WO2018127965A1

WO2018127965A1 - Automatic feeder switching system of component packaging line

Info

Publication number: WO2018127965A1
Application number: PCT/JP2017/000218
Authority: WO
Inventors: 英俊川合; 規生細井
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2017-01-06
Filing date: 2017-01-06
Publication date: 2018-07-12
Also published as: JP6751445B2; JPWO2018127965A1

Abstract

The present invention is provided with: an automatic switching device (26) that moves along a row of a plurality of component packaging machines (12) that configure a component packaging line (10), and automatically switches feeders (14) mounted on feeder mounting tables (24) of the component packaging machines; reference position parts (81) that are respectively provided in prescribed positions of the feeder mounting tables of each component packaging machine, on the side facing the automatic switching device; and a detecting part (82) provided on the automatic switching device so as to detect the reference position parts. The automatic switching device controls the movement positions of the automatic switching device with respect to the feeder mounting tables of each component packaging machine based on the positions where the reference position parts of the feeder mounting tables of each component packaging machine are detected by the detecting part when moving.

Description

Automatic feeder replacement system for component mounting lines

The present specification provides an automatic feeder replacement system for a component mounting line, which includes an automatic replacement device that automatically replaces a feeder mounted on a feeder mounting table of a plurality of component mounting machines arranged along a circuit board conveyance direction. The technique regarding is disclosed.

This kind of component mounting line feeder automatic exchange system is based on the arrangement of a plurality of component mounting machines constituting the component mounting line, as described in Patent Document 1 (International Publication WO2014 / 010083). An automatic changer (exchange robot) is movably installed in the moving lane provided, and the automatic changer is moved to the front of the component mounter instructed by a production job (production program), etc. The feeder mounted on the feeder mounting table is automatically replaced. In this system, when controlling the movement position of the automatic exchange device, the rotation angle of the motor as a drive source for moving the automatic exchange device is detected by an encoder or the like, and the movement of the automatic exchange device is based on the detected value. The moving position of the automatic changer is controlled by measuring the distance.

International Publication No. WO2014 / 010083

By the way, if each of the plurality of component mounting machines constituting the component mounting line is accurately installed without positional deviation, the correspondence between the movement distance of the automatic changer and the position of each of the plurality of component mounting machines Although there is no deviation, in reality, there is a possibility that each of the plurality of component mounting machines may be slightly shifted in position, so the moving distance of the automatic changer and each of the plurality of component mounting machines There may be a deviation in the correspondence with the position of. If this correspondence is deviated, the movement position of the automatic changer cannot be accurately controlled for each of the plurality of component mounters, and the automatic changer is not connected to the feeder mounting table of each component mounter. Automatic exchange may fail.

In order to solve the above-described problem, a plurality of component mounters are arranged in a transport path for transporting a circuit board, and the plurality of component mounters are mounted on a feeder mount base of each component mounter. In a feeder automatic exchange system for a component mounting line for mounting a component to be supplied on the circuit board, the component is moved along an array of the plurality of component mounting machines and placed on a feeder mounting table of each of the component mounting machines. An automatic exchanging device for automatically exchanging the feeder, a reference position portion provided in a predetermined part on the side facing the automatic exchanging device of the feeder mounting table of each component mounting machine, and the automatic exchanging device. A detection unit provided so as to detect the reference position unit, and the automatic changer is configured such that the detection unit detects a reference position unit of a feeder mounting table of each of the component mounters during movement. Wherein based on the is obtained so as to control the moving position of the automatic changer for feeder table of each component mounting apparatus.

In this configuration, since the reference position portion is provided for each feeder mounting table of each component mounting machine, when the automatic changing device moves along the arrangement of a plurality of component mounting devices, the detecting portion of the automatic changing device However, it is possible to control the movement position of the automatic exchanging device with respect to the feeder mounting table of each component mounting machine based on the position where the reference position portion of the feeder mounting table of each component mounting machine is detected. For this reason, even when each of a plurality of component mounters constituting the component mounting line is installed with a slight shift, each component mounter is not affected by the position shift of each component mounter. It is possible to accurately control the movement position of the automatic changer with respect to the feeder mounting table, and it is possible to prevent the automatic changer from failing to automatically change the feeder due to the displacement of each component mounting machine.

In this case, the automatic changer is configured such that when the feeder is automatically exchanged with respect to the feeder mounting table of each component mounting machine, the detection unit detects the reference position of the feeder mounting table of each component mounting machine. The height of the feeder mounting table of each of the component mounting machines may be measured based on the height, the height of the feeder on the feeder mounting table may be determined, and the feeder may be automatically replaced. In this way, the height of the feeder mounting table of each component mounting machine and the feeder mounting position are determined based on the height of the position where the detection unit of the automatic changer device detects the reference position of the feeder mounting table of each component mounting machine. Because the height of the feeder on the mounting table can be measured, even if the height of the feeder mounting table of each component mounting machine is slightly shifted, the automatic changer will It is possible to prevent failure of automatic feeder replacement.

Furthermore, a configuration may be adopted in which a plurality of reference position portions are provided on the feeder mounting table of each component mounting machine. In this way, even if there is a position shift or a height shift of each slot (set position of each feeder) of each feeder mounting table due to the inclination of the feeder mounting table of each component mounting machine, etc. By detecting a plurality of reference positions and using them as a reference, the automatic changer can cope with the position shift and height shift of each slot (set position of each feeder) due to the tilt of the feeder mounting table. it can.

In addition, a reference position portion is provided on an end surface on the take-out direction side of the feeder, and the automatic exchange device is provided with a feeder position detection portion that detects the reference position portion of the feeder. The feeder position detection unit measures the position of the feeder based on the position at which the reference position portion of the feeder is detected on the feeder mounting table of each of the component mounting machines, detects the positional deviation amount unique to the feeder, and the feeder. When the position of the automatic changer is replaced with another position, the movement position of the automatic exchange device may be corrected by an amount of positional deviation unique to the feeder. In this way, the automatic exchanging device can cope with a position shift unique to each feeder on the feeder mounting table.

The amount of positional deviation unique to each feeder detected by the automatic exchange device may be stored in the storage unit of each feeder, or the feeder is identified in the storage unit of the automatic exchange device or an external storage device that can communicate with the automatic exchange device. You may make it preserve | save corresponding to information.

Also, the feeder mounting table may be attached to the component mounter in a replaceable manner. When the feeder mounting table is replaceable with respect to the component mounting machine, the position of the feeder mounting table may be shifted each time the feeder mounting table is replaced. This prevents the automatic changer from failing to automatically change the feeder.

FIG. 1 is a perspective view showing the configuration of the entire component mounting line in one embodiment. FIG. 2 is a perspective view schematically showing configurations of the automatic changer and the component mounter. FIG. 3 is a perspective view showing the feeder mounting table. FIG. 4 is a block diagram schematically showing a configuration of a control system of a component mounting line with an automatic changer. FIG. 5 is a perspective view showing a cassette type feeder.

Hereinafter, an embodiment will be described.
First, the configuration of the component mounting line 10 will be described with reference to FIGS.
The component mounting line 10 is configured by arranging a plurality of component mounting machines 12 along the conveying direction (X direction) of the circuit board 11, and the circuit board 11 is soldered to the board loading side of the component mounting line 10. And a feeder storage device 19 for storing a cassette type feeder 14 (see FIG. 5).

As shown in FIG. 2, each component mounter 12 has a feeder mounting table 24 (FIG. 1, FIG. 1) on which two conveyors 13 for transporting the circuit board 11 and a plurality of cassette-type feeders 14 are mounted in a replaceable manner. 3), and a mounting head 15 that holds a suction nozzle (not shown) that sucks and mounts components supplied from the cassette-type feeder 14 mounted on the feeder mounting base 24 on the circuit board 11, A head moving device 16 that moves the mounting head 15 in the X and Y directions (left and right and front and rear directions), and a component imaging camera 17 (see FIG. 4) that images the component sucked by the suction nozzle from below are provided. A mark imaging camera 18 (see FIG. 4) for imaging a reference mark (not shown) on the circuit board 11 is attached to the head moving device 16 so as to move integrally with the mounting head 15 in the XY directions. .

In addition, as shown in FIG. 4, the control device 20 of the component mounting machine 12 includes an input device 21 such as a keyboard, a mouse, and a touch panel, a hard disk, a RAM, a ROM, and the like that store various control programs and various data. Are connected to a display device 23 such as a liquid crystal display or a CRT. The control device 20 of each component mounter 12 is connected to a production management computer 70 that manages the production of the entire component mounting line 10 via a network, and the production management computer 70 manages the production of the entire component mounting line 10.

Each component mounting machine 12 of the component mounting line 10 conveys the circuit board 11 conveyed from the upstream component mounting machine 12 to a predetermined position by the conveyor 13 and uses the clamp mechanism (not shown) to move the circuit board 11. After clamping and positioning, the reference mark of the circuit board 11 is imaged by the mark imaging camera 18 to recognize the position of the reference mark (reference position of the circuit board 11) and supplied from the cassette type feeder 14 The component to be picked up is picked up by the pick-up nozzle of the mounting head 15, moved from the pick-up position to the image pick-up position, and picked up by the component image pick-up camera 17 from the lower face side to pick up the pick-up position deviation amount of the component Etc., the component is mounted on the circuit board 11 on the conveyor 13 so as to correct the amount of suction position deviation, and a component mounting board is produced.

Next, the structure of the cassette type feeder 14 will be described with reference to FIG.
The cassette case 32 of the cassette-type feeder 14 is formed of a transparent or opaque plastic plate or metal plate or the like, and its side surface (cover) can be opened and closed. In the cassette case 32, a tape loading unit 35 for loading a tape reel 34 around which the component supply tape 33 is wound so as to be detachable (replaceable) is provided. A reel holding shaft 36 that rotatably holds the tape reel 34 is provided at the center of the tape loading unit 35.

Inside the cassette case 32, a tape feed mechanism 38 for feeding the component supply tape 33 pulled out from the tape reel 34 to the component suction position, and a top film 40 (also called a cover tape) from the component supply tape 33 before the component suction position. A top film peeling mechanism 39 for peeling and exposing the components in the component supply tape 33 is provided.

The tape feed mechanism 38 is composed of a sprocket 42 provided near the lower part of the component suction position, a motor 43 for rotating the sprocket 42, and the like, and is formed on one side edge of the component supply tape 33 at a predetermined pitch. By engaging the teeth of the sprocket 42 with the tape feed hole and rotating the sprocket 42, the component supply tape 33 is pitch-fed to the component suction position.

The top film peeling mechanism 39 includes a tape press 45 for peeling the top film 40 from the upper surface of the component supply tape 33 by pressing the component supply tape 33 before the component suction position, and the top film peeled by the tape press 45 A top film feed gear mechanism 47 that pulls 40 in a direction opposite to the tape feed direction and feeds it into a top film collection unit 46 provided at the top of the cassette case 32, a motor 48 that drives the top film feed gear mechanism 47, and the like It is composed of

A waste tape 33a (only the carrier tape from which the top film 40 has been peeled off in this embodiment) from which the components have been taken out after passing through the component suction position is located below the edge of the cassette case 32 on the tape feed direction side. A waste tape discharge passage 50 is provided so as to extend downward, and an outlet 50a of the waste tape discharge passage 50 is provided at a position below the center of the end face of the cassette case 32 on the tape feed direction side. ing.

In the cassette case 32, a control device 52 for controlling the motor 43 of the tape feeding mechanism 38 and the motor 48 of the top film peeling mechanism 39 is provided. In addition, although not shown, the cassette case 32 is provided with a communication / power connector connected to a communication / power connector on the component mounter 12 side.

As shown in FIG. 1, on the front side of the component mounting line 10, an automatic changer 26 for setting and removing the cassette type feeder 14 on the feeder mounting base 24 of each component mounting machine 12 is installed. A stock unit 71 for storing a plurality of feeders 14 to be set on the feeder mounting table 24 is provided below the feeder mounting table 24 of each component mounting machine 12. The automatic changer 26 takes out the feeder 14 to be exchanged from the feeder mounting table 24 of the plurality of component mounting machines 12 and collects it in the stock unit 71, and also feeds the feeder 14 specified by the production job (production program) from the stock unit 71. Is taken out and set on the feeder mounting table 24 of the plurality of component mounting machines 12.

On the front side of the component mounting line 10, a guide rail 75 that moves the automatic changer 26 in the X direction (left and right direction) along the arrangement of the component mounting machines 12 is provided so as to extend in the X direction throughout the component mounting line 10. It has been. The substrate loading side of the guide rail 75 is extended to the feeder storage device 19, the automatic exchange device 26 moves to the front side of the feeder storage device 19, and the automatic exchange device 26 is designated by the production job from the feeder storage device 19. The feeder 14 is taken out, and the used feeder 14 is returned to the feeder storage device 19.

The feeder mounting table 24 of each component mounting machine 12 is attached so as to be replaceable, and the operator can replace the feeder mounting table 24 attached to each component mounting machine 12. A predetermined position on the front end side of the feeder mounting table 24 of each component mounting machine 12 that faces the automatic changer 26 (however, a position that does not obstruct the insertion and removal of the feeder 14) is the reference position of the feeder mounting table 24, respectively. One or a plurality of reference position portions 81 are provided. As shown in FIGS. 2 and 3, when two reference position portions 81 are provided on the front end side of the feeder mounting table 24, they are preferably provided on both the left and right sides of the front end side of the feeder mounting table 24. Further, when only one reference position portion 81 is provided on the front end side of the feeder mounting table 24, it is preferable to provide it at the center on the front end side of the feeder mounting table 24.

Correspondingly, a reference position detection unit 82 (see FIG. 4), which is a detection unit for detecting the reference position unit 81 of the feeder mounting table 24, is provided at a predetermined position of the automatic exchange device 26. The reference position detection unit 82 may use, for example, any of a non-contact type sensor such as an optical sensor, a proximity sensor, and an ultrasonic sensor, a contact type sensor such as a limit switch, and an image sensor (camera). When the reference position detection unit 82 is a non-contact type sensor or a contact type sensor, the reference position part 81 is formed in a shape such as a dog or a reference surface so that the sensor can detect the reference position part 81 of the feeder mounting table 24. Just do it. In addition, when the reference position detection unit 82 is an image sensor (camera), if the reference position part 81 of the feeder mounting table 24 is imaged and the image is processed so that the position of the reference position part 81 can be recognized. For example, a reference mark capable of recognizing an image or a specific shape may be formed as the reference position portion 81.

The reference position detection unit 82 of the automatic exchange device 26 measures the reference position portions 81 of all the feeder platforms 24 mounted on all the component mounting machines 12 and the reference position portions 83 of all the feeders 14 described later, Store that information. Each feeder mounting table 24 and each feeder 14 is provided with serial number (identification ID) information, and when the replacement of the feeder mounting table 24 or the feeder 14 is detected, the automatic replacement device 26 performs a measurement operation. To do.

The control device 90 of the automatic exchange device 26 is based on the position (X coordinate) at which the reference position detection unit 82 detects the reference position portion 81 of the feeder mounting table 24 of each component mounting machine 12 when the automatic exchange device 26 moves. The movement position (X coordinate) of the automatic changer 26 with respect to the feeder mounting table 24 of each component mounting machine 12 is controlled. Further, when the control device 90 of the automatic exchange device 26 automatically replaces the feeder 14 with respect to the feeder mounting table 24 of each component mounting machine 12, the reference position detection unit 82 makes the feeder mounting table 24 of each component mounting machine 12. The height of the feeder mounting table 24 of each component mounting machine 12 is measured with reference to the height of the position where the reference position portion 81 is detected, and the height of the feeder 14 on the feeder mounting table 24 is determined. The feeder 14 is automatically exchanged.

In this case, if a plurality of reference position portions 81 are provided on the feeder mounting table 24 of each component mounting machine 12 (two in the example of FIGS. 2 and 3), the feeder of each component mounting machine 12 is provided. Even if there is a position shift or a height shift of each slot (set position of each feeder 14) of each feeder mounting table 24 due to the inclination of the mounting table 24, the plurality of reference position portions 81 of the feeder mounting table 24 are changed. By detecting them and using them as a reference, the control device 90 of the automatic exchange device 26 can correct the positional deviation and height deviation of each slot (set position of each feeder 14) due to the inclination of the feeder mounting table 24. Thus, it is possible to prevent the automatic exchange of the feeder 14 from failing.

Furthermore, in this embodiment, as shown in FIG. 5, one reference position portion 83 is provided on the end surface of the feeder 14 on the take-out direction side. Correspondingly, a feeder position detector 84 that detects the reference position portion 83 of the feeder 14 is provided at a predetermined position of the automatic exchange device 26. The feeder position detection unit 84 may use any of a non-contact type sensor such as an optical sensor, a proximity sensor, and an ultrasonic sensor, a contact type sensor such as a limit switch, and an image sensor (camera). When the feeder position detection unit 84 is a non-contact type sensor or a contact type sensor, if the reference position part 83 is formed in a shape such as a dog or a reference surface so that the sensor can detect the reference position part 83 of the feeder 14. good. Further, when the feeder position detection unit 84 is an image sensor (camera), the reference position unit 83 of the feeder 14 may be imaged, and the image may be processed so that the position of the reference position unit 83 can be recognized. For example, a reference mark capable of recognizing an image or a specific shape may be formed as the reference position portion 83.

The control device 90 of the automatic exchange device 26 is based on the position where the feeder position detection unit 84 detects the reference position portion 83 of the feeder 14 on the feeder mounting table 24 of each component mounting machine 12 when the automatic exchange device 26 moves. The position of the feeder 14 is measured to detect the amount of misalignment unique to the feeder 14, and when the feeder 14 is transferred to another position on the feeder mounting table 24 or another feeder mounting table 24, The movement position of the automatic exchanging device 26 is corrected by the amount of positional deviation. In this way, the control device 90 of the automatic exchange device 26 can correct the positional deviation unique to each feeder 14 on the feeder mounting table 24, and can prevent the automatic exchange of the feeder 14 from failing.

The positional deviation amount specific to each feeder 14 detected by the control device 90 of the automatic exchange device 26 may be stored in a rewritable nonvolatile storage unit (not shown) of each feeder 14, or the automatic exchange device 26. The rewritable nonvolatile storage device 92 or an external storage device (not shown) that can communicate with the automatic exchange device 26 may be stored in association with the identification information of the feeder 14. In short, it is only necessary to store the inherent positional deviation amount for each feeder 14 so that it can be used for correcting the positional deviation.

According to the present embodiment described above, since the reference position portion 81 is provided for each feeder mounting table 24 of each component mounting machine 12, the automatic changer 26 follows the arrangement of a plurality of component mounting machines 12. When moving, the reference position detection unit 82 of the automatic changer 26 detects the reference position part 81 of the feeder mounting table 24 of each component mounting machine 12 and the feeder mounting table 24 of each component mounting machine 12 is used as a reference. The moving position of the automatic exchange device 26 can be controlled. For this reason, even when each of the plurality of component mounting machines 12 constituting the component mounting line 10 is installed with a slight displacement, each component mounting machine 12 is not affected by the positional displacement of each component mounting machine 12. The moving position of the automatic changer 26 can be accurately controlled with respect to the feeder mounting table 24 of the mounting machine 12, and the automatic changer 26 fails to automatically change the feeder 14 due to the displacement of each component mounting machine 12. Can be prevented.

In addition, when the control device 90 of the automatic exchange device 26 automatically replaces the feeder 14 with respect to the feeder mounting table 24 of each component mounting machine 12, the reference position detection unit 82 performs the feeder mounting table 24 of each component mounting machine 12. The height of the feeder mounting table 24 of each component mounting machine 12 is measured with reference to the height of the position where the reference position portion 81 is detected, and the height of the feeder 14 on the feeder mounting table 24 is determined. Since the feeder 14 is automatically replaced, even if the height of the feeder mounting table 24 of each component mounting machine 12 is slightly shifted, the height of the feeder mounting table 24 of each component mounting machine 12 is shifted. Thus, it is possible to prevent the automatic changer 26 from failing to automatically change the feeder 14.

In this embodiment, since the feeder mounting table 24 is attached to each component mounting machine 12 in a replaceable manner, the position of the feeder mounting table 24 may be shifted every time the feeder mounting table 24 is replaced. However, if configured as in the present embodiment, it is possible to prevent the automatic exchanging device 26 from failing to automatically replace the feeder 14 due to the displacement of the feeder mounting table 24.

However, this invention is good also as a structure which cannot replace | exchange the feeder mounting base 24 attached to the component mounting machine 12. FIG.
In addition, this invention is not limited to the said Example, It does not deviate from a summary, such as changing the structure of the component mounting machine 12 and the structure of the automatic exchange apparatus 26 suitably, and changing the structure of the feeder 14 suitably. Needless to say, various modifications can be made within the scope.

DESCRIPTION OF SYMBOLS 10 ... Component mounting line, 11 ... Circuit board, 12 ... Component mounting machine, 13 ... Conveyor, 14 ... Cassette type feeder, 15 ... Mounting head, 16 ... Head moving device, 20 ... Control device of component mounting machine, 24 ... Feeder mounting table, 26... Automatic changer, 81... Reference position part, 82... Reference position detection part (detection part), 83... Reference position part, 84 ... feeder position detection part, 90. …Storage device

Claims

A plurality of component mounting machines are arranged in a transport path for transporting a circuit board, and the plurality of component mounting machines are configured to supply components supplied from a feeder mounted on a feeder mounting table of each component mounting machine. In the feeder automatic replacement system for component mounting lines mounted on
An automatic exchanging device that moves along the arrangement of the plurality of component mounting machines and automatically replaces the feeder mounted on the feeder mounting table of each of the component mounting machines;
Reference position portions respectively provided at predetermined portions on the side facing the automatic exchange device among the feeder mounting tables of the component mounting machines,
A detection unit provided to detect the reference position unit in the automatic exchange device,
The automatic changer is configured to move the automatic changer relative to the feeder mounting table of each component mounter with reference to the position at which the detection unit detects the reference position of the feeder mount of each component mounter during movement. Feeder automatic replacement system for component mounting line.
The automatic exchanging device is configured such that when the feeder is automatically exchanged with respect to the feeder mounting table of each component mounting machine, the detection unit detects a reference position portion of the feeder mounting table of each component mounting machine. The height of the feeder mounting table of each of the component mounting machines is measured based on the height, the height of the feeder on the feeder mounting table is determined, and the feeder is automatically replaced. Automatic feeder replacement system for component mounting lines.
The feeder automatic replacement system for a component mounting line according to claim 1 or 2, wherein a plurality of the reference position portions are respectively provided on a feeder mounting table of each component mounting machine.
A reference position portion is provided on an end surface on the take-out direction side of the feeder,
The automatic exchange device is provided with a feeder position detection unit for detecting a reference position part of the feeder,
The automatic exchanging device measures the position of the feeder based on the position at which the feeder position detection unit detects the reference position portion of the feeder on the feeder mounting table of each component mounting machine during movement, and is unique to the feeder. The component according to any one of claims 1 to 3, wherein a position shift amount is detected, and the moving position of the automatic changer is corrected by an amount of a position shift unique to the feeder when the feeder is replaced with another position. Automatic feeder replacement system for the mounting line.
5. The feeder automatic replacement system for a component mounting line according to claim 4, wherein the automatic replacement device stores the detected positional deviation amount unique to the feeder in a storage unit of the feeder.
The feeder mounting exchange system for a component mounting line according to any one of claims 1 to 5, wherein the feeder mounting table is attached to the component mounter in a replaceable manner.