WO2016059679A1 - Component suction position correction system and component suction position correction method for rotary head type component mounting device - Google Patents
Component suction position correction system and component suction position correction method for rotary head type component mounting device Download PDFInfo
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- WO2016059679A1 WO2016059679A1 PCT/JP2014/077367 JP2014077367W WO2016059679A1 WO 2016059679 A1 WO2016059679 A1 WO 2016059679A1 JP 2014077367 W JP2014077367 W JP 2014077367W WO 2016059679 A1 WO2016059679 A1 WO 2016059679A1
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- component
- suction
- rotary head
- tape
- component suction
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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
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- the present invention relates to a component suction position correction system and a component suction position correction method of a rotary head type component mounting machine equipped with a function of correcting a position where a component supplied by a tape feeder is sucked by a suction nozzle.
- the mounting head that holds the suction nozzle is moved in the X and Y directions (left and right and front and rear directions), and the position of the suction nozzle is corrected to match the position of the next component to be suctioned (target component suction position). I have to.
- Patent Document 1 Japanese Patent Laid-Open No. 9-270595
- the next attracted component is imaged by a component recognition camera, and the component is processed by image processing.
- image processing There is one that recognizes the position and corrects the position of the suction nozzle by slightly rotating the rotary head that holds the suction nozzle according to the position of the component.
- the configuration in which the entire mounting head is moved in the X and Y directions to correct the position of the suction nozzle makes it difficult to correct the position in a short time due to insufficient rigidity of the mounting head support structure. As a result, the cycle time becomes longer and the productivity is lowered.
- Patent Document 1 since the rotary head is rotated to correct the position of the suction nozzle, compared to a configuration in which the entire rotary head is moved in the X and Y directions to correct the position, the structure for supporting the rotary head at the time of position correction is used. The acting inertia force is reduced, and the adverse effect due to insufficient rigidity of the support structure of the rotary head is reduced, and the position can be corrected in a short time.
- the rotation of the rotary head causes the position of the suction nozzle to move in the X direction ( Not only in the direction perpendicular to the tape feeding direction of the tape feeder) but also in the Y direction (tape feeding direction).
- Patent Document 1 since the position of the suction nozzle is corrected in the X direction by rotating the rotary head in accordance with the positional deviation in the X direction of the component, the positional deviation in the Y direction caused by the rotation of the rotary head is allowed. When exceeding the range, it is necessary to correct the position of the suction nozzle in the Y direction by moving the rotary head in the Y direction. In this case, too, the position correction is performed in a short time due to insufficient rigidity of the support structure of the rotary head. Is difficult.
- the problem to be solved by the present invention is that a component suction position correction system and component suction of a rotary head type component mounting machine that can correct the component suction positions in both XY directions in a short time and can improve productivity. It is to provide a position correction method.
- the present invention includes a tape feeder that sends a component housed in a component supply tape to a component suction position by a feeding operation of the component supply tape, and a plurality of suction nozzles at predetermined intervals in the circumferential direction.
- a rotary head to be held a head rotation mechanism for rotating the plurality of suction nozzles in the rotation direction of the rotary head by rotating the rotary head, and a suction nozzle located above the component suction position by lowering the rotary head
- a Z-axis drive mechanism for sucking a component to the suction nozzle and a head moving mechanism for moving the rotary head in the XY directions between a component suction station for performing a component suction operation and a component mounting station for performing a component mounting operation.
- the intersection of the straight line extending in the tape feed direction of the tape feeder through the ideal suction point of the next component to be suctioned and the turning locus of the suction point of the suction nozzle that sucks the component is corrected.
- the position of the rotary head in the XY direction is fixed at the stop position of the component suction station, and the correction of the component suction position in the Y direction, which is the tape feeding direction of the tape feeder,
- the component is sent to the corrected component suction position by the tape feeder operation of the tape feeder, and the correction of the component suction position in the X direction, which is a direction perpendicular to the tape feed direction, is performed by the rotary mechanism by the head rotating mechanism. This is performed by rotating the suction nozzle to the corrected component suction position by the rotation operation of the head.
- the ideal suction point of a component is generally the center or center of gravity of the component, and is a suction point at which the component can be stably suctioned by a suction nozzle.
- correction of the component suction position in the Y direction is performed by the tape feeding operation of the tape feeder, and correction of the component suction position in the X direction is performed by the rotary operation of the rotary head. It is not necessary to move the rotary head in the XY directions, and correction of the component suction positions in the XY directions can be performed in a short time without increasing the rigidity of the support structure of the rotary head, thereby improving productivity.
- the positions of the plurality of suction nozzles are measured in advance, the position data is stored in the storage means, and the position of the suction nozzle to be rotated to the next component suction position from the position data stored in the storage means
- the data is searched, and the corrected component suction position is calculated based on the position of the suction nozzle, the position of the rotation center of the rotary head, and the position of the ideal suction point of the next component to be suctioned. It is preferable to calculate the tape feed amount of the tape feeder and the rotation angle of the rotary head necessary for moving to the subsequent component suction position.
- the corrected component suction position and the tape are determined by the geometrical positional relationship between the position of the suction nozzle, the position of the rotation center of the rotary head, and the position of the ideal suction point of the next suctioned component.
- the tape feed amount of the feeder and the rotation angle of the rotary head can be calculated easily and accurately.
- FIG. 1 is a side view of a rotary head type component mounting machine in Embodiment 1 of the present invention.
- FIG. 2 is a block diagram showing the configuration of the control system of the component mounter.
- 3A is a plan view showing the positional relationship between the component supply tape component and the suction nozzle before misalignment correction in the first embodiment
- FIG. 3B is the component supply tape component and suction after the misalignment correction.
- It is a top view which shows the positional relationship with a nozzle.
- FIG. 4A is a plan view showing the positional relationship between the component supply tape component and the suction nozzle when the left component suction position C1 of the second embodiment is corrected
- FIG. 4B shows the right component suction position C2.
- It is a top view which shows the positional relationship of the component of a component supply tape at the time of correction
- FIGS. 1 and 2 A first embodiment of the present invention will be described with reference to FIGS. First, the configuration of the rotary head type component mounting machine 10 will be described with reference to FIGS. 1 and 2.
- a conveyor 13 for conveying the circuit board 12 is provided on the base 11 of the rotary head type component mounting machine 10 (hereinafter, the conveyance direction of the circuit board 12 by the conveyor 13 is referred to as X direction).
- X direction the conveyance direction of the circuit board 12 by the conveyor 13
- one support member 15a is fixed at a fixed position, and the opposite support member
- the width of the conveyor 13 is adjusted by adjusting the position in the Y direction (position in the direction perpendicular to the X direction) of 15b along the guide rail 16 with a feed screw mechanism (not shown). Can be adjusted according to the width of the circuit board 12.
- a device pallet 22 (feeder setting table) is detachably attached to the side of the conveyor 13 on the base 11, and a plurality of tape feeders 23 are set on the device pallet 22 so as to be detachable in the Y direction.
- Each tape feeder 23 is set with a reel 20 around which a component supply tape that accommodates a large number of components in a row at equal pitches is set, and extends along the side edge of the component supply tape drawn from the reel 20 in the Y direction.
- the sprocket hole formed in this manner is meshed with the teeth of a sprocket (not shown), and the tape feed operation is performed in the Y direction by the rotation of the sprocket.
- Each tape feeder 23 is configured such that the feed amount of the component supply tape (rotation angle of the sprocket) can be finely adjusted by controlling the rotation angle of the motor 27 that rotationally drives the sprocket by the control unit 28.
- the component mounting machine 10 is provided with a head moving mechanism 25 that moves the rotary head 24 in the XY directions between a component suction station that performs a component suction operation and a component mounting station that performs a component mounting operation.
- the rotary head 24 holds a plurality of suction nozzles 26 for sucking the components sent to the component suction position by the tape feeder 23 at a predetermined interval (equal pitch) in the circumferential direction.
- the rotary head 24 includes a head rotation mechanism 31 that rotates (rotates) the rotary head 24 about its axis (R axis) and turns the plurality of suction nozzles 26 in the circumferential direction of the rotary head 24.
- the Z-axis drive mechanism 32 that lowers the suction nozzle 26 at a predetermined stop position (above the component suction position) of the orbit of the suction nozzle 26 and sucks the component onto the suction nozzle 26, and the suction nozzle 26 on its axis
- a nozzle rotation mechanism 33 that rotates (rotates) around the core wire and corrects the direction of the component sucked by the suction nozzle 26.
- the component mounting machine 10 is moved integrally with the rotary head 24 to be picked up by a mark camera 35 (a camera for picking up a mark) that picks up the reference position mark of the circuit board 12 from above and a suction nozzle 26.
- a parts camera 36 (camera for parts imaging) that images the parts from below is provided.
- the control device 41 of the component mounter 10 includes an input device 42 such as a keyboard, a mouse, and a touch panel, a storage device 43 (storage means) such as a hard disk, RAM, and ROM for storing various programs and data, and a liquid crystal display.
- a display device 44 such as a CRT is connected.
- the head moving mechanism 25 moves the rotary head 24 to the component suction station to perform the component suction operation, and then moves the rotary head 24 to the component suction station to perform the component mounting operation. Repeat the operation.
- the parts housed in the parts supply tape are sent to the parts suction position by the feeding operation of the parts supply tape of the tape feeder 23, and the suction nozzle 26 located above the parts suction position is lowered to perform the suction.
- the operation of raising the suction nozzle 26 to the original height position is repeated, and the parts are sucked in order by the plurality of suction nozzles 26 held by the rotary head 24.
- the control device 41 of the component mounter 10 rotates the rotary head 24 for each suction nozzle 26 that performs the component suction operation.
- the component suction position is corrected as follows.
- the positions of the plurality of suction nozzles 26 held by the rotary head 24 are measured in advance by an image recognition technique or the like, and the measurement data of the positions of the respective suction nozzles 26 is stored in the storage device 43. Then, first, as shown in FIG. 3, the Y direction, which is the tape feeding direction of the tape feeder 23, passes through the ideal suction point (stable suction point) of the next component to be sucked (the first component of the component supply tape). The intersection C between the straight line A extending to the point and the turning locus B of the suction point of the suction nozzle 26 that sucks the component is set as the corrected component suction position.
- the ideal adsorption point (stable adsorption point) of a component is generally the center or the center of gravity of the component, and is an adsorption point at which the component can be stably adsorbed by the adsorption nozzle 26.
- a specific method for correcting the component suction position is as follows.
- the controller 41 measures the position of the suction nozzle 26 that is rotated to the next component suction position from the measurement data of the positions of the plurality of suction nozzles 26 stored in the storage device 43. Data is searched, and the corrected component suction position is calculated based on the position of the suction nozzle 26, the position of the rotation center of the rotary head 24, and the position of the ideal suction point of the next component to be suctioned.
- the swivel trajectory B of the suction point of the suction nozzle 26 can be specified, and the position of the ideal suction point of the next part to be sucked is known. If there is, it is possible to specify the straight line A extending in the Y direction from the ideal suction point of the component, and therefore it is possible to easily calculate the corrected component suction position which is the intersection C between the two.
- the position information of the rotation center of the rotary head 24 and the ideal suction point of the component may be stored in the storage device 43 in advance.
- the control device 41 calculates the tape feed amount of the tape feeder 23 required to move from the current position of the next component to be suctioned and the corrected component suction position C to the corrected component suction position C.
- the turning angle of the suction nozzle 26 that sucks the component (the rotation angle of the rotary head 24) is calculated.
- the control device 41 fixes the position of the rotary head 24 in the XY direction at the stop position of the component suction station, and corrects the component suction position in the Y direction that is the tape feeding direction of the tape feeder 23.
- the next part to be picked up (the first part of the part supply tape) is sent to the corrected part picking position C in the Y direction, and the part is picked up in the X direction, which is perpendicular to the tape feeding direction.
- the position is corrected by rotating the suction nozzle 26 for sucking the component to the corrected component suction position C by the rotation operation of the rotary head 24 by the head rotating mechanism 31.
- the suction nozzle 26 positioned above the corrected component suction position C is lowered to suck the component onto the suction nozzle 26, and then the suction nozzle 26 Is raised to its original height.
- the component suction operation of one suction nozzle 26 is completed, and thereafter, for all the remaining suction nozzles 26, the component suction position correction and the component suction operation are performed one by one in order, and the rotary head 24 is operated. The parts are sucked in order by all the suction nozzles 26 held in the head.
- correction of the component suction position in the Y direction is performed by the tape feeding operation of the tape feeder 23, and correction of the component suction position in the X direction is performed by the rotation operation of the rotary head 24. Therefore, it is not necessary to move the rotary head 24 in the X and Y directions by the head moving mechanism 25 when correcting the component suction position, and correction of the component suction position in the XY directions can be shortened without increasing the rigidity of the support structure of the rotary head 24. It can be done in time and productivity can be improved.
- the rotary head 24 picks up only one part.
- two Z-axis drive mechanisms 32 are provided at two positions of the rotary head 24.
- the suction nozzle 26 is lowered at two locations on the rotary head 24 so that the parts can be sucked to the suction nozzle 26.
- a rotary head at a predetermined position of the component suction station so that the two suction nozzles 26 are positioned above the component suction positions C1 and C2 of the two tape feeders 23 of the plurality of tape feeders 23 set in the component mounter 10.
- the movement in the XY direction is stopped, the component suction position C1 is corrected for one tape feeder 23 and the component suction operation is performed in the same manner as in the first embodiment, and then the other tape feeder 23 is moved.
- a series of operations of performing the component suction operation by correcting the component suction position C ⁇ b> 2 is repeated, and the components are sequentially sucked by all the suction nozzles 26 held by the rotary head 24.
- the calculation method of the component suction positions C1 and C2 after correction is the same as that of the first embodiment, and the tape feeder 23 feeds the tape through the ideal suction point of the next component to be sucked (the first component of the component supply tape).
- intersection points C1 and C2 between the straight lines A1 and A2 extending in the Y direction, which is the direction, and the turning locus B of the suction point of the suction nozzle 26 that sucks the part are set as the corrected part suction position.
- the order of sucking the components to the 16 suction nozzles 26 is as follows. First, the two suction nozzles 26 (N1 and N13) located above the component suction positions C1 and C2 of the two tape feeders 23 are used. After the positions are corrected in order and the respective components are sucked, the rotary head 24 is rotated by one angle pitch (22.5 °) ⁇ the position shift correction amount, and the next two suction nozzles 26 (N2 and N14) Are sequentially positioned above the corrected component suction positions C1 and C2, and the two suction nozzles 26 (N2 and N14) respectively suck the components.
- the rotary head 24 is rotated by one angle pitch (22.5 °) ⁇ the positional deviation correction amount, and the components are sucked to the next two suction nozzles 26 (N3 and N15), and then the rotary head 24 is rotated by one angle pitch (22.5 °) ⁇ position shift correction amount, and the components are sucked to the next two suction nozzles 26 (N4 and N16), respectively.
- the rotary head 24 is rotated by one angular pitch (22.5 °) ⁇ the positional deviation correction amount, and the components are sucked to the next two suction nozzles 26 (N11 and N7), and then the rotary head 24 is rotated by one angle pitch (22.5 °) ⁇ the positional deviation correction amount, and the components are sucked to the next two suction nozzles 26 (N12 and N8), respectively.
- the component suction operation of a total of 16 suction nozzles 26 (N1 to N16) held in the rotary head 24 is completed.
- Other configurations are the same as those of the first embodiment.
- the Z-axis drive mechanism 32 may be provided at three or more locations of the rotary head 24, and the suction nozzle 26 may be lowered at three or more locations of the rotary head 24 to perform the component suction operation. .
- the present invention is not limited to the configuration of each of the first and second embodiments, and it is needless to say that various modifications can be made without departing from the gist, such as the configuration of the component mounter 10 may be changed. .
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Abstract
When the component suction position is corrected in a rotary head type component mounting device, an intersection point (C) is set to a corrected component suction position, with said intersection point being the intersection point between a line (A), which passes through the ideal suction point of the next component to be picked up and extends in the tape feeding direction (the Y direction) of a tape feeder (23), and the trajectory of rotation (B) of the suction point of a suction nozzle (26) picking up the component. The position of the rotary head (24) in the XY direction is fixed at the stopping position of a component suction station, the correction of the component suction position in the Y direction, that is, the tape feeding direction of the tape feeder (23), is performed by moving the component to the corrected component suction position by means of the tape feeding operation of the tape feeder (23), and the correction of the component suction position in the X direction, that is, the direction orthogonal to the tape feeding direction, is performed by rotating the suction nozzle (26) to the corrected component suction position, by rotating the rotary head (24) by means of a head rotation mechanism (31).
Description
本発明は、テープフィーダにより供給される部品を吸着ノズルで吸着する位置を補正する機能を搭載したロータリーヘッド型部品実装機の部品吸着位置補正システム及び部品吸着位置補正方法に関する発明である。
The present invention relates to a component suction position correction system and a component suction position correction method of a rotary head type component mounting machine equipped with a function of correcting a position where a component supplied by a tape feeder is sucked by a suction nozzle.
部品実装機は、テープフィーダにより供給される部品を吸着ノズルで吸着する際に、その部品吸着位置がずれていると、部品吸着ミス等が発生しやすくなるため、吸着ノズルの位置を次に吸着する部品の位置に合わせて補正する必要がある。そこで、従来は、吸着ノズルを保持する実装ヘッドをＸＹ方向（左右前後方向）に移動させて吸着ノズルの位置を次に吸着する部品の位置（目標とする部品吸着位置）に合わせて補正するようにしている。
When the component mounter picks up the component supplied by the tape feeder with the suction nozzle, if the component suction position is misaligned, a component suction error is likely to occur. It is necessary to correct according to the position of the parts to be processed. Therefore, conventionally, the mounting head that holds the suction nozzle is moved in the X and Y directions (left and right and front and rear directions), and the position of the suction nozzle is corrected to match the position of the next component to be suctioned (target component suction position). I have to.
また、ロータリーヘッド型部品実装機においては、特許文献１（特開平９－２７０５９５号公報）に記載されているように、次に吸着する部品を部品認識カメラで撮像して画像処理により該部品の位置を認識し、該部品の位置に応じて、吸着ノズルを保持するロータリーヘッドを僅かに回転させて吸着ノズルの位置を補正するようにしたものがある。
Further, in the rotary head type component mounting machine, as described in Patent Document 1 (Japanese Patent Laid-Open No. 9-270595), the next attracted component is imaged by a component recognition camera, and the component is processed by image processing. There is one that recognizes the position and corrects the position of the suction nozzle by slightly rotating the rotary head that holds the suction nozzle according to the position of the component.
前者のように、実装ヘッド全体をＸＹ方向に移動させて吸着ノズルの位置を補正する構成では、実装ヘッドの支持構造の剛性不足により短時間で位置補正を行うことが困難であり、部品吸着動作のサイクルタイムが長くなって生産性が低下する欠点があった。
As in the former, the configuration in which the entire mounting head is moved in the X and Y directions to correct the position of the suction nozzle makes it difficult to correct the position in a short time due to insufficient rigidity of the mounting head support structure. As a result, the cycle time becomes longer and the productivity is lowered.
一方、特許文献１では、ロータリーヘッドを回転させて吸着ノズルの位置を補正するため、ロータリーヘッド全体をＸＹ方向に移動させて位置補正する構成と比較すれば、位置補正時にロータリーヘッドの支持構造に作用する慣性力が小さくなって、ロータリーヘッドの支持構造の剛性不足による悪影響が少なくなり、短時間で位置補正を行うことが可能であるが、ロータリーヘッドの回転により吸着ノズルの位置がＸ方向（テープフィーダのテープ送り方向と直角な方向）のみならず、Ｙ方向（テープ送り方向）にも位置ずれてしまう。特許文献１では、部品のＸ方向の位置ずれに応じてロータリーヘッドの回転により吸着ノズルの位置をＸ方向に補正するようにしているため、ロータリーヘッドの回転により生じたＹ方向の位置ずれが許容範囲を越える場合は、ロータリーヘッドをＹ方向に移動させて吸着ノズルの位置をＹ方向に補正する必要があり、この場合も、ロータリーヘッドの支持構造の剛性不足により短時間で位置補正を行うことが困難である。
On the other hand, in Patent Document 1, since the rotary head is rotated to correct the position of the suction nozzle, compared to a configuration in which the entire rotary head is moved in the X and Y directions to correct the position, the structure for supporting the rotary head at the time of position correction is used. The acting inertia force is reduced, and the adverse effect due to insufficient rigidity of the support structure of the rotary head is reduced, and the position can be corrected in a short time. However, the rotation of the rotary head causes the position of the suction nozzle to move in the X direction ( Not only in the direction perpendicular to the tape feeding direction of the tape feeder) but also in the Y direction (tape feeding direction). In Patent Document 1, since the position of the suction nozzle is corrected in the X direction by rotating the rotary head in accordance with the positional deviation in the X direction of the component, the positional deviation in the Y direction caused by the rotation of the rotary head is allowed. When exceeding the range, it is necessary to correct the position of the suction nozzle in the Y direction by moving the rotary head in the Y direction. In this case, too, the position correction is performed in a short time due to insufficient rigidity of the support structure of the rotary head. Is difficult.
そこで、本発明が解決しようとする課題は、ＸＹ両方向の部品吸着位置の補正を短時間で行うことができて、生産性を向上できるロータリーヘッド型部品実装機の部品吸着位置補正システム及び部品吸着位置補正方法を提供することである。
Therefore, the problem to be solved by the present invention is that a component suction position correction system and component suction of a rotary head type component mounting machine that can correct the component suction positions in both XY directions in a short time and can improve productivity. It is to provide a position correction method.
上記課題を解決するために、本発明は、部品供給テープの送り動作により該部品供給テープに収容された部品を部品吸着位置へ送るテープフィーダと、円周方向に所定間隔で複数の吸着ノズルを保持するロータリーヘッドと、前記ロータリーヘッドを回転させることで前記複数の吸着ノズルを該ロータリーヘッドの回転方向に旋回させるヘッド回転機構と、前記部品吸着位置の上方に位置する吸着ノズルを下降させて該吸着ノズルに部品を吸着させるＺ軸駆動機構と、部品吸着動作を行う部品吸着ステーションと部品実装動作を行う部品実装ステーションとの間を前記ロータリーヘッドをＸＹ方向に移動させるヘッド移動機構とを備えたロータリーヘッド型部品実装機の部品吸着位置補正システム及び部品吸着位置補正方法において、前記部品吸着位置を補正する場合に、次に吸着する部品の理想吸着点を通って前記テープフィーダのテープ送り方向に延びる直線と該部品を吸着する吸着ノズルの吸着点の旋回軌跡との交点を補正後の部品吸着位置に設定すると共に、前記ロータリーヘッドのＸＹ方向の位置を前記部品吸着ステーションの停止位置で固定し、前記テープフィーダのテープ送り方向であるＹ方向の部品吸着位置の補正は、該テープフィーダのテープ送り動作により該部品を前記補正後の部品吸着位置へ送ることで行い、前記テープ送り方向と直角な方向であるＸ方向の部品吸着位置の補正は、前記ヘッド回転機構による前記ロータリーヘッドの回転動作により該吸着ノズルを前記補正後の部品吸着位置へ旋回させることで行うことを特徴とするものである。ここで、部品の理想吸着点とは、一般に部品の中心又は重心であり、吸着ノズルで部品を安定して吸着できる吸着点である。
In order to solve the above-described problems, the present invention includes a tape feeder that sends a component housed in a component supply tape to a component suction position by a feeding operation of the component supply tape, and a plurality of suction nozzles at predetermined intervals in the circumferential direction. A rotary head to be held, a head rotation mechanism for rotating the plurality of suction nozzles in the rotation direction of the rotary head by rotating the rotary head, and a suction nozzle located above the component suction position by lowering the rotary head A Z-axis drive mechanism for sucking a component to the suction nozzle; and a head moving mechanism for moving the rotary head in the XY directions between a component suction station for performing a component suction operation and a component mounting station for performing a component mounting operation. In the component suction position correction system and the component suction position correction method of the rotary head type component mounting machine, When correcting the product suction position, the intersection of the straight line extending in the tape feed direction of the tape feeder through the ideal suction point of the next component to be suctioned and the turning locus of the suction point of the suction nozzle that sucks the component is corrected. In addition to setting the subsequent component suction position, the position of the rotary head in the XY direction is fixed at the stop position of the component suction station, and the correction of the component suction position in the Y direction, which is the tape feeding direction of the tape feeder, The component is sent to the corrected component suction position by the tape feeder operation of the tape feeder, and the correction of the component suction position in the X direction, which is a direction perpendicular to the tape feed direction, is performed by the rotary mechanism by the head rotating mechanism. This is performed by rotating the suction nozzle to the corrected component suction position by the rotation operation of the head. Here, the ideal suction point of a component is generally the center or center of gravity of the component, and is a suction point at which the component can be stably suctioned by a suction nozzle.
本発明では、Ｙ方向の部品吸着位置の補正をテープフィーダのテープ送り動作により行い、Ｘ方向の部品吸着位置の補正をロータリーヘッドの回転動作により行うようにしているため、部品吸着位置の補正時にロータリーヘッドをＸＹ方向に移動させる必要がなくなり、ロータリーヘッドの支持構造の剛性を高めなくても、ＸＹ両方向の部品吸着位置の補正を短時間で行うことができて、生産性を向上できる。
In the present invention, correction of the component suction position in the Y direction is performed by the tape feeding operation of the tape feeder, and correction of the component suction position in the X direction is performed by the rotary operation of the rotary head. It is not necessary to move the rotary head in the XY directions, and correction of the component suction positions in the XY directions can be performed in a short time without increasing the rigidity of the support structure of the rotary head, thereby improving productivity.
本発明は、予め前記複数の吸着ノズルの位置が計測されてその位置データが記憶手段に記憶され、前記記憶手段に記憶された位置データの中から次に部品吸着位置へ旋回させる吸着ノズルの位置データを検索して、該吸着ノズルの位置と前記ロータリーヘッドの回転中心の位置と次に吸着する部品の理想吸着点の位置とに基づいて前記補正後の部品吸着位置を演算すると共に、前記補正後の部品吸着位置へ移動させるのに必要な前記テープフィーダのテープ送り量と前記ロータリーヘッドの回転角度を演算するようにすると良い。このようにすれば、吸着ノズルの位置とロータリーヘッドの回転中心の位置と次に吸着する部品の理想吸着点の位置との間の幾何学的な位置関係により、補正後の部品吸着位置とテープフィーダのテープ送り量及びロータリーヘッドの回転角度を簡単且つ正確に演算することができる。
In the present invention, the positions of the plurality of suction nozzles are measured in advance, the position data is stored in the storage means, and the position of the suction nozzle to be rotated to the next component suction position from the position data stored in the storage means The data is searched, and the corrected component suction position is calculated based on the position of the suction nozzle, the position of the rotation center of the rotary head, and the position of the ideal suction point of the next component to be suctioned. It is preferable to calculate the tape feed amount of the tape feeder and the rotation angle of the rotary head necessary for moving to the subsequent component suction position. In this case, the corrected component suction position and the tape are determined by the geometrical positional relationship between the position of the suction nozzle, the position of the rotation center of the rotary head, and the position of the ideal suction point of the next suctioned component. The tape feed amount of the feeder and the rotation angle of the rotary head can be calculated easily and accurately.
以下、本発明を実施するための形態を具体化した２つの実施例１，２を説明する。
Hereinafter, two Examples 1 and 2 that embody the mode for carrying out the present invention will be described.
本発明の実施例１を図１乃至図３に基づいて説明する。
まず、図１及び図２に基づいてロータリーヘッド型の部品実装機１０の構成を説明する。 A first embodiment of the present invention will be described with reference to FIGS.
First, the configuration of the rotary head typecomponent mounting machine 10 will be described with reference to FIGS. 1 and 2.
まず、図１及び図２に基づいてロータリーヘッド型の部品実装機１０の構成を説明する。 A first embodiment of the present invention will be described with reference to FIGS.
First, the configuration of the rotary head type
ロータリーヘッド型の部品実装機１０のベース台１１上には、回路基板１２を搬送するコンベア１３が設けられている（以下、このコンベア１３による回路基板１２の搬送方向をＸ方向とする）。このコンベア１３を構成する２本のコンベアレール１３ａ，１３ｂとコンベアベルト１４ａ，１４ｂを支持する支持部材１５ａ，１５ｂのうち、一方の支持部材１５ａを、一定位置に固定し、その反対側の支持部材１５ｂのＹ方向位置（Ｘ方向と直角な方向の位置）を送りねじ機構（図示せず）等によってガイドレール１６に沿って調整することで、コンベア１３の幅（コンベアレール１３ａ，１３ｂの間隔）を回路基板１２の幅に合わせて調整できるようになっている。
A conveyor 13 for conveying the circuit board 12 is provided on the base 11 of the rotary head type component mounting machine 10 (hereinafter, the conveyance direction of the circuit board 12 by the conveyor 13 is referred to as X direction). Of the two support rails 13a and 13b and the support members 15a and 15b that support the conveyor belts 14a and 14b constituting the conveyor 13, one support member 15a is fixed at a fixed position, and the opposite support member The width of the conveyor 13 (the interval between the conveyor rails 13a and 13b) is adjusted by adjusting the position in the Y direction (position in the direction perpendicular to the X direction) of 15b along the guide rail 16 with a feed screw mechanism (not shown). Can be adjusted according to the width of the circuit board 12.
また、ベース台１１上のコンベア１３の側方には、デバイスパレット２２（フィーダセット台）が着脱可能に取り付けられ、このデバイスパレット２２上に、複数のテープフィーダ２３がＹ方向に着脱可能にセットされている。各テープフィーダ２３には、多数の部品を等ピッチで一列に収容した部品供給テープが巻回されたリール２０がセットされ、該リール２０からＹ方向に引き出された部品供給テープの側縁に沿って形成されたスプロケット穴がスプロケット（図示せず）の歯に噛み合わされ、該スプロケットの回転によりＹ方向にテープ送り動作することで、該部品供給テープの部品を部品吸着位置（吸着ノズル２６で部品を吸着する位置）へピッチ送りするように構成されている。各テープフィーダ２３は、スプロケットを回転駆動するモータ２７の回転角度を制御部２８によって制御することで、部品供給テープの送り量（スプロケットの回転角度）を微調整できるように構成されている。
Further, a device pallet 22 (feeder setting table) is detachably attached to the side of the conveyor 13 on the base 11, and a plurality of tape feeders 23 are set on the device pallet 22 so as to be detachable in the Y direction. Has been. Each tape feeder 23 is set with a reel 20 around which a component supply tape that accommodates a large number of components in a row at equal pitches is set, and extends along the side edge of the component supply tape drawn from the reel 20 in the Y direction. The sprocket hole formed in this manner is meshed with the teeth of a sprocket (not shown), and the tape feed operation is performed in the Y direction by the rotation of the sprocket. Is arranged to feed the pitch to a position where the suction is picked up. Each tape feeder 23 is configured such that the feed amount of the component supply tape (rotation angle of the sprocket) can be finely adjusted by controlling the rotation angle of the motor 27 that rotationally drives the sprocket by the control unit 28.
この部品実装機１０には、部品吸着動作を行う部品吸着ステーションと部品実装動作を行う部品実装ステーションとの間をロータリーヘッド２４をＸＹ方向に移動させるヘッド移動機構２５が設けられている。ロータリーヘッド２４には、テープフィーダ２３により部品吸着位置に送られた部品を吸着する複数の吸着ノズル２６が円周方向に所定間隔（等ピッチ）で保持されている。ロータリーヘッド２４には、該ロータリーヘッド２４をその軸心線（Ｒ軸）の回りを回転（自転）させて複数の吸着ノズル２６を該ロータリーヘッド２４の円周方向に旋回させるヘッド回転機構３１と、吸着ノズル２６の旋回軌道の所定の停止位置（部品吸着位置の上方）で該吸着ノズル２６を下降させて該吸着ノズル２６に部品を吸着させるＺ軸駆動機構３２と、吸着ノズル２６をその軸心線の回りを回転（自転）させて該吸着ノズル２６に吸着した部品の向きを修正するノズル回転機構３３とが設けられている。
The component mounting machine 10 is provided with a head moving mechanism 25 that moves the rotary head 24 in the XY directions between a component suction station that performs a component suction operation and a component mounting station that performs a component mounting operation. The rotary head 24 holds a plurality of suction nozzles 26 for sucking the components sent to the component suction position by the tape feeder 23 at a predetermined interval (equal pitch) in the circumferential direction. The rotary head 24 includes a head rotation mechanism 31 that rotates (rotates) the rotary head 24 about its axis (R axis) and turns the plurality of suction nozzles 26 in the circumferential direction of the rotary head 24. The Z-axis drive mechanism 32 that lowers the suction nozzle 26 at a predetermined stop position (above the component suction position) of the orbit of the suction nozzle 26 and sucks the component onto the suction nozzle 26, and the suction nozzle 26 on its axis There is provided a nozzle rotation mechanism 33 that rotates (rotates) around the core wire and corrects the direction of the component sucked by the suction nozzle 26.
また、部品実装機１０には、ロータリーヘッド２４と一体的に移動して回路基板１２の基準位置マークをその上方から撮像するマークカメラ３５（マーク撮像用のカメラ）と、吸着ノズル２６に吸着した部品をその下方から撮像するパーツカメラ３６（部品撮像用のカメラ）とが設けられている。
In addition, the component mounting machine 10 is moved integrally with the rotary head 24 to be picked up by a mark camera 35 (a camera for picking up a mark) that picks up the reference position mark of the circuit board 12 from above and a suction nozzle 26. A parts camera 36 (camera for parts imaging) that images the parts from below is provided.
部品実装機１０の制御装置４１には、キーボード、マウス、タッチパネル等の入力装置４２と、各種のプログラムやデータ等を記憶するハードディスク、ＲＡＭ、ＲＯＭ等の記憶装置４３（記憶手段）と、液晶ディスプレイ、ＣＲＴ等の表示装置４４等が接続されている。
The control device 41 of the component mounter 10 includes an input device 42 such as a keyboard, a mouse, and a touch panel, a storage device 43 (storage means) such as a hard disk, RAM, and ROM for storing various programs and data, and a liquid crystal display. A display device 44 such as a CRT is connected.
部品実装機１０の稼働中は、ヘッド移動機構２５によりロータリーヘッド２４を部品吸着ステーションへ移動させて部品吸着動作を行った後、該ロータリーヘッド２４を部品吸着ステーションへ移動させて部品実装動作を行うという動作を繰り返す。部品吸着ステーションでは、テープフィーダ２３の部品供給テープの送り動作により該部品供給テープに収容された部品を部品吸着位置へ送り、該部品吸着位置の上方に位置する吸着ノズル２６を下降させて該吸着ノズル２６に部品を吸着させた後、該吸着ノズル２６を元の高さ位置へ上昇させるという動作を繰り返して、ロータリーヘッド２４に保持された複数の吸着ノズル２６に部品を順番に吸着させる。
While the component mounter 10 is in operation, the head moving mechanism 25 moves the rotary head 24 to the component suction station to perform the component suction operation, and then moves the rotary head 24 to the component suction station to perform the component mounting operation. Repeat the operation. At the parts suction station, the parts housed in the parts supply tape are sent to the parts suction position by the feeding operation of the parts supply tape of the tape feeder 23, and the suction nozzle 26 located above the parts suction position is lowered to perform the suction. After the parts are sucked by the nozzle 26, the operation of raising the suction nozzle 26 to the original height position is repeated, and the parts are sucked in order by the plurality of suction nozzles 26 held by the rotary head 24.
部品吸着動作時に部品吸着位置がずれていると、部品吸着ミス等が発生しやすくなるため、部品実装機１０の制御装置４１は、部品吸着動作を行う吸着ノズル２６毎に、ロータリーヘッド２４の回転動作とテープフィーダ２３のテープ送り動作を制御して部品吸着位置を次のようにして補正する。
If the component suction position is shifted during the component suction operation, a component suction error or the like is likely to occur. Therefore, the control device 41 of the component mounter 10 rotates the rotary head 24 for each suction nozzle 26 that performs the component suction operation. By controlling the operation and the tape feeding operation of the tape feeder 23, the component suction position is corrected as follows.
事前準備として、予め、ロータリーヘッド２４に保持された複数の吸着ノズル２６の位置を画像認識技術等により計測して、各吸着ノズル２６の位置の計測データを記憶装置４３に記憶しておく。その上で、まず、図３に示すように、次に吸着する部品（部品供給テープの先頭の部品）の理想吸着点（安定吸着点）を通ってテープフィーダ２３のテープ送り方向であるＹ方向に延びる直線Ａと該部品を吸着する吸着ノズル２６の吸着点の旋回軌跡Ｂとの交点Ｃを補正後の部品吸着位置に設定する。ここで、部品の理想吸着点（安定吸着点）とは、一般に部品の中心又は重心であり、吸着ノズル２６で部品を安定して吸着できる吸着点である。
As advance preparation, the positions of the plurality of suction nozzles 26 held by the rotary head 24 are measured in advance by an image recognition technique or the like, and the measurement data of the positions of the respective suction nozzles 26 is stored in the storage device 43. Then, first, as shown in FIG. 3, the Y direction, which is the tape feeding direction of the tape feeder 23, passes through the ideal suction point (stable suction point) of the next component to be sucked (the first component of the component supply tape). The intersection C between the straight line A extending to the point and the turning locus B of the suction point of the suction nozzle 26 that sucks the component is set as the corrected component suction position. Here, the ideal adsorption point (stable adsorption point) of a component is generally the center or the center of gravity of the component, and is an adsorption point at which the component can be stably adsorbed by the adsorption nozzle 26.
部品吸着位置の具体的な補正方法は、制御装置４１が記憶装置４３に記憶された複数の吸着ノズル２６の位置の計測データの中から次に部品吸着位置へ旋回させる吸着ノズル２６の位置の計測データを検索して、該吸着ノズル２６の位置とロータリーヘッド２４の回転中心の位置と次に吸着する部品の理想吸着点の位置とに基づいて補正後の部品吸着位置を演算する。つまり、吸着ノズル２６の位置とロータリーヘッド２４の回転中心の位置が既知であれば、吸着ノズル２６の吸着点の旋回軌跡Ｂを特定でき、次に吸着する部品の理想吸着点の位置が既知であれば、該部品の理想吸着点からＹ方向に延びる直線Ａを特定できるため、両者の交点Ｃである補正後の部品吸着位置を簡単に演算することができる。尚、ロータリーヘッド２４の回転中心と部品の理想吸着点の位置情報は、予め記憶装置４３に記憶しておけば良い。
A specific method for correcting the component suction position is as follows. The controller 41 measures the position of the suction nozzle 26 that is rotated to the next component suction position from the measurement data of the positions of the plurality of suction nozzles 26 stored in the storage device 43. Data is searched, and the corrected component suction position is calculated based on the position of the suction nozzle 26, the position of the rotation center of the rotary head 24, and the position of the ideal suction point of the next component to be suctioned. In other words, if the position of the suction nozzle 26 and the position of the rotation center of the rotary head 24 are known, the swivel trajectory B of the suction point of the suction nozzle 26 can be specified, and the position of the ideal suction point of the next part to be sucked is known. If there is, it is possible to specify the straight line A extending in the Y direction from the ideal suction point of the component, and therefore it is possible to easily calculate the corrected component suction position which is the intersection C between the two. The position information of the rotation center of the rotary head 24 and the ideal suction point of the component may be stored in the storage device 43 in advance.
この後、制御装置４１は、次に吸着する部品の現在位置と補正後の部品吸着位置Ｃとから補正後の部品吸着位置Ｃへ移動させるのに必要なテープフィーダ２３のテープ送り量を演算すると共に、該部品を吸着する吸着ノズル２６の旋回角度（ロータリーヘッド２４の回転角度）を演算する。その後、制御装置４１は、ロータリーヘッド２４のＸＹ方向の位置を部品吸着ステーションの停止位置で固定し、テープフィーダ２３のテープ送り方向であるＹ方向の部品吸着位置の補正を、該テープフィーダ２３のテープ送り動作により、次に吸着する部品（部品供給テープの先頭の部品）を補正後の部品吸着位置ＣへＹ方向に送ることで行い、テープ送り方向と直角な方向であるＸ方向の部品吸着位置の補正を、ヘッド回転機構３１によるロータリーヘッド２４の回転動作により、該部品を吸着する吸着ノズル２６を補正後の部品吸着位置Ｃへ旋回させることで行う。
Thereafter, the control device 41 calculates the tape feed amount of the tape feeder 23 required to move from the current position of the next component to be suctioned and the corrected component suction position C to the corrected component suction position C. At the same time, the turning angle of the suction nozzle 26 that sucks the component (the rotation angle of the rotary head 24) is calculated. Thereafter, the control device 41 fixes the position of the rotary head 24 in the XY direction at the stop position of the component suction station, and corrects the component suction position in the Y direction that is the tape feeding direction of the tape feeder 23. By the tape feeding operation, the next part to be picked up (the first part of the part supply tape) is sent to the corrected part picking position C in the Y direction, and the part is picked up in the X direction, which is perpendicular to the tape feeding direction. The position is corrected by rotating the suction nozzle 26 for sucking the component to the corrected component suction position C by the rotation operation of the rotary head 24 by the head rotating mechanism 31.
以上のようにして部品吸着位置の補正を完了した後、補正後の部品吸着位置Ｃの上方に位置する吸着ノズル２６を下降させて該吸着ノズル２６に部品を吸着させた後、該吸着ノズル２６を元の高さ位置へ上昇させる。これにより、１本の吸着ノズル２６の部品吸着動作が完了し、以後、残りの全ての吸着ノズル２６について、順番に１本ずつ、部品吸着位置の補正と部品吸着動作を行って、ロータリーヘッド２４に保持された全ての吸着ノズル２６に部品を順番に吸着させる。
After completing the correction of the component suction position as described above, the suction nozzle 26 positioned above the corrected component suction position C is lowered to suck the component onto the suction nozzle 26, and then the suction nozzle 26 Is raised to its original height. As a result, the component suction operation of one suction nozzle 26 is completed, and thereafter, for all the remaining suction nozzles 26, the component suction position correction and the component suction operation are performed one by one in order, and the rotary head 24 is operated. The parts are sucked in order by all the suction nozzles 26 held in the head.
以上説明した本実施例によれば、Ｙ方向の部品吸着位置の補正をテープフィーダ２３のテープ送り動作により行い、Ｘ方向の部品吸着位置の補正をロータリーヘッド２４の回転動作により行うようにしているため、部品吸着位置の補正時にロータリーヘッド２４をヘッド移動機構２５によりＸＹ方向に移動させる必要がなくなり、ロータリーヘッド２４の支持構造の剛性を高めなくても、ＸＹ両方向の部品吸着位置の補正を短時間で行うことができて、生産性を向上できる。
According to the present embodiment described above, correction of the component suction position in the Y direction is performed by the tape feeding operation of the tape feeder 23, and correction of the component suction position in the X direction is performed by the rotation operation of the rotary head 24. Therefore, it is not necessary to move the rotary head 24 in the X and Y directions by the head moving mechanism 25 when correcting the component suction position, and correction of the component suction position in the XY directions can be shortened without increasing the rigidity of the support structure of the rotary head 24. It can be done in time and productivity can be improved.
上記実施例１では、ロータリーヘッド２４で部品を吸着する位置は１箇所のみとしたが、図４に示す本発明の実施例２では、ロータリーヘッド２４の２箇所に２つのＺ軸駆動機構３２を設け、ロータリーヘッド２４の２箇所でそれぞれ吸着ノズル２６を下降させて該吸着ノズル２６に部品を吸着できるようにしている。部品実装機１０にセットした複数のテープフィーダ２３のうちの２つのテープフィーダ２３の部品吸着位置Ｃ１，Ｃ２の上方に２本の吸着ノズル２６を位置させるように部品吸着ステーションの所定位置でロータリーヘッド２４をＸＹ方向への移動を停止させ、上記実施例１と同様の方法で、一方のテープフィーダ２３について部品吸着位置Ｃ１の補正を行って部品吸着動作を行った後、他方のテープフィーダ２３について部品吸着位置Ｃ２の補正を行って部品吸着動作を行うという一連の動作を繰り返して、ロータリーヘッド２４に保持された全ての吸着ノズル２６に順番に部品を吸着させる。補正後の部品吸着位置Ｃ１，Ｃ２の演算方法は、上記実施例１と同じであり、次に吸着する部品（部品供給テープの先頭の部品）の理想吸着点を通ってテープフィーダ２３のテープ送り方向であるＹ方向に延びる直線Ａ１，Ａ２と該部品を吸着する吸着ノズル２６の吸着点の旋回軌跡Ｂとの交点Ｃ１，Ｃ２を補正後の部品吸着位置に設定する。
In the first embodiment, the rotary head 24 picks up only one part. However, in the second embodiment of the present invention shown in FIG. 4, two Z-axis drive mechanisms 32 are provided at two positions of the rotary head 24. The suction nozzle 26 is lowered at two locations on the rotary head 24 so that the parts can be sucked to the suction nozzle 26. A rotary head at a predetermined position of the component suction station so that the two suction nozzles 26 are positioned above the component suction positions C1 and C2 of the two tape feeders 23 of the plurality of tape feeders 23 set in the component mounter 10. 24, the movement in the XY direction is stopped, the component suction position C1 is corrected for one tape feeder 23 and the component suction operation is performed in the same manner as in the first embodiment, and then the other tape feeder 23 is moved. A series of operations of performing the component suction operation by correcting the component suction position C <b> 2 is repeated, and the components are sequentially sucked by all the suction nozzles 26 held by the rotary head 24. The calculation method of the component suction positions C1 and C2 after correction is the same as that of the first embodiment, and the tape feeder 23 feeds the tape through the ideal suction point of the next component to be sucked (the first component of the component supply tape). The intersection points C1 and C2 between the straight lines A1 and A2 extending in the Y direction, which is the direction, and the turning locus B of the suction point of the suction nozzle 26 that sucks the part are set as the corrected part suction position.
図４の構成例では、ロータリーヘッド２４に合計１６本の吸着ノズル２６（Ｎ１～Ｎ１６）が円周方向に２２．５°ピッチで配列されて保持され、２つのテープフィーダ２３の部品吸着位置Ｃ１，Ｃ２の間に３本の吸着ノズル２６が位置するように構成されている。つまり、部品を吸着する２つのテープフィーダ２３の間隔がロータリーヘッド２４の４角度ピッチ（２２．５°×４＝９０°）の間隔に設定されている。
In the configuration example of FIG. 4, a total of 16 suction nozzles 26 (N1 to N16) are arranged and held in the circumferential direction at a pitch of 22.5 ° on the rotary head 24, and the component suction position C1 of the two tape feeders 23 is held. , C2 so that three suction nozzles 26 are positioned. That is, the interval between the two tape feeders 23 that adsorb the parts is set to the interval of the four-angle pitch (22.5 ° × 4 = 90 °) of the rotary head 24.
１６本の吸着ノズル２６（Ｎ１～Ｎ１６）に部品を吸着させる順序は、最初に２つのテープフィーダ２３の部品吸着位置Ｃ１，Ｃ２の上方に位置する２本の吸着ノズル２６（Ｎ１とＮ１３）の位置を順番に補正してそれぞれ部品を吸着した後、ロータリーヘッド２４を１角度ピッチ（２２．５°）±位置ずれ補正量だけ回転させて、次の２本の吸着ノズル２６（Ｎ２とＮ１４）を順番に補正後の部品吸着位置Ｃ１，Ｃ２の上方に位置させて、当該２本の吸着ノズル２６（Ｎ２とＮ１４）にそれぞれ部品を吸着する。以後、同様に、ロータリーヘッド２４を１角度ピッチ（２２．５°）±位置ずれ補正量だけ回転させて、次の２本の吸着ノズル２６（Ｎ３とＮ１５）に部品を吸着した後、ロータリーヘッド２４を１角度ピッチ（２２．５°）±位置ずれ補正量だけ回転させて、次の２本の吸着ノズル２６（Ｎ４とＮ１６）にそれぞれ部品を吸着する。
The order of sucking the components to the 16 suction nozzles 26 (N1 to N16) is as follows. First, the two suction nozzles 26 (N1 and N13) located above the component suction positions C1 and C2 of the two tape feeders 23 are used. After the positions are corrected in order and the respective components are sucked, the rotary head 24 is rotated by one angle pitch (22.5 °) ± the position shift correction amount, and the next two suction nozzles 26 (N2 and N14) Are sequentially positioned above the corrected component suction positions C1 and C2, and the two suction nozzles 26 (N2 and N14) respectively suck the components. Thereafter, similarly, the rotary head 24 is rotated by one angle pitch (22.5 °) ± the positional deviation correction amount, and the components are sucked to the next two suction nozzles 26 (N3 and N15), and then the rotary head 24 is rotated by one angle pitch (22.5 °) ± position shift correction amount, and the components are sucked to the next two suction nozzles 26 (N4 and N16), respectively.
この後、ロータリーヘッド２４を５角度ピッチ（２２．５°×５＝１１２．５°）±位置ずれ補正量だけ回転させて、２本の吸着ノズル２６（Ｎ９とＮ５）にそれぞれ部品を吸着した後、ロータリーヘッド２４を１角度ピッチ（２２．５°）±位置ずれ補正量だけ回転させて、次の２本の吸着ノズル２６（Ｎ１０とＮ６）を順番に補正後の部品吸着位置Ｃ１，Ｃ２の上方に位置させて、当該２本の吸着ノズル２６（Ｎ１０とＮ６）にそれぞれ部品を吸着する。以後、同様に、ロータリーヘッド２４を１角度ピッチ（２２．５°）±位置ずれ補正量だけ回転させて、次の２本の吸着ノズル２６（Ｎ１１とＮ７）に部品を吸着した後、ロータリーヘッド２４を１角度ピッチ（２２．５°）±位置ずれ補正量だけ回転させて、次の２本の吸着ノズル２６（Ｎ１２とＮ８）にそれぞれ部品を吸着する。これにより、ロータリーヘッド２４に保持した合計１６本の吸着ノズル２６（Ｎ１～Ｎ１６）の部品吸着動作が完了する。その他の構成は、前記実施例１と同じである。
Thereafter, the rotary head 24 is rotated by 5 angular pitches (22.5 ° × 5 = 112.5 °) ± the positional deviation correction amount, and the components are sucked to the two suction nozzles 26 (N9 and N5), respectively. Thereafter, the rotary head 24 is rotated by one angle pitch (22.5 °) ± the positional deviation correction amount, and the next two suction nozzles 26 (N10 and N6) are sequentially corrected to the component suction positions C1 and C2. The components are sucked by the two suction nozzles 26 (N10 and N6). Thereafter, similarly, the rotary head 24 is rotated by one angular pitch (22.5 °) ± the positional deviation correction amount, and the components are sucked to the next two suction nozzles 26 (N11 and N7), and then the rotary head 24 is rotated by one angle pitch (22.5 °) ± the positional deviation correction amount, and the components are sucked to the next two suction nozzles 26 (N12 and N8), respectively. Thereby, the component suction operation of a total of 16 suction nozzles 26 (N1 to N16) held in the rotary head 24 is completed. Other configurations are the same as those of the first embodiment.
以上説明した本実施例２では、ロータリーヘッド２４の２箇所に２つのＺ軸駆動機構３２を設けているため、ヘッド回転機構３１によりロータリーヘッド２４を１角度ピッチ（２２．５°）±位置ずれ補正量だけ回転させることで、２個分の部品の吸着が可能になり、生産性を向上できる。
In the second embodiment described above, since two Z-axis drive mechanisms 32 are provided at two locations on the rotary head 24, the rotary head 24 is displaced by one angular pitch (22.5 °) ± position by the head rotating mechanism 31. By rotating by the correction amount, two parts can be sucked and productivity can be improved.
尚、本発明は、ロータリーヘッド２４の３箇所以上にそれぞれＺ軸駆動機構３２を設けて、ロータリーヘッド２４の３箇所以上で吸着ノズル２６を下降させて部品吸着動作させるように構成しても良い。
In the present invention, the Z-axis drive mechanism 32 may be provided at three or more locations of the rotary head 24, and the suction nozzle 26 may be lowered at three or more locations of the rotary head 24 to perform the component suction operation. .
その他、本発明は、上記各実施例１，２の構成に限定されず、部品実装機１０の構成を変更しても良い等、要旨を逸脱しない範囲内で種々変更して実施できることは言うまでもない。
In addition, the present invention is not limited to the configuration of each of the first and second embodiments, and it is needless to say that various modifications can be made without departing from the gist, such as the configuration of the component mounter 10 may be changed. .
１０…ロータリーヘッド型部品実装機、１２…回路基板、１３…コンベア、２３…テープフィーダ、２４…ロータリーヘッド、２５…ヘッド移動機構、２６…吸着ノズル、３１…ヘッド回転機構、３２…Ｚ軸駆動機構、３３…ノズル回転機構、４１…制御装置、４３…記憶装置（記憶手段）
DESCRIPTION OF SYMBOLS 10 ... Rotary head type component mounting machine, 12 ... Circuit board, 13 ... Conveyor, 23 ... Tape feeder, 24 ... Rotary head, 25 ... Head moving mechanism, 26 ... Suction nozzle, 31 ... Head rotating mechanism, 32 ... Z-axis drive Mechanism 33 ... Nozzle rotation mechanism 41 ... Control device 43 ... Storage device (storage means)
Claims (3)
- 部品供給テープの送り動作により該部品供給テープに収容された部品を部品吸着位置へ送るテープフィーダと、
円周方向に所定間隔で複数の吸着ノズルを保持するロータリーヘッドと、
前記ロータリーヘッドを回転させることで前記複数の吸着ノズルを該ロータリーヘッドの回転方向に旋回させるヘッド回転機構と、
前記部品吸着位置の上方に位置する吸着ノズルを下降させて該吸着ノズルに部品を吸着させるＺ軸駆動機構と、
部品吸着動作を行う部品吸着ステーションと部品実装動作を行う部品実装ステーションとの間を前記ロータリーヘッドをＸＹ方向に移動させるヘッド移動機構と
を備えたロータリーヘッド型部品実装機の部品吸着位置補正システムにおいて、
前記部品吸着位置を補正する場合に、次に吸着する部品の理想吸着点を通って前記テープフィーダのテープ送り方向に延びる直線と該部品を吸着する吸着ノズルの吸着点の旋回軌跡との交点を補正後の部品吸着位置に設定すると共に、前記ロータリーヘッドのＸＹ方向の位置を前記部品吸着ステーションの停止位置で固定し、前記テープフィーダのテープ送り方向であるＹ方向の部品吸着位置の補正は、該テープフィーダのテープ送り動作により該部品を前記補正後の部品吸着位置へ送ることで行い、前記テープ送り方向と直角な方向であるＸ方向の部品吸着位置の補正は、前記ヘッド回転機構による前記ロータリーヘッドの回転動作により該吸着ノズルを前記補正後の部品吸着位置へ旋回させることで行うことを特徴とするロータリーヘッド型部品実装機の部品吸着位置補正システム。 A tape feeder that sends a component housed in the component supply tape to a component suction position by a feeding operation of the component supply tape;
A rotary head that holds a plurality of suction nozzles at predetermined intervals in the circumferential direction;
A head rotation mechanism for rotating the plurality of suction nozzles in the rotation direction of the rotary head by rotating the rotary head;
A Z-axis drive mechanism for lowering the suction nozzle located above the component suction position and sucking the component to the suction nozzle;
In a component suction position correction system for a rotary head type component mounting machine, comprising: a head moving mechanism that moves the rotary head in the X and Y directions between a component suction station that performs a component suction operation and a component mounting station that performs a component mounting operation ,
When correcting the component suction position, the intersection of the straight line extending in the tape feeding direction of the tape feeder through the ideal suction point of the next component to be suctioned and the turning locus of the suction point of the suction nozzle that sucks the component is While setting the corrected component suction position, the position of the rotary head in the XY direction is fixed at the stop position of the component suction station, and the correction of the component suction position in the Y direction, which is the tape feeding direction of the tape feeder, The tape feeder performs the tape feeding operation to send the component to the corrected component suction position, and the correction of the component suction position in the X direction, which is a direction perpendicular to the tape feeding direction, is performed by the head rotation mechanism. The rotary head is rotated by rotating the suction nozzle to the corrected component suction position. Component suction position correction system type component mounting apparatus. - 予め前記複数の吸着ノズルの位置が計測されてその位置データが記憶手段に記憶され、
前記記憶手段に記憶された位置データの中から次に部品吸着位置へ旋回させる吸着ノズルの位置データを検索して、該吸着ノズルの位置と前記ロータリーヘッドの回転中心の位置と次に吸着する部品の理想吸着点の位置とに基づいて前記補正後の部品吸着位置を演算すると共に、前記補正後の部品吸着位置へ移動させるのに必要な前記テープフィーダのテープ送り量と前記ロータリーヘッドの回転角度を演算する演算手段を備えていることを特徴とする請求項１に記載のロータリーヘッド型部品実装機の部品吸着位置補正システム。 The positions of the plurality of suction nozzles are measured in advance, and the position data is stored in the storage means,
The position data of the suction nozzle to be rotated to the next component suction position is retrieved from the position data stored in the storage means, and the position of the suction nozzle, the position of the rotation center of the rotary head, and the next component to be suctioned The corrected component suction position is calculated based on the position of the ideal suction point, and the tape feed amount of the tape feeder and the rotation angle of the rotary head required to move to the corrected component suction position The component suction position correcting system for a rotary head type component mounting machine according to claim 1, further comprising a calculating means for calculating - 部品供給テープの送り動作により該部品供給テープに収容された部品を部品吸着位置へ送るテープフィーダと、
円周方向に所定間隔で複数の吸着ノズルを保持するロータリーヘッドと、
前記ロータリーヘッドを回転させることで前記複数の吸着ノズルを該ロータリーヘッドの回転方向に旋回させるヘッド回転機構と、
前記部品吸着位置の上方に位置する吸着ノズルを下降させて該吸着ノズルに部品を吸着させるＺ軸駆動機構と、
部品吸着動作を行う部品吸着ステーションと部品実装動作を行う部品実装ステーションとの間を前記ロータリーヘッドをＸＹ方向に移動させるヘッド移動機構と
を備えたロータリーヘッド型部品実装機の部品吸着位置補正方法において、
前記部品吸着位置を補正する場合に、次に吸着する部品の理想吸着点を通って前記テープフィーダのテープ送り方向に延びる直線と該部品を吸着する吸着ノズルの吸着点の旋回軌跡との交点を補正後の部品吸着位置に設定すると共に、前記ロータリーヘッドのＸＹ方向の位置を前記部品吸着ステーションの停止位置で固定し、前記テープフィーダのテープ送り方向であるＹ方向の部品吸着位置の補正は、該テープフィーダのテープ送り動作により該部品を前記補正後の部品吸着位置へ送ることで行い、前記テープ送り方向と直角な方向であるＸ方向の部品吸着位置の補正は、前記ヘッド回転機構による前記ロータリーヘッドの回転動作により該吸着ノズルを前記補正後の部品吸着位置へ旋回させることで行うことを特徴とするロータリーヘッド型部品実装機の部品吸着位置補正方法。 A tape feeder that sends a component housed in the component supply tape to a component suction position by a feeding operation of the component supply tape;
A rotary head that holds a plurality of suction nozzles at predetermined intervals in the circumferential direction;
A head rotation mechanism for rotating the plurality of suction nozzles in the rotation direction of the rotary head by rotating the rotary head;
A Z-axis drive mechanism for lowering the suction nozzle located above the component suction position and sucking the component to the suction nozzle;
In a component suction position correction method for a rotary head type component mounting machine, comprising: a head moving mechanism that moves the rotary head in the XY direction between a component suction station that performs a component suction operation and a component mounting station that performs a component mounting operation ,
When correcting the component suction position, the intersection of the straight line extending in the tape feeding direction of the tape feeder through the ideal suction point of the next component to be suctioned and the turning locus of the suction point of the suction nozzle that sucks the component is While setting the corrected component suction position, the position of the rotary head in the XY direction is fixed at the stop position of the component suction station, and the correction of the component suction position in the Y direction, which is the tape feeding direction of the tape feeder, The tape feeder performs the tape feeding operation to send the component to the corrected component suction position, and the correction of the component suction position in the X direction, which is a direction perpendicular to the tape feeding direction, is performed by the head rotation mechanism. The rotary head is rotated by rotating the suction nozzle to the corrected component suction position. Component suction position correcting method of the type mounter.
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