JPH08111598A - Surface mounting machine - Google Patents

Abstract

(57) [Abstract] [Purpose] To simplify the control for component recognition and reduce the time required for component recognition in a surface mounting machine having a head unit equipped with a large number of suction nozzles. [Structure] A plurality of suction nozzles 22 are arranged in a head unit 5 of a surface mounter, and a component recognition unit 30 including a laser generator 31 and a light receiver 32 is provided, and the laser generator 31 and the light receiver are provided. 32 is arranged in a range corresponding to the suction nozzle arrangement range, and the light receiving section 32 is composed of line sensors 32a to 32d. Then, the control means causes the suction nozzles 22 to rotate while the components sucked by the suction nozzles are located between the irradiation unit and the light receiving unit, and the line sensors 32a to 32d of the light receiving unit 32 are rotated. In response to the signal from, the components 35 sucked by the suction nozzles 22 are recognized at the same time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a head unit equipped with a suction nozzle for sucking electronic components from a component supply section and mounting them on a printed circuit board. In particular, the head unit has a plurality of suction nozzles. The present invention also relates to a surface mounter including a component recognition unit including a parallel light beam irradiation unit and a light receiving unit.

[0002]

2. Description of the Related Art Conventionally, a component suction head unit having a suction nozzle sucks an electronic component such as an IC from a component supply unit and transfers it onto a printed circuit board that has been positioned to a predetermined position on the printed circuit board. A surface mounter adapted to be mounted is generally known. In this type of mounting machine, it is required to determine whether or not the component suction is normally performed by the suction nozzle, and if the component suction position is misaligned, correct the mounting position accordingly. It Therefore, the head unit is equipped with a laser unit for recognizing a component having a laser generator that emits a parallel light beam and a light receiving unit that faces the laser generator, and the component sucked by the suction nozzle is the laser generator. While rotating the suction nozzle while being positioned between the light receiving part,
It is known that a component is irradiated with a laser beam to obtain a projection width of the component, and component recognition based on the projection width is used to check a component suction state and a suction position.

In particular, a head unit is provided with a plurality of suction nozzles to improve the efficiency of component mounting work, and the laser unit is used to recognize the components sucked by the suction nozzles. There is. For example, in the mounting machine disclosed in Japanese Patent Application Laid-Open No. 6-61694, a laser generating unit and a light receiving unit are arranged on both sides of a portion where a plurality of suction nozzles are located, and the light receiving unit has
The projection width detection areas corresponding to the sizes of the components sucked by the suction nozzles are allocated, and the projection width of the corresponding component is detected for each of the projection width detection regions.

[0004]

In the mounting machine as disclosed in the above publication, when the number of suction nozzles provided in the head unit is increased, control for component recognition, particularly projection on the light receiving portion of the laser unit is performed. The process of allocating the width detection area becomes complicated.

In addition, one component is attached to each suction nozzle.
If the recognition is performed one by one, it takes a long time to recognize all of the components sucked by the large number of suction nozzles. Therefore, it is conceivable to recognize the components sucked by the respective suction nozzles at the same time, but even in this case, if the number of suction nozzles increases,
While the suction nozzle is rotated, the time required to capture a signal when the signal is captured from the light receiving unit to the calculation unit to obtain the projection width at regular intervals is increased, and therefore the time required for component recognition is increased. That is, the light receiving section is generally composed of a line sensor in which elements such as CCDs are arranged in a row, and signals are sequentially taken in from one end side thereof, so that it corresponds to the arrangement range of a large number of suction nozzles. When the line sensor is made longer, the time required to capture a signal from the line sensor becomes longer accordingly.

In view of the above-mentioned circumstances, the present invention provides a head unit having a large number of suction nozzles.
An object of the present invention is to provide a surface mounter capable of simplifying control for component recognition and shortening the time required for component recognition.

[0007]

According to the present invention, a suction nozzle provided on a head unit movable between a component supply side and a mounting side, a rotation driving means for rotating the suction nozzle, and a collimated light beam irradiation section. And a component recognition unit that has a light receiving unit and that radiates parallel rays to the component that is suctioned by the suction nozzle to detect the projection width of the component, and that is suctioned by the suction nozzle based on the detection by the component recognition unit. In the surface mounter having means for recognizing the component, a plurality of suction nozzles are arranged in the head unit, and the irradiation unit and the light receiving unit of the component recognition unit correspond to the suction nozzle arrangement range. The light receiving section is arranged to face each other in the range, and the light receiving section is composed of a plurality of line sensors, and the parts sucked by the respective suction nozzles are used as the irradiation section. A control means is provided which simultaneously receives the signals from the line sensors while rotating the suction nozzles while being positioned between the suction unit and the light unit, and simultaneously recognizes the components sucked by the suction nozzles. is there.

In this surface mounter, it is preferable that the rotation driving means is composed of one servo motor and a transmission mechanism for transmitting the drive of the servo motor to each of the suction nozzles.

[0009]

According to the surface mounter having the above structure, since the head unit is provided with a plurality of suction nozzles, the efficiency of suction and mounting work of components can be improved, and after the suction of the components by each suction nozzle, the components are Since the component recognition using the recognition unit is simultaneously performed on the components sucked by the respective suction nozzles, the efficiency of the recognition process can be improved. In particular, since the light receiving portion of the component recognizing unit is configured by the line sensor divided into a plurality of parts, processing such as allocation of the projection width detection region to each component is simplified and the signal from the light receiving portion is Is taken in to perform the calculation processing of the projection width and the like, the processing time is shortened by simultaneously taking in the signals from the respective line sensors.

Further, if the rotary drive means is composed of one servo motor and a transmission mechanism for transmitting the drive of the servo motor to each of the suction nozzles, the structure of the drive system is simplified.

[0011]

Embodiments of the present invention will be described with reference to the drawings.

1 and 2 show the overall structure of a surface mounter according to an embodiment of the present invention. In these figures, a conveyor 2 for carrying a printed circuit board is arranged on a base 1 of the surface mounter, and the printed circuit board 3 is carried on the conveyor 2 and stopped at a predetermined mounting work position. It has become.

On the side of the conveyor 2, a parts supply section 4 is provided.
Is arranged. The component supply unit 4 includes a component supply feeder, for example, a multi-row tape feeder 4a.
It has. Each tape feeder 4a has an I
Electronic parts such as C, transistors and capacitors are stored and held at predetermined intervals so that the held tape can be drawn out from the reel, and a ratchet-type feeding mechanism is provided at the tape feeding end, and the head unit 5 described later provides parts. As the tape is picked up, the tape is delivered intermittently.

Above the base 1, a head unit 5 for mounting components is provided. The head unit 5 is movable across the component supply unit 4 and the component mounting unit where the printed circuit board 3 is located.
It can move in the axial direction (direction of the conveyor 2) and the Y-axis direction (direction orthogonal to the X-axis on the horizontal plane).

That is, a pair of fixed rails 7 extending in the Y-axis direction and a ball screw shaft 8 rotatably driven by a Y-axis servomotor 9 are arranged on the base 1, and the fixed rails 7 are mounted on the fixed rail 7. A head unit support member 11 is arranged in the head unit, and a nut portion 12 provided on the support member 11 is screwed onto the ball screw shaft 8. A guide member 13 extending in the X-axis direction and a ball screw shaft 14 driven by an X-axis servomotor 15 are arranged on the support member 11, and the head unit 5 can be moved on the guide member 13. A nut portion (not shown) that is held and provided on the head unit 5 is screwed onto the ball screw shaft 14. The operation of the Y-axis servomotor 9 moves the support member 11 in the Y-axis direction, and the operation of the X-axis servomotor 15 causes the head unit 5 to move in the X-axis direction with respect to the support member 11. ing.

FIG. 3 shows the structure of the head unit 5. In this figure, the head unit 5 includes
A plurality of nozzle members 20 for adsorbing components, each of which has a suction nozzle 22 attached to a hollow nozzle shaft 21, are provided.
In this embodiment, eight nozzle members 20 are arranged so as to be aligned in the X-axis direction. Each of the nozzle members 20 is held by the head unit body 5 so as to be able to move up and down and rotate, and each of the nozzle members 20 is individually moved up and down by the servo motors 23 of the Z1 axis to the Z8 axis, and is rotationally driven. The nozzle members 20 are simultaneously driven to rotate by the means.

The rotation driving means is composed of one R-axis servomotor 24 provided on the side of the head unit and a transmission mechanism. That is, a drive pulley 25 is provided on the drive shaft driven by the R-axis servomotor 24, and a driven pulley 26 is provided on the nozzle guide that rotates integrally with each nozzle member 20. Timing belt 2 on driven pulley 26
By winding 7 around, the R-axis servo motor 24
Is transmitted to each nozzle member 20.

Further, a negative pressure for attracting components is supplied to each nozzle member 20 from a vacuum generating means (not shown) via a valve or the like.

Further, a laser unit (a component recognition unit) 30 is provided below the head unit 5. As shown in FIG. 4, the laser unit 30 has a laser generation part (parallel light irradiation part) 31 and a light receiving part 32. The laser generating unit 31 and the light receiving unit 32 are arranged so as to face each other on both sides of the suction nozzle arrangement portion, and are provided over a predetermined range in the X-axis direction corresponding to the suction nozzle arrangement range. Then, the laser light emitted from the laser generating unit 31 is received by the light receiving unit 32, and when the component 35 sucked by the suction nozzle 22 is at a predetermined recognition height, a part of the laser light is blocked by the component 35. By doing so, the projected width of the component can be detected.

The light receiving section 32 is composed of a plurality of divided line sensors, and in this embodiment, it is composed of four line sensors 32a to 32d. Each of the line sensors 32a to 32d has CCD elements arranged in a line. The line sensors 32a to 32d are arranged in a straight line, and are arranged so as to correspond to two suction nozzles 22 each.

FIG. 5 shows an embodiment of the control system.
In this figure, the mounting machine is provided with a main controller 40,
The main controller 40 is provided with an axis controller (driver) 41, an input / output means 42, and a main calculation section 43. The Y-axis servo motor 9, the X-axis servo motor 15, and the Z1-axis to Z8-axis servo motors 2 in the head unit 5 are also provided.
The 3 and R-axis servomotors 24 are respectively provided with position detecting means 44, 45, 46, 47 which are composed of encoders, and these position detecting means 44 to 47 are connected to the axis controller 41 of the main controller 40. Has been done. This axis controller 4
1, the drive control of each servo motor 9, 15, 23, 24 is performed.

The laser unit 30 is electrically connected to a laser unit computing section 48 provided in the head unit 5. This laser unit computing unit 48
Receives a signal from the position detecting means 47 of the R-axis servomotor 24 and a signal output from each of the line sensors 32a to 32d of the light receiving section 32 of the laser unit 30, and calculates a nozzle rotation angle and a component. The projection width is calculated. The laser unit computing section 48 is connected to the main computing section 43 via the input / output means 42 of the main controller 40.

Reference numeral 49 denotes an interference position detecting means provided in the head unit 5 for detecting whether or not the suction nozzle 22 is at a height position where it does not interfere with other members even if the head unit 5 moves. The interference position detecting means 49 is also connected to the input / output means 42 of the main controller 40.

The main controller 40 and the laser unit computing section 48 constitute control means. This control means controls each process of suctioning, recognizing, and mounting of the component, and particularly when recognizing the component, the component 35 sucked by each of the suction nozzles 22 is connected to the laser generator 31 of the laser unit 30. Receiving the signals from the line sensors 32a to 32d of the light receiving unit 32 while rotating the respective suction nozzles 22 while being positioned between the light receiving units 32, the recognition of the components sucked by the respective suction nozzles 22. Are to be performed at the same time.

An example of control of such a mounting machine will be described with reference to the flowchart of FIG.

When the mounting operation is started, the head unit 5 is first moved to the component supply unit 4 (step S1), and the component 35 is sucked by each suction nozzle 22 (step S).
2). That is, negative pressure is supplied to the suction nozzle 22, and the suction nozzle 22 is lowered to a position where it abuts against the component 35, and the component 35 is suctioned. In this case, when the arrangement of the respective suction nozzles 22 and the arrangement of the parts to be sucked correspond to each other, the respective suction nozzles 22 are simultaneously operated to perform the simultaneous suction, and when the simultaneous suction is difficult, the respective suction nozzles are 22 may be sequentially operated to perform continuous adsorption. Alternatively, some of the suction nozzles 22 are simultaneously suctioned,
Other may be continuous adsorption.

After the component suction, the suction nozzles 22 are raised to the recognition height position set according to the components, and when all the suction nozzles 22 are raised above the interference position, the head unit 5 on the printed circuit board. The movement of is started. Then, it is determined whether or not all the suction nozzles 22 have reached the recognition height position (step S3), and when the suction height positions have been reached, the component recognition process causes the components suctioned by the suction nozzles 22 to be recognized. About at the same time.

In this part recognition process, the R-axis servomotor 24 is driven to drive all the suction nozzles 22.
Are simultaneously rotated, and the projection width of each component is obtained based on the signals from the line sensors 32a to 32d for each fixed minute rotation angle (step S4). Then, it is determined whether or not the suction nozzles 22 are rotated by a predetermined angle (step S5). If the suction nozzles 22 are rotated by the predetermined angle, the rotation and the projection width detection are ended, and the suction nozzles 22 are suctioned based on the detection data. For each of the components, the component suction state is determined and the mounting position correction amount is calculated (step S6).

The determination of the component suction state and the calculation of the correction amount may be performed by the conventional method. For example, the length of the long side and the short side of the component 35 is determined based on the minimum value of the projection width. Then, the presence or absence of the suction failure is determined by comparing with the component data, and based on the rotation angle and the projection center position when the projection width is minimum, the X, Y and R directions (corresponding to the suction deviation). The correction amount in the rotation direction) may be calculated.

When the component recognition processing is completed, the component 35 is mounted at the corrected mounting position (step S7). In addition,
If there is a recognition error (such as suction failure), the component is re-sucked (steps S8 and S9), and step S
The process from 3 is repeated.

According to the mounting machine of this embodiment as described above,
Since the head unit 5 is provided with the large number of suction nozzles 22, the components can be sucked and mounted efficiently. Further, since the head unit 5 is provided with the laser unit 30 for recognizing the component, the component is recognized while the head unit 5 moves onto the printed board after the component is sucked, and the suction nozzles 22 are provided. The efficiency of the component recognition process is improved by simultaneously recognizing the components sucked by the components.

In particular, the light receiving portion 32 of the laser unit 30 is divided into a plurality of line sensors 32a to 32b.
And the signals from these line sensors are simultaneously captured by the laser unit computing section 48, the time required for the component recognition processing is shortened. That is,
At the time of component recognition, while the suction nozzles 22 are being rotated, the signal from the line sensor is taken in at every fixed minute rotation angle to detect the projection width, and this processing is repeated until the rotation is performed by a predetermined angle. However, in this case, in the case where one long line sensor is arranged in the range corresponding to a large number of suction nozzles, the time required for signal acquisition for each constant minute rotation angle becomes long, and the rotation speed of the nozzle member must be slowed down. There is. On the other hand, when signals are simultaneously captured from a plurality of (four) line sensors 32a to 32b that are divided as in the present embodiment, the signal capturing process time for each minute rotation is shortened. As a result, the rotation speed of the nozzle member is increased, and the time required for the component recognition process is shortened.

Further, if it is attempted to detect the projection widths of a large number of parts at the same time by a series of undivided line sensors, the process of allocating the projection width detection areas corresponding to the respective parts becomes complicated. According to the embodiment, the line sensors 32a to 32 are divided into four for the eight suction nozzles 22.
By arranging b, each line sensor has only to detect the projection width of two parts,
Processing such as allocation of the projection width detection area is simplified, and processing time therefor is also shortened.

In the above embodiment, the head unit 5
Although eight suction nozzles 22 are provided in the above, the number of suction nozzles is not limited to this, and may be any number. Further, the number of divisions of the line sensor forming the light receiving section 32 of the laser unit 30 is not limited to the above embodiment, and may be the same as the number of suction nozzles.

[0035]

As described above, according to the surface mounter of the present invention, a plurality of suction nozzles provided in the head unit can efficiently suck and mount components, and the parallel light irradiator and the light receiver. The component recognition unit having the parts and arranged in a range corresponding to the suction nozzle arrangement range can effectively recognize the components sucked by the suction nozzles. In particular, the light receiving portion is composed of a plurality of divided line sensors, and the components sucked by the suction nozzles are simultaneously recognized based on the signals from the line sensors. Even when the number of suction nozzles to be processed increases, it is possible to easily recognize the components sucked by each suction nozzle and reduce the time required for the recognition process.

[Brief description of drawings]

FIG. 1 is a schematic plan view of an entire surface mounter according to an embodiment of the present invention.

FIG. 2 is a schematic front view of the surface mounter.

FIG. 3 is a front view of a head unit in the surface mounter.

FIG. 4 is a bottom view showing a laser unit provided in the head unit.

FIG. 5 is a block diagram showing a control system.

FIG. 6 is a flowchart showing an example of mounting processing including suction, recognition, and mounting of components.

[Explanation of symbols]

 3 Printed Circuit Board 5 Head Unit 22 Suction Nozzle 24 R Axis Servo Motor 30 Laser Unit (Component Recognition Unit) 31 Laser Generation Section (Irradiation Section) 32 Light Receiving Section 32a, 32b, 32c, 32d Line Sensor

Claims (2)

[Claims] 1. A suction nozzle provided on a head unit that is movable between a component supply side and a mounting side, a rotation driving means for rotating the suction nozzle, and a collimated light beam irradiation section and a light receiving section. A component recognition unit for irradiating the component sucked by the nozzle with parallel rays to detect the projected width of the component, and a unit for recognizing the component suctioned by the suction nozzle based on the detection by the component recognition unit. In the surface mounter equipped with, a plurality of suction nozzles are arranged in the head unit, and the irradiation unit and the light receiving unit of the component recognition unit are arranged to face each other in a range corresponding to the suction nozzle arrangement range. In addition, the light receiving section is composed of a plurality of divided line sensors, and the components sucked by the suction nozzles are located between the irradiation section and the light receiving section. A surface mounter characterized by further comprising a control means for simultaneously receiving the signals from the respective line sensors and recognizing the components sucked by the respective suction nozzles while rotating the respective suction nozzles in this state. 2. The rotation driving means comprises one servomotor and a transmission mechanism for transmitting the drive of the servomotor to each of the suction nozzles.
The surface mounter described.