backlash correction value are used separately for forward rotation and reverse rotation.
  • the forward rotation backlash correction value and the reverse rotation backlash correction value are used separately depending on whether the operation completion of the ⁇ -axis drive mechanism 20 is earlier or later than the operation completion of the R-axis drive mechanism 15.
  • the operator measures the amount of deviation of the rotation stop position of the nozzle holder 12 due to backlash at the time of forward rotation / reverse rotation, sets the backlash correction value for forward rotation / reverse rotation, and stores it in the storage device 37.
  • a function for automatically setting the backlash correction value for normal rotation / reverse rotation is mounted in the control device 34 of the component mounting machine.
  • the rotation stop position of the nozzle holder 12 is measured when the ⁇ -axis drive mechanism 20 is rotated forward by a predetermined angle so as to exceed the backlash in the forward rotation direction while the R-axis drive mechanism 15 is stopped. Based on the measured value, the forward rotation backlash correction value is set and stored in the storage device 37, and the ⁇ -axis drive mechanism 20 is rotated in the reverse direction with the R-axis drive mechanism 15 stopped. It is also possible to measure the rotation stop position of the nozzle holder 12 when it is reversely rotated by a predetermined angle so as to exceed, and to set a reverse backlash correction value for reverse rotation based on the measured value and store it in the storage device 37.
  • the rotation stop position of the nozzle holder 12 is reached. Therefore, when the rotation stop position of the nozzle holder 12 is measured, the backlash correction value for forward rotation / reverse rotation can be set based on the measured value.
  • a rotation stop position measuring jig (not shown) having a directivity capable of measuring the rotation stop position is held in the nozzle holder 12.
  • the rotation stop position of the rotation stop position measuring jig is measured as the rotation stop position of the nozzle holder 12. In this way, even if the nozzle holder 12 (suction nozzle 13) has a non-directional shape, the nozzle holder 12 holds the directional rotation stop position measuring jig so that the nozzle holder 12 The rotation stop position can be accurately measured.
  • any method may be used to measure the rotation stop position (rotation stop position of the nozzle holder 12) of the rotation stop position measurement jig.
  • the rotation stop position measurement jig may be measured from the lower surface side with a camera.
  • the rotation stop position of the rotation stop position measuring jig may be measured by imaging and image processing.
  • a dedicated camera may be mounted on the component mounter.
  • the component mounter is equipped with a camera 40 that captures an image of the component sucked by the suction nozzle 13 from its lower surface side.
  • the present invention can be applied to existing component mounters at a low cost without the need for a measuring instrument such as a camera dedicated to rotation stop position measurement.
  • each nozzle holder 12 has a normal backlash correction value and a reverse rotation value.
  • a backlash correction value is set. In this way, even when the amount of deviation of the rotation stop position due to backlash varies greatly between the nozzle holders 12, it is possible to accurately correct the deviation of the rotation stop position due to backlash for each nozzle holder 12.
  • FIGS. 4 to 6 four nozzle holders 12 are indicated by A, B, C, and D, respectively.
  • FIG. 4 shows a procedure for measuring the reference position of the nozzle holder A.
  • the operation of rotating the R axis 14 by 90 ° (1/4 rotation) and the operation of rotating the ⁇ axis by 360 ° (1 rotation) are interlocked, and the R axis 14 is rotated by 4 pitches (1 rotation) to make a nozzle holder.
  • the rotation stop position measurement jig held by the nozzle holder A is imaged by the camera 40 from the lower surface side, and the rotation stop position (angle) of the rotation stop position measurement jig is measured by image processing technology.
  • the measured value is stored in the storage device 37 as the reference position of the nozzle holder A.
  • the reference positions of the other nozzle holders B, C, and D are also measured by the same method.
  • FIG. 5 shows a procedure for measuring the backlash correction value for normal rotation of the nozzle holder A.
  • the operation of rotating the R-axis 14 by 90 ° (1/4 rotation) and the operation of rotating the ⁇ -axis by 357 ° (rotating to a position 3 ° before one rotation) are linked to each other so that the R-axis 14 is 1 Turn the pitch (1/4 rotation) to move the nozzle holder A to the top (original nozzle holder A position).
  • the position of the ⁇ -axis becomes ⁇ 3 °.
  • the ⁇ -axis is rotated forward by 3 ° independently with the R-axis 14 stopped.
  • 3 ° is an angle sufficiently larger than the backlash.
  • the angle at which the ⁇ -axis is normally rotated independently is not limited to 3 °, and may be an angle sufficiently larger than the backlash.
  • the rotation stop position measuring jig held by the nozzle holder A is imaged by the camera 40 from the lower surface side, and the rotation stop position (angle) of the rotation stop position measuring jig is measured by image processing technology. Then, the measured value is obtained as the forward rotation correction position. Thereafter, the reference position is subtracted from the forward rotation correction position of the nozzle holder A, and the subtraction value is stored in the storage device 37 as the forward rotation backlash correction value of the nozzle holder A.
  • Forward rotation backlash correction value Forward rotation correction position-Reference position
  • the forward rotation backlash correction values for the other nozzle holders B, C, and D are set in the same manner as the forward rotation backlash correction values for the nozzle holder A.
  • FIG. 6 shows a procedure for measuring the backlash correction value for reverse rotation of the nozzle holder A.
  • the operation of rotating the R-axis 14 by 90 ° (1/4 rotation) and the operation of rotating the ⁇ -axis by 363 ° (rotating to a position exceeding 3 ° from one rotation) are linked to each other so that the R-axis 14 is 1 Turn the pitch (1/4 rotation) to move the nozzle holder A to the top (original nozzle holder A position).
  • the position of the ⁇ -axis becomes + 3 °.
  • the ⁇ -axis is independently rotated by ⁇ 3 ° (that is, reversed by 3 °).
  • 3 ° is an angle sufficiently larger than the backlash.
  • the angle at which the ⁇ axis is reversed independently is not limited to 3 °, and may be any angle that is sufficiently larger than the backlash.
  • the rotation stop position measuring jig held by the nozzle holder A is imaged by the camera 40 from the lower surface side, and the rotation stop position (angle) of the rotation stop position measuring jig is measured by image processing technology. Then, the measured value is obtained as the reverse correction position. Thereafter, the reference position is subtracted from the reverse rotation correction position of the nozzle holder A, and the subtraction value is stored in the storage device 37 as the reverse backlash correction value for reverse rotation of the nozzle holder A.
  • Reverse backlash correction value Reverse correction position-Reference position
  • the backlash correction values for reverse rotation of the other nozzle holders B, C, and D are set in the same manner.
  • the ⁇ -axis correction value (correction value for the target rotation position of the ⁇ -axis motor 24) is set as follows.
  • ⁇ -axis correction value ⁇ -axis reference correction value + reverse backlash correction value
  • ⁇ -axis correction value ⁇ -axis reference correction value + reverse backlash correction value
  • the forward rotation backlash correction value and the reverse rotation backlash correction value are selectively used according to the backlash correction direction of the rotation stop position of the nozzle holder 12.
  • a deviation of the rotation stop position of the nozzle holder 12 due to backlash can be accurately corrected.
  • the accuracy of the ⁇ axis is increased, the accuracy of XY is increased as a result, so that the component mounting accuracy can be improved.
  • the present invention is not limited to the present embodiment, and various modifications may be made without departing from the scope of the invention, such as the configuration of the R-axis drive mechanism, the ⁇ -axis drive mechanism, the Z-axis drive mechanism, and the like may be appropriately changed. Needless to say, this can be done.

Abstract

Cette invention concerne un dispositif d'assemblage de composants dans lequel la position d'arrêt de rotation d'un support de buse (12) est mesurée quand un mécanisme d'entraînement dans l'axe θ (20) est entraîné en rotation dans un sens de rotation normal sur un angle prédéterminé de manière à rattraper le jeu dans le sens de rotation normal pendant l'arrêt d'un mécanisme d'entraînement dans l'axe R (15). Une valeur de correction de jeu pour la rotation normale est déterminée sur la base de la valeur mesurée. De plus, la position d'arrêt de rotation d'un support de buse (12) est mesurée quand le mécanisme d'entraînement dans l'axe θ (20) est entraîné en rotation dans un sens de rotation inverse sur un angle prédéterminé de manière à rattraper le jeu dans le sens de rotation inverse pendant l'arrêt d'un mécanisme d'entraînement dans l'axe R (15). Une valeur de correction de jeu pour la rotation normale et une valeur de correction de jeu pour la rotation inverse sont sélectivement utilisées en fonction de la direction de correction de jeu de la position d'arrêt de rotation pour le support de buse (12). Ainsi, le décalage de la position d'arrêt de rotation pour le support de buse (12) dû au jeu peut être corrigé de manière précise.
PCT/JP2012/074868 2012-09-27 2012-09-27 Dispositif d'assemblage de composants WO2014049772A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2012/074868 WO2014049772A1 (fr) 2012-09-27 2012-09-27 Dispositif d'assemblage de composants
JP2014537947A JP6320925B2 (ja) 2012-09-27 2012-09-27 部品実装機

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2012/074868 WO2014049772A1 (fr) 2012-09-27 2012-09-27 Dispositif d'assemblage de composants

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WO2014049772A1 true WO2014049772A1 (fr) 2014-04-03

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104105394A (zh) * 2014-07-30 2014-10-15 东莞市新泽谷机械制造股份有限公司 全角度插件机头部插件机构
CN107710906A (zh) * 2015-07-07 2018-02-16 富士机械制造株式会社 元件安装装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03119799A (ja) * 1989-10-02 1991-05-22 Sanyo Electric Co Ltd 部品装着装置
JP2011176344A (ja) * 2011-04-14 2011-09-08 Fuji Mach Mfg Co Ltd 電子部品装着装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03119799A (ja) * 1989-10-02 1991-05-22 Sanyo Electric Co Ltd 部品装着装置
JP2011176344A (ja) * 2011-04-14 2011-09-08 Fuji Mach Mfg Co Ltd 電子部品装着装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104105394A (zh) * 2014-07-30 2014-10-15 东莞市新泽谷机械制造股份有限公司 全角度插件机头部插件机构
CN107710906A (zh) * 2015-07-07 2018-02-16 富士机械制造株式会社 元件安装装置
EP3322273A4 (fr) * 2015-07-07 2019-03-27 FUJI Corporation Dispositifs de montage de composants

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JP6320925B2 (ja) 2018-05-09

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