WO2014207807A1

WO2014207807A1 - Device for calculating component-suction-position height

Info

Publication number: WO2014207807A1
Application number: PCT/JP2013/067252
Authority: WO
Inventors: 明宏野田
Original assignee: 富士機械製造株式会社
Priority date: 2013-06-24
Filing date: 2013-06-24
Publication date: 2014-12-31
Also published as: JP6153611B2; JPWO2014207807A1

Abstract

The purpose of the present invention is to provide a device for calculating component-suction-position height, said device enabling the height of a plurality of component suction positions to be calculated by measuring the height at two points on a tape feeder. Accordingly, a plurality of sprockets (42) are provided inside a feeder main body (13), in a width direction intersecting a supply direction of a component supply tape (12). The plurality of sprockets are used to respectively arrange, in prescribed positions separated in the width direction, a plurality of component suction positions (P1-P6) where components are to be supplied. An upper cover plate (39), which covers an upper surface of the feeder main body, and which is provided with a plurality of openings (40) located in positions corresponding respectively to the plurality of component suction positions, is affixed to the feeder main body. A height-position detection means (114) is provided which measures height positions of an upper surface of the upper cover plate at two or more places separated in the width direction. Furthermore, an interpolation calculation means (step (106)) is provided which uses interpolation calculation to calculate height positions of the plurality of component suction positions, on the basis of the upper-cover-plate height positions detected at the two or more places by the height-position detection means.

Description

Component suction position height calculation device

The present invention relates to a component suction position height calculation device that calculates suction position heights of a plurality of component suction positions of a tape feeder.

Patent Document 1 describes a plurality of component suction positions arranged side by side in the width direction of a tape feeder on one tape feeder. This type of tape feeder is detachably attached to a feeder mounting table of a component mounting machine, but the tape feeder may be inclined due to an attachment error or the like. When the tape feeder is mounted with an inclination, the suction position heights of the plurality of parts suction positions will be different. For this reason, when the parts supplied to each part suction position are picked up by the suction nozzle, the suction nozzle The part supply tape that has destroyed the part due to excessive pressing may be deformed, or the suction nozzle may not reach the position where the part sucks the part, causing a suction error.

JP 2013-98382 A

For this reason, conventionally, every time the tape feeder is set on the feeder mounting table, the suction position height of the component suction position is measured using a jig. There are problems that the operation becomes complicated and the measurement time becomes long.

In addition, as described in Patent Document 1, in the case where a single tape feeder has a plurality of component suction positions, it is necessary to measure the heights of a plurality of suction positions, and more time is required. Is required, and the efficiency of the component mounting work is deteriorated.

The present invention has been made in order to solve the above-described problems, and by measuring the height of two points on the tape feeder, it is possible to calculate the suction position height of a plurality of part suction positions. An object of the present invention is to provide a position height calculation device.

In order to solve the above-mentioned problem, the invention according to claim 1 is characterized in that the sprocket teeth are meshed with a feed hole formed in a component supply tape in which a large number of components are stored at a predetermined pitch, and the sprocket rotates to rotate the component. In a component mounting apparatus that mounts a component housed in a supply tape and sent to a component suction position on a substrate, a feeder body, and in the feeder body, the sprocket is arranged in a width direction intersecting the feeding direction of the component supply tape. A plurality of component adsorbing positions to which components housed in the component supply tape are sent by the plurality of sprockets are respectively arranged at predetermined positions separated in the width direction, and the upper surface of the feeder body is disposed on the feeder body. An upper cover plate having a plurality of openings is provided at a position corresponding to each of the plurality of component suction positions. Height position measuring means for measuring at least two height positions spaced apart in the width direction on the upper surface of the upper cover plate is provided, and at least two of the upper cover plates measured by the height position measuring means are provided. It is a component suction position height calculation device provided with an interpolation calculation means for calculating the suction position height of the plurality of component suction positions based on the height position of the place by interpolation calculation.

The invention according to claim 2 is characterized in that a plurality of tape suppliers that support the sprocket and supply the component supply tape to the component suction position are detachably mounted on the feeder body. It is a component suction position height calculation device.

According to a third aspect of the invention, in the laser distance sensor, the height position measuring means outputs a laser beam and measures the height position of the upper cover plate based on the reflected light from the upper cover plate. The component suction position height calculation device according to claim 1 or 2, wherein the component suction position height calculation device is configured.

A feature of the invention according to claim 4 is the component suction position height calculating device according to claim 3, wherein a reflecting member is provided at a portion of the upper cover plate irradiated with the laser beam.

The invention according to claim 5 is characterized in that the height position measuring means is integrally attached to a mounting head provided with a suction nozzle. It is a height calculation device.

According to the first aspect of the present invention, the feeder main body is provided with the upper cover plate that covers the upper surface of the feeder main body and has a plurality of openings at positions corresponding to the plurality of component suction positions. There are provided height position measuring means for measuring at least two height positions spaced apart in the width direction of the upper surface of the upper surface of the upper cover plate based on at least two height positions of the upper cover plate measured by the height position measuring means. Since the interpolation calculation means for calculating the suction position heights of the plurality of component suction positions by interpolation calculation is provided, it is only necessary to measure at least two height positions on the upper surface of the upper cover plate. The suction position height of the component suction positions at six locations can be calculated by interpolation, and the suction position height measurement time can be shortened.

According to the second aspect of the present invention, the plurality of tape suppliers that support the sprocket and supply the component supply tape to the component suction position are detachably attached to the feeder body. It can be easily attached to the main body.

According to the invention of claim 3, the height position measuring means is configured by a laser distance sensor that outputs a laser beam and measures the height position of the upper cover plate based on the reflected light from the upper cover plate. Therefore, the suction position height of the component suction position can be accurately measured by the laser distance sensor.

According to the fourth aspect of the invention, since the reflecting member is provided at the portion of the upper cover plate that is irradiated with the laser beam, the reflecting member can reliably reflect the laser beam, and the height position Measurement accuracy can be improved.

According to the fifth aspect of the invention, since the height position measuring means is integrally attached to the mounting head provided with the suction nozzle, the height position measurement is performed using an XY robot or the like that moves the mounting head. The means can be positioned above the upper cover plate.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic plan view showing an entire component mounter suitable for implementing the present invention. It is the whole tape feeder perspective view showing an embodiment of the invention. It is a perspective view of the tape supplier with which a tape feeder is mounted | worn. It is a perspective view which shows the attachment structure of a sprocket drive unit. It is a right view which shows the structure of the drive device which rotates a sprocket. It is a left view which shows the structure of the drive device which rotates a sprocket. It is a perspective view of the feeder mounting base of a component mounting machine. It is explanatory drawing which measures the suction position height of the some component suction position of a tape feeder. It is a block diagram of the control apparatus which controls a component mounting machine. It is a flowchart which shows the control action which concerns on embodiment of this invention. It is explanatory drawing corresponding to FIG. 8 which shows the modification of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an overall plan view of a component mounting machine 10. The component mounting machine 10 includes a component supply device 101 including a tape feeder 11 configured to supply components to a component suction position, which will be described later, and a substrate transfer device 102. And a component transfer device 103.

The board transfer device 102 is provided on the base 105 of the component mounting machine 10, and transfers the circuit board B by the conveyor 106 and carries it onto the mounting stage 107 and also carries it out from the mounting stage 107. In FIG. 1, the substrate transport direction is the X-axis direction, and the direction orthogonal to the substrate transport direction is the Y-axis direction. Although not shown, the mounting stage 107 is provided with a clamp device for positioning and clamping the circuit board B.

The component transfer device 103 includes an XY robot, and is supported above the base 105 so as to be movable in the Y-axis direction and supported on the Y-axis movable table 110 so as to be movable in the X-axis direction. The X-axis moving table 111 and a mounting head 112 mounted on the X-axis moving table 111 are provided. The X-axis moving table 111 and the Y-axis moving table 110 are controlled to move in the X-axis direction and the Y-axis direction by an unillustrated X-axis servo motor and Y-axis servo motor.

Although not shown in the drawings, the mounting head 112 supports a lifting shaft that can move up and down in the Z-axis direction (vertical direction) orthogonal to the X-axis and Y-axis directions and that can rotate around the Z-axis line. A suction nozzle for sucking parts is held on the lifting shaft.

A substrate camera 113 is mounted on the X-axis moving table 111. The substrate camera 113 receives a reference mark provided on the circuit board B positioned on the mounting stage 107, a reference mark provided on the tape feeder 11, and the like. Imaging is performed, and substrate position reference information, feeder position reference information, and the like are acquired.

The substrate camera 113 is integrally provided with a laser distance sensor 114 as a height position measuring means for measuring the height of the component suction position at the component suction position. The laser distance sensor 114 irradiates a reflecting member on an upper cover plate 39 (described later) of the tape feeder 11 with a laser beam, and measures the height position of the upper cover plate 39 based on the reflected light. .

Further, on the base 105, a parts camera 115 is provided for imaging the parts sucked by the suction nozzle from below. The component camera 115 captures an image of the component sucked by the suction nozzle while moving from the component supply device 101 onto the circuit board B, detects a misalignment, an angular misalignment, or the like of the component with respect to the center of the suction nozzle. Based on the above, the amount of movement of the mounting head 112 in the X-axis and Y-axis directions and the rotation angle of the suction nozzle are corrected so that the component can be accurately mounted at a predetermined coordinate position on the circuit board B.

As shown in FIG. 2, the tape feeder 11 has a lateral width of the feeder main body 13 so that a plurality of (six in the embodiment) component supply tapes 12 can be set side by side in the lateral width direction (X-axis direction). The general width of a general tape feeder (tape feeder capable of setting only one component supply tape) is larger than the lateral width.

The component supply tape 12 is not shown in detail, but the components are stored in the component storage recesses formed in a line at a predetermined pitch on the carrier tape, and the top tape (cover tape) is adhered to the upper surface of the carrier tape. It is. A sprocket hole (not shown) is formed at one end in the width direction of the component supply tape 12 at a predetermined pitch along the longitudinal direction of the component supply tape 12, and is rotated by a later-described sprocket that meshes with the sprocket hole. The component supply tape 12 is sent.

A handle 14 and an operation panel 15 are provided at the upper part of the rear side (removal direction side) of the feeder main body 13, and a reel holder for storing a tape reel 16 around which the component supply tape 12 is wound. 17 is provided. The reel holder 17 is formed so as to store a plurality of tape reels 16 arranged in two rows in the front and rear, and is stored so that each tape reel 16 can be rotated in the reel holder 17 as the component supply tape 12 is pulled out. . The operation panel 15 is provided with operation keys and the like for inputting various operation signals such as a tape supplier mounting work start signal for each tape supplier 21 described later.

The component supply tape 12 drawn from each tape reel 16 is supplied to a component suction position by each tape supplier 21 described later. Each tape supplier 21 is detachably attached to the feeder body 13, and the width of each tape supplier 21 is larger than the width of the component supply tape 12 so that only one component supply tape 12 is set in each tape supplier 21. Slightly larger dimensions are formed.

As shown in FIG. 3, a reel hooking portion 22 for holding the tape reel 16 on the tape supplier 21 removed from the feeder main body 13 is provided at the rear end portion of each tape supplier 21. The tape reel 16 can be hooked and held.

The tape supplier 21 is provided with a cover tape peeling device 23 that peels off the cover tape that covers the upper surface of the component supply tape 12, and a cover tape collection case 24 that collects the cover tape peeled off from the component supply tape 12. . The cover tape peeling device 23 includes a peeling roller 25, a tension roller 26, and a pair of cover tape feed gears 28, 29. The cover tape peeled off by the peeling roller 25 is passed over the tension roller 26 and covered with the cover tape. It is sandwiched between the feed gears 28 and 29 and fed into the cover tape collecting case 24.

As shown in FIG. 2, a cover tape feed motor 33 as a drive source for the cover tape feed gears 28 and 29 is provided on the feeder main body 13 side, and the motor 33 is mounted when the tape supplier 21 is mounted on the feeder main body 13. The one cover tape feed gear 28 meshes with the drive gear 34 that is driven by the two, so that both cover tape feed gears 28 and 29 are rotationally driven.

As shown in FIG. 3, the tape supplier 21 has a plurality of horizontal U-shaped

tape holding portions

37 and 38 that hold only one side in the width direction of the component supply tape 12 on one side in the width direction of the component supply tape 12. Are alternately arranged in a staggered manner on the other side, and the

tape holding portions

37 and 38 are arranged inward in the width direction of the component supply tape 12 so as to hold the component supply tape 12 while meandering the component supply tape 12 slightly in the width direction. The component supply tape 12 can be held with a smaller width by being arranged little by little.

The same number of sprocket drive units 41 as the number of component supply tapes 12 that can be set on the feeder body 13 are arranged side by side in the width direction on the distal end side of the feeder body 13. As shown in FIGS. 4 and 5, each sprocket drive unit 41 includes a rotating member 30 that can rotate around a support shaft 51, a sprocket 42 that is rotatably supported by the rotating member 30, The sprocket 42 is installed on the member 30 and is configured by a sprocket rotating motor 44 or the like that drives the sprocket 42 via a spur gear train 43. .

Each sprocket 42 is disposed at a position corresponding to each component supply tape 12 set in the feeder main body 13, and the components are supplied by rotating the sprocket 42 while meshing the sprocket 42 teeth with the sprocket holes of each component supply tape 12. The tape 12 is pitch-fed toward the component suction position.

As shown in FIG. 2, an upper cover plate 39 is provided on the upper surface of the feeder main body 13 so as to cover the upper part of the sprocket drive unit 41, and components housed in the component supply tape 12 by suction nozzles are provided on the upper cover plate 39. The component suction openings 40 that open the component suction positions P1 to P6 (see FIG. 8) are formed in a staggered pattern. In the present embodiment, since a total of six component supply tapes 12 can be attached to the feeder main body 13, a total of six component suction openings 40 are formed.

On the upper cover plate 39, as shown in FIG. 8, two reflecting

members

45a and 45b made of resin or the like are applied or pasted. These reflecting

members

45a and 45b are arranged at positions separated by a predetermined distance in the width direction (X-axis direction) of the tape feeder 11 so as to have a predetermined positional relationship with respect to the component suction positions P1 to P6. The two reflecting

members

45a and 45b are arranged in a fixed positional relationship with respect to the two reference marks M1 provided on the upper cover plate 39.

In the present embodiment, one of the two reflecting

members

45a and 45b is provided at a position corresponding to the leftmost component suction position P1 in FIG. 8 and the X-axis direction, and the other is the rightmost component suction position in FIG. It is provided at a position corresponding to P6 and the X-axis direction, and the intervals (d1 to d5) between the six component suction positions P1 to P6 are set equal.

The two reflecting

members

45a and 45b are respectively measured in height position by the laser distance sensor 114, and based on the measured height positions, the component suction positions P1 and P6 positioned at both ends in the width direction of the tape feeder 11 are measured. The suction position heights h1 and h6 are obtained. Based on the suction position heights h1 and h6 of the component suction positions P1 and P6 at both ends, the suction position heights h2 to h5 of the four component suction positions P2 to P5 located between them are calculated by interpolation. The

That is, the inclination α in the X-axis direction of the upper surface of the upper cover plate 39 is obtained from the suction position heights h1 and h6 at the two points at both ends (component suction positions P1 and P6). The suction position heights h1 to h6 are calculated by interpolation based on the relative positional relationship with P1 to P6.

In this case, as shown in FIG. 8, the six component suction positions P1 to P6 are arranged at equal intervals in the width direction (X-axis direction) of the tape feeder 11, and the two reflecting

members

45a and 45b are arranged at both end components. When arranged at positions corresponding to the suction positions P1 and P6 in the X-axis direction, the inclination α obtained from the suction position heights h1 and h6 at the two ends is, for example, the suction position height of the component suction position P1. When the height h1 is a positive direction higher than the suction position height h6 of the component suction position P6, the suction of the four component suction positions P2 to P5 located between the component suction positions P1 and P6 at both ends is performed. The position heights h2 to h5 can be calculated as follows based on the two suction position heights h1 and h6.
h2 = h1-((h1-h6) × 1/5)
h3 = h1-((h1-h6) × 2/5)
h4 = h1-((h1-h6) × 3/5)
h5 = h1-((h1-h6) × 4/5)

Further, the inclination obtained from the two suction position heights h1 and h6 is a negative direction opposite to the positive direction (the suction position height h1 of the component suction position P6 is the suction position height h1 of the component suction position P1. The suction position height h2 is obtained by the following equation, and the suction position heights h3 to h5 are also obtained in the same manner.
h2 = h1 + ((h6-h1) × 1/5)

If the height position of the upper surface of the upper cover plate 39 (reflecting

members

45a and 45b) measured by the laser distance sensor 114 is not the same as the suction position heights h1 to h6, the height difference is used as an offset amount to be described later. If the height position measured by the laser distance sensor 114 is corrected by the offset amount, the actual suction position heights h1 to h6 can be calculated.

As described above, the suction position heights h1 to h6 at the respective component suction positions P1 to P6 can be measured based on the height position measured by the laser distance sensor 114, so that the tape feeder 11 is supposed to be a feeder mounting table 66 described later. Even if it is installed inclining in the X-axis direction, the suction position heights h1 to h6 of the component suction positions P1 to P6 can be obtained accurately. The suction position heights h1 to h6 are stored in a predetermined storage area of the memory 86 to be described later.

Accordingly, by controlling the descending amount of the suction nozzle that sucks the components supplied to the component suction positions P1 to P6 based on the suction position heights h1 to h6, the suction nozzle is pushed too much into the sucked components. It is possible to eliminate problems such as destruction of parts or occurrence of suction mistakes due to lack of success, and parts supplied to the parts suction positions P1 to P6 can be sucked with high accuracy.

In addition, the suction position heights h1 and h6 at two points are measured, and the part suction heights h2 to h5 between them are calculated by interpolation, which is necessary when the tape feeder 11 is set on the feeder mounting table 66. Moreover, the measurement of the suction position height can be performed in a short time.

In the embodiment, the two reflecting

members

45a and 45b are installed at positions corresponding to the component suction positions P1 and P6 at both ends and the X-axis direction. However, the installation positions of the two reflecting

members

45a and 45b are as follows. Any position can be used as long as it can detect the inclination of the tape feeder 11 in the width direction, and the positional relationship (design value) between the installation position and each component suction position P1 to P6 is registered in the memory 86 described later.

Next, a description will be given of the configuration of an operating mechanism that operates each rotating member 30 of each sprocket drive unit 41 independently.

As shown in FIG. 4, each rotating member 30 is assembled to the feeder main body 13 so that the sprocket 42 can move up and down with the support shaft 51 as a fulcrum, and the teeth of the sprocket 42 mesh with the sprocket holes of the component supply tape 12. The sprocket 42 is configured to move up and down between the meshing position to be in a state and the retracted position where the teeth of the sprocket 42 are located below the sprocket hole.

Each sprocket drive unit 41 is provided with a spring 55 as a biasing means for biasing the sprocket 42 supported by the rotating member 30 upward with the support shaft 51 as a fulcrum. Thus, the sprocket 42 can be held at the meshing position which is the upper limit position. Each sprocket drive unit 41 is provided with a sprocket operating motor 56 that lowers the sprocket 42 against the spring 55.

Cams 57 are respectively fixed to the rotation shafts of the motors 56. Correspondingly, each rotary member 30 is provided with a cam contact member 58 such as an L-shape that contacts the cam 57 from below. When the motor 56 is rotated to rotate the cam 57 to the lowest position, the cam contact member 58 is pulled down against the spring 55 integrally with the rotating member 30, and the sprocket 42 is at the lower limit position. Hold in the retracted position. Thereafter, when the motor 56 is rotated to the original position and the cam 57 is returned to the uppermost position, the rotating member 30 is pushed up by the urging force of the spring 55 following the movement of the cam 57, and the meshing position which is the upper limit position. Retained.

Position detection dogs 61 that detect the positions of the cams 57 are provided on the rotation shafts of the motors 56, and correspondingly, the feeder body 13 has cam position sensors 62 that detect the position detection dogs 61. Each cam position sensor 62 can detect whether the sprocket 42 is in the meshing position or the retracted position.

As shown in FIG. 6, the feeder main body 13 is provided with a meshing detection sensor 63 that detects that each sprocket 42 has moved up to the meshing position. Each rotation member 30 is provided with a position detection dog 64 for detecting the meshing position, and the teeth of the sprocket 42 supported by any of the rotation members 30 mesh with the sprocket holes of the component supply tape 12. When 42 is raised to the meshing position, the position detection dog 64 is detected by the meshing detection sensor 63 and a detection signal is output.

As shown in FIG. 4, a connector 67 for connecting a signal line and a power line of the feeder body 13 to a connector 68 (see FIG. 7) of the feeder mounting table 66 of the component mounting machine is provided on the front end surface of the feeder body 13. Two positioning pins 69 and 70 are provided, and the two

positioning pins

69 and 70 are inserted into the positioning holes 71 and 72 (see FIG. 7) of the feeder mounting table 66 of the component mounting machine, thereby the feeder mounting table 66. The attachment position of the feeder body 13 is positioned above, and the connector 67 of the feeder body 13 is inserted and connected to the connector 68 of the feeder mounting table 66.

A guide groove 74 having an inverted T-shaped cross section for supporting the tape feeder 11 in a vertical position is provided on the upper surface of the feeder mounting table 66, and a guide rail having an inverted T-shaped cross section provided on the lower surface side of the feeder body 13. (Not shown) is inserted into the guide groove 74 from the front side, so that the tape feeder 11 is supported in a vertically placed state on the feeder mounting table 66 and a clamp member (not shown) provided on the feeder main body 13. ) Fits into the clamp groove 79 of the feeder mounting table 66 and presses the feeder main body 13 forward (to the connector 68 side of the feeder mounting table 66) to clamp the feeder main body 13 on the feeder mounting table 66. Positioned in the front-rear direction and detachably attached.

As shown in FIG. 3, a handle portion 76 is provided at the rear upper end of the cover tape collection case 24 of each tape supplier 21, and an unillustrated shape formed on the feeder main body 13 at the front end portion of each handle portion 76. Positioning pins 77 that engage with the positioning holes are provided. When the tape supplier 21 is set in the feeder main body 13, the tape supplier 21 is positioned with respect to the feeder main body 13 by inserting the positioning pin 77 of the handle portion 76 into a positioning hole (not shown).

On the upper surface of the handle portion 76, an identification ID 81 (see FIG. 9) storing the identification information of the components stored in the component supply tape 12 supported by the tape supplier 21 is attached. The identification ID 81 is read by a reader 82 (see FIG. 9) provided on the lower surface of the operation panel 15 of the feeder main body 13 so as to acquire component identification information and the like.

The identification ID signal output from the reader 82 is also used as a set confirmation signal for the tape supplier 21 to the feeder body 13, and the reader 82 reads the identification ID 81 to set the tape supplier 21 to the feeder body 13. It comes to confirm.

Further, as shown in FIG. 9, the tape feeder 11 is provided with a control unit 84 for controlling the operation of each

motor

44, 56, etc., and the identification ID 81 read by the reader 82 is transmitted to the control unit 84, and the control unit 84 84 to the control unit 85 of the component mounter 10 via the

connectors

67 and 68. The memory 86 of the control unit 84 of the tape feeder 11 stores various types of information stored in the component supply tape 12 and suction position heights h1 to h2 of the component suction positions P1 to P6.

When the tape supplier 21 is set in the feeder main body 13 by the above-described operating mechanism, the sprocket operating motor 56 is controlled and the sprocket 42 is raised to the meshing position. Even if the sprocket 42 is raised to the meshing position, if the sprocket rotation motor 44 does not mesh with the sprocket holes of the component supply tape 12 and no detection signal is output from the mesh detection sensor 63, the sprocket rotation motor 44 corrects the sprocket 42. By reversing, the teeth of the sprocket 42 can be engaged with the sprocket holes of the component supply tape 12. Thereby, the sprocket 42 is raised to the meshing position, and this is detected by the meshing detection sensor 63.

In this state, the sprocket 42 is rotated by a predetermined angle by the sprocket rotating motor 44, whereby the components stored in the component supply tape 12 are sequentially supplied to the component suction positions P1 to P6. The components supplied to the component suction positions P 1 to P 6 are sucked by the suction nozzle held by the mounting head 112 and mounted on the circuit board B positioned on the mounting stage 107.

Next, a measurement program for measuring the suction position heights h1 to h6 of the plurality of parts suction positions P1 to P6 of the tape feeder 11 will be described based on the flowchart shown in FIG. The measurement program is executed every time the tape feeder 11 is set on the feeder mounting table 66.

First, in step 100, the X-axis moving table 111 and the Y-axis moving table 110 are moved, and the substrate camera 113 is positioned above the tape feeder 11 set on the feeder mounting table 66. Then, the substrate camera 113 images the reference mark M1 of the tape feeder 11, and acquires the position error of the attachment position of the tape feeder 11 with respect to the reference position.

Next, in step 102, the X-axis moving table 111 and the Y-axis moving table 110 are moved, and the laser distance sensor 114 is positioned above one reflecting member 45a provided on the upper cover plate 39 of the tape feeder 11. The In this state, the laser distance sensor 114 emits laser light, and the reflected light is received by the laser distance sensor 114, whereby the distance to the reflecting member 45a can be measured. Based on this, the reflecting member 45a (upper cover plate) is measured. 14) is measured. Thereafter, the laser distance sensor 114 is positioned above the other reflecting member 45b provided on the upper cover plate 39 of the tape feeder 11, and in the same manner as described above, the laser distance sensor 114 detects the other reflecting member 45b. The height position is measured.

Next, in step 104, the suction position heights h1 to h6 of the plural (six) component suction positions P1 to P6 are calculated by interpolation based on the measured values of the two points measured. The calculated suction position heights h1 to h6 are stored in predetermined storage areas of the memory 86, respectively.

As a result, even when the tape feeder 11 is mounted on the feeder mounting table 66 while being inclined in the X-axis direction, the suction position heights h1 to h6 of the component suction positions P1 to P6 that suck the parts by the suction nozzle are accurately obtained. Can do.

As a result, when the components supplied to the component suction positions P1 to P6 of the tape feeder 11 are sucked by the suction nozzle at the time of component mounting, according to the suction position heights h1 to h6 corresponding to the component suction positions P1 to P6. By controlling the lowering amount of the suction nozzle, it is possible to eliminate problems such as excessively pushing the suction nozzle against the part to be sucked and destroying the part or causing a picking error due to lack of reach. .

Interpolation calculation for calculating the height positions of the plurality of component suction positions P1 to P6 by interpolation calculation based on the two height positions of the upper cover plate 39 measured by the laser distance sensor 114 in the above-described step 106. Means.

FIG. 11 shows a modification of the present invention. Two reflecting

members

45a and 45b are spaced apart from each other by a predetermined amount X2 and Y2 on the upper cover plate 39 of the tape feeder 11 in the X-axis direction and the Y-axis direction, respectively. Even if the tape feeder 11 is disposed at two points and is mounted on the feeder mounting table 66 while being tilted not only in the X-axis direction but also in the Y-axis direction, each suction position of the plurality of component suction positions P1 to P6 arranged in a staggered manner The heights h1 to h6 can be calculated in the same manner as described above.

According to the above-described embodiment, the height position measuring means including the laser distance sensor 114 for measuring the height positions of two places separated in the width direction of the upper surface of the upper cover plate 39 provided in the feeder main body 13 is provided. Interpolation calculation means for calculating the height positions of the plurality of component suction positions P1 to P6 by interpolation calculation based on the two height positions of the upper cover plate 39 measured by the height position measurement means is provided. Therefore, even if the tape feeder 11 is mounted on the feeder mounting table 66 in an inclined manner, the suction position heights h1 to h6 of the component suction positions P1 to P6 where the parts are sucked by the suction nozzle can be accurately obtained.

As a result, when the components supplied to the respective component suction positions P1 to P6 of the tape feeder 11 are sucked by the suction nozzle when the components are mounted, the suction positions corresponding to the component suction positions P1 to P6 are determined according to the suction position heights h1 to h6. By controlling the lowering amount of the suction nozzle, it is possible to eliminate problems such as excessively pushing the suction nozzle against the part to be sucked and destroying the part or causing a picking error due to lack of reach. .

Further, according to the above-described embodiment, since the height position of the upper surface of the upper cover plate 39 is measured by the laser distance sensor 114, the suction position heights h1 to h6 of the component suction positions P1 to P6 are set. It can be measured with high accuracy. Since the laser distance sensor 114 is integrally attached to the mounting head 112 provided with the suction nozzle, the laser distance sensor 114 is positioned above the upper cover plate 39 using an XY robot or the like that moves the mounting head 114. can do.

Furthermore, according to the above-described embodiment, since the reflecting

members

45a and 45b are provided in the portion of the upper cover plate 39 irradiated with the laser light, the reflecting

members

45a and 45b reliably reflect the laser light. It is possible to improve the measurement accuracy of the height position.

In the above-described embodiment, an example in which six component suction positions P1 to P6 (six component supply tapes 12) are provided in one tape feeder 11 has been described, but at least three or more component suction positions are provided. The number of component suction positions is not limited.

In the above embodiment, two height positions are measured and used for interpolation calculation of the height positions of the component suction positions P1 to P6. However, the height positions are limited to two positions. In short, what is necessary is to specify a smaller number of height position measurement points than the part suction opening 40.

Further, in the above-described embodiment, the example in which the plurality of component suction openings 40 for sucking the components are formed in the zigzag shape on the upper cover plate 39 has been described. However, the tape feeder 11 is aligned in a straight line in the width direction. They may be arranged or arranged in a straight line in a direction inclined in the width direction.

In the above embodiment, the example in which the upper cover plate 39 is provided with the reflecting

members

45a and 45b that reflect the laser light has been described. However, the reflecting member is eliminated and the upper cover plate 39 is directly irradiated with the laser light. In addition, the height position measuring means is not limited to the laser distance sensor 114.

Thus, the present invention is not limited to the configurations described in the above-described embodiments, and can take various forms without departing from the gist of the present invention described in the claims. .

The component suction position height calculation device according to the present invention is used for a tape feeder in which a plurality of component suction positions to which components housed in a component supply tape are sent are respectively arranged at predetermined positions separated in the width direction. Is suitable.

DESCRIPTION OF SYMBOLS 10 ... Component mounting machine, 11 ... Tape feeder, 12 ... Component supply tape, 13 ... Feeder main body, 21 ... Tape supplier, 39 ... Upper cover plate, 40 ... Opening part, 41 ... Sprocket drive unit, 42 ... Sprocket, 44 ... Motor for sprocket rotation, 45a, 45b ... reflecting member, 51 ... support shaft, 56 ... motor for sprocket operation, 112 ... mounting head, 114 ... height position measuring means (laser distance sensor), step 106 ... interpolation calculating means.

Claims

The sprocket teeth are meshed with the feed holes formed in the component supply tape containing a large number of components at a predetermined pitch, and the components that are stored in the component supply tape and sent to the component suction position by mounting the sprocket are mounted on the board. In component mounting equipment to
The feeder body,
In the feeder main body, a plurality of the sprockets are provided in the width direction intersecting the feeding direction of the component supply tape,
A plurality of component suction positions to which the components stored in the component supply tape are sent by the plurality of sprockets are respectively arranged at predetermined positions separated in the width direction,
The feeder main body is provided with an upper cover plate that covers the upper surface of the feeder main body and that has a plurality of openings at positions corresponding to the plurality of component suction positions, respectively.
A height position measuring means for measuring at least two height positions spaced in the width direction on the upper surface of the upper cover plate;
Interpolation calculation means is provided for calculating the suction position heights of the plurality of component suction positions by interpolation based on at least two height positions of the upper cover plate measured by the height position measurement means. ,
A component suction position height calculation device characterized by the above.
The component suction position height calculation device according to claim 1, wherein a plurality of tape suppliers that support the sprocket and supply the component supply tape to the component suction position are detachably attached to the feeder body.
The height position measuring means is configured by a laser distance sensor that outputs laser light and measures the height position of the upper cover plate based on reflected light from the upper cover plate. Item 2. The component suction position height calculation device according to Item 2.
4. The component suction position height calculation device according to claim 3, wherein a reflection member is provided at a portion of the upper cover plate irradiated with the laser light.
The component suction position height calculation device according to any one of claims 1 to 4, wherein the height position measuring means is integrally attached to a mounting head provided with a suction nozzle.