KR20160040410A - A component keeping head for surface mounter - Google Patents

Abstract

According to an aspect of the present invention, there is provided a spindle comprising: a spindle rotatable in a T direction about an axis and capable of ascending and descending in a Z direction along an axial direction; a lifting portion for lifting and lowering the spindle in the Z direction; And a landing detection sensor that detects the landing of the component holding unit by raising and lowering in the Z direction in conjunction with the elevating unit to generate a landing detection signal, wherein the landing detecting sensor detects the landing of the component And a sensor unit for measuring the amount of received light of the reflected light, wherein when the amount of received light decreases below a threshold value, the landing detection signal is generated Wherein the landing detection sensor is arranged such that, prior to landing of the component holding portion, There is provided a component holding head for a surface-emitting-body, which generates an abnormal signal when the amount of received light of the reflected light after the end of the rotating operation deviates from a preset allowable range.

Description

[0001] The present invention relates to a component holding head for a surface mounter,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component holding head having a component holding portion for holding a component in a surface mount body on which components (electronic components) such as IC chips are mounted on a substrate.

In general, the surface mount machine moves the component holding head above the component supplying section, and thereafter performs a descending / ascending operation (ascending and descending operation) of the nozzle serving as the component holding section provided in the component holding head to vacuum- Then, after the component holding head is moved to the upper side of the substrate, the nozzle is lowered and raised again above the substrate to mount the component at a predetermined coordinate position on the substrate.

As described above, when picking up a part by lowering or raising the nozzle, if the lowering stroke of the nozzle is excessively large, there is a greater risk that the lower end of the nozzle strongly presses the upper surface of the part, and if the lowering stroke of the nozzle is excessively small The nozzle can not be landed on the upper surface of the component, so that the component can not be picked up.

The same applies to the case where components are mounted on a substrate. That is, if the lower stroke of the nozzle is excessively large, there is a greater risk that the component attracted to the lower end of the nozzle will be destroyed by strongly pressing the substrate. If the downward stroke of the nozzle is too small, the component can not land on the upper surface of the substrate, I can not. Therefore, the descending stroke of the nozzle must be precisely controlled.

As a method for accurately controlling the descent stroke of the nozzle, Japanese Patent No. 3543044 discloses a method using detection means for detecting the landing of the nozzle.

The applicant of the present application likewise proposed a method using a reflection type optical sensor (optical fiber sensor) as a landing detection sensor in Japanese Patent Application No. 2013-212220 as a method for accurately controlling the descending stroke of the nozzle. The optical fiber sensor has a light emitting portion that emits light toward the reflection surface of the outer periphery of the nozzle, a light receiving portion that receives the reflected light reflected from the reflection surface, and a sensor portion that can continuously measure the light receiving amount of the reflected light. It is determined that the nozzle has landed and a landing detection signal is generated.

That is, the light emitted from the light emitting portion of the optical fiber sensor is focused on the reflecting surface when the nozzle is not landed, and when the nozzle is landed and its position in the vertical direction changes, The amount of reflected light decreases and the amount of light received by the light receiving portion of the optical fiber sensor decreases. Specifically, as shown in Fig. 6, which will be described later, the threshold value H is set as a reference, and when the amount of received light decreases to the threshold value H or less, it is determined that the landing is landed and the descent of the nozzle is stopped based on that point. Thereby, the descending stroke of the nozzle can be accurately controlled.

However, according to the experience of the present inventors, there have been cases where the reflection surface on the outer periphery of the nozzle is dirty or the reflection plate for constituting the reflection surface on the nozzle is not provided. In this case, since a sufficient amount of received light can not be obtained from the pre-landing state, even if the landing of the nozzle can not be detected or can be detected, the accuracy is lowered.

The inventors of the present invention have found that, in order to precisely detect the landing of a nozzle by a landing detection sensor such as an optical fiber sensor as a reflection type optical sensor, it is necessary that the optical system of the nozzle itself, such as the reflection surface becoming dirty, It was recognized that it was necessary to be able to accurately detect abnormality online.

According to one aspect of the present invention, there is provided a component holding head for a surface-root-sealed long-range component having a landing detecting sensor for detecting landing of a component holding portion (nozzle) So that it is possible to accurately detect the optical abnormality of the optical system on-line.

According to an aspect of the present invention, there is provided a spindle comprising: a spindle rotatable in a T direction about an axis and capable of ascending and descending in a Z direction along an axial direction; an elevating part for elevating and descending the spindle in the Z direction; And a landing detection sensor that ascends and descends in the Z direction in association with the landing portion and detects that the component holding portion has landed and generates a landing detection signal, And a sensor unit for measuring the amount of received light of the reflected light, wherein when the amount of received light decreases to a threshold value or less, the light amount of the light reflected by the light- And the landing detection sensor generates a landing detection signal before landing the component holding portion, If after this rotation operation end face outside the acceptable range the received light amount is preset in the reflected light, there is provided a surface mounting machine of the component holding head for generating a fault signal.

A plurality of spindles are arranged along a circumferential direction of a rotary head provided so as to be rotatable in the direction of R around the vertical axis of the head main body. The landing detection sensor is configured such that, before landing the component holding portion, An abnormal signal can be generated when the amount of received light of the reflected light after the rotation operation of the spindle in the T direction and the rotation operation in the R direction is out of the preset allowable range.

Here, when the light receiving amount of the reflected light after completion of the T direction rotating operation and the R direction rotating operation of the spindle on which the component holding section is mounted is within the allowable range before landing the component holding section, The threshold value can be set.

The apparatus according to claim 1, further comprising an ascending / descending control means for controlling the ascending / descent of the component holding section by controlling the ascending / descending of the ascending / descending section, wherein the descending control means controls the descent of the component holding section And when the lift control unit receives the abnormal signal, the component holding unit can be raised when the component holding unit reaches the landing target position regardless of whether the landing detection signal is received or not.

Here, the landing detection sensor may be configured such that, when the received light amount of the reflected light after the rotation of the spindle in which the component holding portion is mounted is completed in the T direction is within the allowable range, Can be set.

As described above, according to one aspect of the present invention, it is possible to detect whether there is an optical abnormality on-line on the part holding unit itself by determining whether the light receiving amount in the pre-landing state deviates from the allowable range.

Further, according to one aspect of the present invention, the light receiving amount after the end of the rotational operation in the T direction (or the T direction and the R direction) of the spindle on which the component holding portion is mounted is used as the light receiving amount in the pre- . This light receiving amount is in the same posture (posture in the rotational direction) as that of the final posture at the time of landing the component holding portion, so that optical anomaly of the component holding portion can be accurately detected. For example, when there is dirt on a part of the reflection surface of the component holding portion in the T direction, whether the dust affects the light receiving amount depends on the T direction posture of the component holding portion. The optical anomaly of the component holding portion can be accurately detected by measuring the light receiving amount in the pre-landing state in the same attitude.

According to an aspect of the present invention, when an abnormality signal indicating an optical abnormality of the component holding portion is generated, the following countermeasures can be taken by the elevation control means for controlling the elevation of the component holding portion. Here, the elevation control means controls the elevation of the component holding portion by controlling the elevation of the elevation portion, and controls the descent of the component holding portion with the descending profile directed to the predetermined landing target position. When the abnormality signal is received, the elevation control means raises the component holding portion when the component holding portion reaches the landing target position regardless of whether the landing detection signal is received or not. This makes it possible to prevent the component holding portion from falling excessively beyond the landing target position even when an accurate landing detection signal can not be obtained due to an optical abnormality in the component holding portion.

Further, in the present invention, when the light reception amount in the pre-landing state is within the permissible range, that is, when it is determined that there is no optical abnormality in the component holding section itself, a threshold value for landing detection can be set based on the light reception amount in the pre- . This makes it possible to set an appropriate threshold value in accordance with the optical constancy of the individual component holding portions and to improve the robustness (robustness) of the landing detecting function by the landing detecting sensor.

The component holding head according to one aspect of the present invention can accurately detect on-line the optical abnormality of the component holding portion itself which is an obstacle to the landing detection by the landing detecting sensor. Thereby, when there is an optical abnormality in the component holding portion itself, there is an effect that the countermeasure can be executed quickly and accurately.

1 is a perspective view showing a component holding head according to an embodiment of the present invention.
Fig. 2 is an explanatory view showing a mechanism for lifting and lowering the spindle (nozzle) in the Z direction in the component holding head of Fig. 1;
Fig. 3 is an explanatory view showing a configuration around the elevating portion in a mechanism for moving the spindle (nozzle) in Fig. 2 in the Z direction.
Fig. 4 is a view showing a state in which the spindle (nozzle) is lowered by the lifting portion shown in Fig. 2, (a) is a view showing a state where the spindle (nozzle) (Nozzle) is lowered. Fig.
5 is an enlarged perspective view of a nozzle portion mounted at a lower end of a spindle according to an embodiment of the present invention.
6 is a diagram schematically showing changes in the amount of received light of the optical fiber sensor when the nozzle according to the embodiment of the present invention is landed.
7 is a diagram conceptually showing an optical abnormality detection method and a threshold value setting method of the component holding unit according to the embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. In the present specification and drawings, the same reference numerals are used for constituent elements having substantially the same configuration, and redundant description is omitted.

1 is a perspective view showing a component holding head according to an embodiment of the present invention.

1, the component holding head 10 is a rotary head type component holding head in which a rotary head 30 is rotatably mounted on a fixed head body 20 in the R direction around a vertical axis Is installed. A plurality of spindles 31 are arranged at regular intervals along the circumferential direction of the rotary head 30. A nozzle 32 is mounted as a component holding portion for holding and holding a component at the lower end of each spindle 31 have.

The rotary head 30 can be rotated in the R direction by driving the R servo motor 21 provided on the head main body 20. [ Each of the spindles 31 can be rotated in the T direction around the axis of each spindle 31 by driving the T servo motor 22 provided on the head main body 20.

The head main body 20 is also provided with a Z servomotor 23 for lowering the spindle 31a at a specific position in the Z-axis direction. A mechanism for rotating the rotary head 30 in the R direction by driving the R servo motor 21 and a mechanism for rotating each spindle 31 in the T direction by driving the T servo motor 22 And therefore the description thereof is omitted here. A mechanism for lowering the spindle 31a by driving the Z servomotor 23 will be described below.

2 is an explanatory diagram showing a mechanism for lifting and lowering the spindle 31a in the Z direction in the component holding head 10 of Fig. The motor shaft of the Z servomotor 23 disposed in the head main body 20 is connected to the screw shaft 24a of the ball screw mechanism 24 and the nut 24b is mounted on the screw shaft 24a. The nut 24b is connected to the elevating portion 25. Therefore, by the operation of the Z servomotor 23, the elevation portion 25 moves together with the nut 24b in the Z direction.

Only one elevating portion 25 is provided on the head body 20 side. When the spindle 31 is lowered, the spindle 31 (the spindle 31a at the specific position) lowering among the plurality of spindles 31 is relatively moved by moving the spindle 31 relative to the elevating portion 25 And descends the elevating part 25 to lower the spindle 31a and the nozzle 32 at the lower end thereof.

3, by rotating the rotary head 30 in the R direction, the spindle 31a to be lowered by relatively moving the spindle 31 relative to the elevation portion 25 is moved to the elevation portion 25). Then, the spindle 31a immediately below the elevating part 25 is lowered by pressing the elevating part 25. Here, the configuration for selecting and lowering the spindle 31a at a specific position is not limited to the above-described configuration. For example, the spindle 31a may be selected so that the spindle 31 is not moved to select the descending spindle 31a, but rather the descending portion 25 is moved down. Here, there may be two or more specific positions.

2, a connecting bar 26 is connected to the nut 24b to which the elevating part 25 is connected, a spline nut 28 is connected to the connecting bar 26, and a spline nut 28 The optical fiber sensor 40 is provided.

A spline shaft 27 is fixedly provided on the head main body 20 and a spline nut 28 is provided on the spline shaft 27 so as to be slidable. That is, the optical fiber sensor 40 is provided integrally with the elevating portion 25. [ Therefore, when the elevation portion 25 is moved in the Z direction by the driving of the Z servomotor 23, the optical fiber sensor 40 moves in the Z direction in conjunction with this, which is shown in FIG.

Fig. 4A is a view showing a state in which the spindle 31a shown in Fig. 2 is in an initial position, Fig. 4B is a view showing a state in which the spindle 31a shown in Fig. As shown in Fig. Here, the spindle 31 is always elastically supported toward the initial position by an elastic body 33 (see Fig. 2) composed of two coil springs.

On the other hand, the optical fiber sensor 40 is a landing detection sensor, in which the light emitting portion and the light receiving portion are sandwiched together with an optical fiber, a lens, etc., and the configuration itself is well known.

2, the optical fiber sensor 40 in the present embodiment is provided with a nozzle 32 mounted on the lower end of the spindle 31 via a coil spring 34 as an elastic member in an oblique direction Respectively. The light emitting portion of the optical fiber sensor 40 irradiates light P in an oblique downward direction toward the reflecting surface 32a on the outer peripheral upper surface of the nozzle 32 shown in FIG. The irradiated light P is reflected by the reflecting surface 32a and the reflected light is received by the light receiving portion of the optical fiber sensor 40. [

Here, the nozzle 32 is attached to the lower end of the spindle 31 with the coil spring 34 interposed therebetween, as described above. The coil spring 34 is compressed and the relative position of the nozzle 32 with respect to the spindle 31 is changed in the vertical direction when the nozzle 32 is landed while the spindle 31 descends. More specifically, the nozzle 32 moves relatively toward the lower end side of the spindle 31. [ Here, the fact that the nozzle 32 is 'landed' means that a force acts from below the nozzle 32. In such a case, in the pickup process of the component, the nozzle 32 moves downward, And a case where a component adsorbed and held on the lower end of the nozzle 32 is landed on the upper surface of the substrate in the process of mounting the component.

On the other hand, the light P irradiated from the light emitting portion of the optical fiber sensor 40 is focused by the lens 40a on the reflecting surface 32a in the initial state in which the nozzle 32 is not landed. When the position of the nozzle 32 relative to the spindle 31 is changed in the up and down direction of the nozzle 32, the amount of the reflected light reflected by the reflecting surface 32a decreases and the amount of reflected light from the light receiving portion of the optical fiber sensor 40 The amount of received light to be received decreases (see Fig. 6). In this embodiment, the measurement of the amount of received light (measurement of the amount of received light, etc.) is detected by the sensor unit 40b of the optical fiber sensor 40. [

The sensor unit 40b continuously measures the received light amount as much as possible, and generates a predetermined signal when the amount of decrease of the received light amount reaches a predetermined value. Specifically, when the amount of received light is reduced by a predetermined amount, the sensor unit 40b specifically determines that the nozzle 32 is landed when the threshold value H is lower than the threshold value H shown in FIG. 6, for example, and generates a landing detection signal.

Next, an optical abnormality detection method and a threshold value setting method of the nozzle 32 according to the present invention will be described with reference to FIG. 7 shows a mounting process of mounting the component 60 on the substrate 70. The optical anomaly detection method and the threshold value H setting method of the nozzle 32 are the same in the component pickup process.

In Fig. 7, the Z-direction descending operation (Z-axis descending) of the nozzle 32 is started at the point A. In the initial stage of the Z-axis descent, the spindle 31a and the nozzle 32 descend with the T direction rotation operation (T axis rotation) and the R direction rotation operation (R axis rotation) described in FIG.

After that, the sensor portion 40b of the optical fiber sensor 40 detects the actual received light amount at the end of the T-axis rotation and the R-axis rotation (point B in Fig. 7) before landing the nozzle 32 to be detected It is determined whether or not it is within a preset allowable range. If the amount of light received at the time point B is within the permissible range, the optical fiber sensor 40 automatically sets the threshold value H instantaneously based on the amount of light received at time point B, and judges whether the nozzle 32 landed on the basis of the threshold value H do. In the example of FIG. 7, since the amount of light received at the point C is equal to or less than the threshold value H, it is determined that the nozzle 32 landed at this point. This threshold value setting is repeated for every component mounting (pickup) operation of the nozzle 32, and the threshold value H is updated each time.

On the other hand, when the amount of received light at the point B is out of the permissible range, the optical fiber sensor 40 judges that there is an optical abnormality in the nozzle 32 and generates an abnormal signal. When the control unit 50 (elevation control means, see Fig. 2) for controlling the Z servomotor 23 receives this abnormal signal, the control unit 50 controls the Z servomotor 23 to detect whether or not the landing detection signal is received The nozzle 32 is raised when the nozzle 32 reaches the landing target position.

Here, the landing target position is set based on the apparatus configuration data of the surface real organs, the height data of the board and the parts, and the like, and is given to the control unit 50 in advance. The control unit 50 controls the Z servomotor 23 to control the descent of the nozzle 32 with a descent profile toward the target landing position (for example, a Z-axis velocity profile as shown in Fig. 7) do.

7, the control unit 50 (the Z servomotor 23) normally triggers the reception of the landing detection signal and controls the lowering of the nozzle 32 in consideration of the required amount of pressurization . However, when an abnormal signal indicative of an optical abnormality of the optical fiber sensor 40 is received, since the accurate landing detection signal can not be obtained, the control unit 50 (Z servomotor 23) When the nozzle 32 reaches the landing target position, the nozzle 32 is raised. Thereby, it is possible to prevent the nozzle 32 from being excessively lowered.

It is also possible to grasp the time at which the T-axis rotation and the R-axis rotation, which are timings of the setting of the threshold value H, are ended by the control program of the component-holding head, The time point B in Fig. 7 can be determined based on the encoder value of the Z servomotor 23 for moving the nozzle 32 up and down.

In this manner, it is possible to accurately detect the optical anomaly of the nozzle 32 by determining whether there is an optical abnormality in the nozzle 32 based on the actual received light amount after the T axis rotation and the R axis rotation are completed. That is, for example, when there is a part of the reflection surface 32a of the nozzle 32 around the T direction, whether the dust affects the amount of received light depends on the T direction posture of the nozzle 32, It is possible to accurately detect the optical anomaly of the nozzle 32 by measuring the light reception amount in the pre-landing state in the same posture as the final posture at the landing of the nozzle 32. [

Similarly, by setting the threshold value H based on the actual received light amount after the T axis rotation and the R axis rotation are completed, the optimum threshold value H can be set for each nozzle 32 to be detected. That is, the threshold value H set based on the light reception amount in the pre-landing state which is the same as the final posture at the landing of the nozzle 32 is optimum as the determination reference value of the landing detection due to the decrease of the light reception amount. By determining whether the nozzle 32 is landed using the threshold value H set for each nozzle 32 as described above, the amount of light received in each of the nozzles 32 before landing changes depending on the difference in the property of the nozzle 32 or the like The robustness of the landing detection function by the optical fiber sensor 32 is improved.

In the above configuration, the surface mount machine having the component holding head 10 picks up and holds the component from the component supply unit by the nozzle 32 mounted at the lower end of the spindle 31, transfers it to the printed board, Place the part in position.

The sensor section 40b of the optical fiber sensor 40 determines whether or not there is an optical abnormality of the nozzle 32 in the above-described manner, and when there is no abnormality, the threshold value H set for each nozzle 32 It is determined whether the nozzle 32 is landed on the basis of the landing detection signal. This landing detection signal is transmitted to the control unit 50 shown in Fig. When the control unit 50 receives the landing detection signal, the Z servomotor 23 for lowering the elevating unit 25 is stopped in consideration of a predetermined pushing amount. Thereby, the descending stroke of the nozzle 32 is accurately controlled, and the nozzle 32 is correctly landed.

On the other hand, when the optical abnormality of the nozzle 32 is detected, the optical fiber sensor 40 issues an abnormality signal as described above, and the control section 50 which receives the abnormality signal controls the Z servomotor 23 The nozzle 32 is raised when the nozzle 32 reaches the landing target position regardless of whether or not the landing detection signal is received.

The sensor unit 40b of the optical fiber sensor 40 is provided separately from the control unit 50 but the function of the sensor unit 40b may be incorporated into the control unit 50. [ Further, the control section 50 may be assembled to the Z servomotor 23. [ As the landing detection sensor, a reflection type optical sensor other than the optical fiber sensor 40 may be used. The present invention is also applicable to a component holding head other than a rotary head type, that is, a component holding head not accompanied by a rotational movement in the R direction. In this case, the optical abnormality detection of the nozzle 32 and the setting of the threshold value H are performed after the end of T axis rotation.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, You will understand the point. Accordingly, the true scope of protection of the present invention should be determined only by the appended claims.

The present invention can be used in the manufacture and application of surface mounts for mounting components.

10: part holding head 20: head body
30: Rotary head 31: Spindle
32: nozzle 40: optical fiber sensor
50:

Claims (5)

A spindle which is rotatable in the T direction around the axis and is movable up and down in the Z direction along the axial direction;
A lifting portion for lifting the spindle in the Z direction;
A component holder attached to the lower end of the spindle with an elastic member; And
And a landing detection sensor that ascends and descends in the Z direction in association with the elevation portion and detects that the component holding portion has landed and generates a landing detection signal,
Wherein the landing detection sensor has a light emitting portion that emits light toward a reflecting surface of the component holding portion, a light receiving portion that receives reflected light reflected by the reflecting surface, and a sensor portion that measures a light receiving amount of the reflected light, The landing detection signal is generated,
Wherein the landing detection sensor is a sensor for generating an abnormal signal when the amount of received light of the reflected light after the rotation of the spindle in which the component holding portion is mounted is completed before landing the component holding portion, Of the component holding head. The method according to claim 1,
A plurality of spindles are arranged along the circumferential direction of a rotary head provided so as to be rotatable in the R direction around the vertical axis of the head main body,
The landing detection sensor may detect an abnormal signal when the amount of received light of the reflected light after the rotation operation in the T direction and the rotation direction in the R direction of the spindle on which the component holder is mounted is out of a predetermined allowable range before landing the component holder A component holding head of a surface bearing body to be produced. 3. The method of claim 2,
Wherein the landing detection sensor is configured to detect a landing position of the component holding unit based on the received light amount when the received light amount of the reflected light after the T direction rotating operation and the R direction rotating operation of the spindle on which the component holding unit is mounted is within the allowable range, To set the threshold value. The method according to claim 1,
Further comprising elevation control means for controlling the elevation of said elevation /
The elevation control means controls the descent of the component holding portion with a descending profile directed to a predetermined landing target position,
Wherein the component holding section lifts the component holding section when the component holding section reaches the landing target position regardless of whether the landing detection signal is received or not when the lift control section receives the abnormal signal. The method according to claim 1,
The landing detection sensor sets the threshold value on the basis of the received light amount when the received light amount of the reflected light after the rotation of the spindle in which the component holding portion is mounted is completed in the T direction before landing the component holding portion A component holding head for a surface mount.

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