JP2002073175A - XY moving device and control method thereof - Google Patents

Abstract

(57) Abstract: Provided is an XY moving device capable of performing an operation accurately and promptly by correcting a gain of a control signal according to a moving position of a moving body, and a control method thereof. An XY moving device according to the present invention includes a moving body extending left and right, an object to be transported supported by the moving body, and moving body driving means (22) for moving the moving body.
a, 22b), an object driving means (24) for moving the object to be conveyed, a position detecting means (23) for detecting the positions of the moving body and the object to be conveyed, and a control means for controlling them ( 30). Further, the control means changes the gain of the control signal for controlling the moving body driving means based on the position of the moving object on the moving body. (Speed, acceleration, accuracy, etc.), and the transfer object can be moved at high speed and with high accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an XY moving device capable of performing an operation accurately and quickly and a control method thereof.

[0002]

2. Description of the Related Art In an electronic component mounting apparatus for mounting electronic components on a circuit board, in various machine tools, etc., a head for mounting electronic components and a tool for cutting members are moved to a predetermined position. Need to be moved accurately. For example, a gantry type electronic component mounting apparatus 10 (portable mobile electronic component mounting apparatus) (see FIG. 2) as disclosed in Japanese Patent Application Laid-Open No. 7-202488 has an electronic component supplied from a component supply (not shown). A suction nozzle 11 to be sucked and mounted at a predetermined position on the circuit board, a substrate transfer device (not shown) for transferring the circuit board, provided at right angles to the substrate transfer device and across the substrate transfer device; The apparatus includes two support beams 12, a beam 13 bridged between the two support beams so as to be movable in the Y direction, and a head 14 attached movably in the longitudinal direction of the beam. Drive means 20 for moving the beam 13 in the Y direction and for moving the head 14 in the X direction (timing belts 21, 23 and rotary motors 22a, 22b to be described later).
24), and the control means (not shown) controls these driving means 20 and the like.

As described above, both ends of the beam 13 are joined to the timing belts 21 attached to the two support beams 12, respectively, and these timing belts 21 are respectively driven by a rotary motor (Y1-axis motor 22a). ,
Y2 axis motor 22b). By driving the Y1 axis motor 22a and the Y2 axis motor 22b, the beam 13 and, consequently, the head 14 attached to the beam 13 can be moved in the Y direction. The head 14 is joined to a timing belt 23 attached to the beam 13, and this timing belt 23 is wound around a rotary motor (X-axis motor 24). The head 14 can be moved in the X direction by driving the X-axis motor 24.

The control means controls the driving of each motor by means of a position detection means (not shown) for detecting the positions of the beam 13 and the head 14 and a position command (beam 13 and head 14) sent from a storage device. , The position of the electronic component on the circuit board, the position of the electronic component on the component supply, and the like), thereby moving the head 14 to a predetermined position on the component supply, Head 14
The electronic component is sucked by the suction nozzle 11 provided in the device. Then, the head 14 is moved to a predetermined position on the circuit board,
The electronic components are mounted on a circuit board. Note that, for example, a linear motor may be used as the driving unit, or a ball screw may be used instead of the timing belt.

Here, as a control method for the movement of the beam in the Y direction, for example, a position detecting means and a driving means are attached to each of the support beams on the left and right sides of the beam.
A method of independently controlling each driving means while movably supporting the beam at both end portions of the beam, thereby moving the beam while correcting a positional shift occurring between both ends of the beam (a two-axis parallel driving method); The position detecting means and the driving means are attached to the support beam on one of the left and right sides (master side) of the beam, and only the driving means is attached to the other side (slave side). Then, in a state where the beam is movably supported at both ends of the beam, the control unit performs two control operations on the master side and the slave side based on a signal (feedback signal) regarding the position of the beam sent from the position detection unit on the master side. Control command (current command) for drive means
And a method of moving the beam (master-slave method). FIG. 3 shows a drive control method based on the master-slave method. As shown in FIG.
The position of the beam 13 on the shaft side (master side) is
3 and outputs it as a feedback signal to the Y-axis position / speed control unit 31 provided in the control unit 30. And
The Y-axis position / speed controller 31 outputs a current command based on the position command and the feedback signal, and the driving of the Y1-axis motor 22a and the Y2-axis motor 22b is controlled based on the current command.

[0006]

Here, in the above-described beam movement control method for a head that is movably supported by the beam, the head serving as a heavy object is positioned near one of the ends of the beam. In such a case, the load applied to the beam is different at both ends of the beam. As a result, there is a possibility that a position shift occurs at both ends of the beam or a delay in the beam positioning time occurs for the following reasons. . For example, in the movement control method based on the master-slave method, when the head is located on the master side, the current command from the control means generates a motor output larger than usual in consideration of the load by the head. Command. And
On the slave side, an unnecessarily large command is input to control the motor output on the slave side in accordance with this command, and the left and right ends of the beam, that is, such as displacement and oscillation on the master side and the slave side. Problems may occur. Further, in the movement control method based on the two-axis parallel drive system, the displacement is normally corrected on the assumption that the load between both ends of the beam is equal, so that the displacement caused by the movement of the head as described above is eliminated. It takes time to do that.

SUMMARY OF THE INVENTION An object of the present invention is to provide an XY moving apparatus and a control method therefor that can perform work accurately and quickly by correcting the gain of a control signal according to the moving position of a moving body in consideration of the above-mentioned problems. It is to provide.

[0008]

In order to solve the above-mentioned problems, an XY moving device (electronic component mounting device 1) according to claim 1 is required.
0) is a moving body (beam 13) extending left and right, an object to be conveyed (head 14) movably supported in the longitudinal direction of the moving body, and a moving body drive for moving the moving body. Means (Y1-axis motor 22a, Y2-axis motor 22b)
Transport object driving means (X-axis motor 24) for moving the transport object in the longitudinal direction of the moving body, and position detecting means (encoder 23) for detecting the position of the transport object on the moving body ) And a control means (30) for controlling the moving body driving means and the transporting object driving means, wherein the control means controls the movement of the transporting object detected by the position detecting means. The moving body driving means is controlled based on a position.

According to the XY moving device of the first aspect, the control means controls the driving of the moving body driving means based on the position of the object to be conveyed on the moving body detected by the position detecting means. Therefore, irrespective of the position of the object to be conveyed, sufficient positioning characteristics (speed, acceleration, accuracy, etc.) can always be obtained at the left and right end portions of the moving body, and displacement and oscillation can be prevented. Further, the object to be transported can be moved at high speed and with high accuracy, and the work time can be reduced.

[0010] The XY moving device according to the second aspect is the first aspect.
The XY moving device according to claim 1, wherein the moving body driving unit includes:
The control unit is provided on each of the left and right sides of the moving body, and the control unit changes a gain of a control signal for controlling a motor included in the moving body driving unit based on a position of the transport target on the moving body. It is characterized by doing.

According to the XY moving device of the second aspect, the same effect as in the first aspect can be obtained, and the motor provided in the moving body driving means based on the position of the object to be conveyed on the moving body. Change the gain of the control signal for controlling. That is, for example, when the object to be conveyed is on one of the left and right sides of the moving body, the load on the moving body driving unit on the side where the object to be conveyed is increased due to the weight of the object to be conveyed, The control signal is output larger than when the target object is near the middle of the moving body. Therefore, by changing the gain of the control signal input to the moving object driving means on the side where the object does not exist, based on the position of the object, the moving object driving means on the side where the object does not exist is changed. In addition, sufficient characteristics (speed, acceleration, etc.) can be obtained, and effects such as shortening of positioning time and suppression of displacement at both ends of the moving body can be obtained.
When this XY moving device is used as a so-called master-slave type XY moving device, the driving of the slave motor can be controlled based on the current command output to the master motor. Side control means can be omitted. Further, since the position detecting means only needs to be provided on the master side, the manufacturing cost can be reduced, and the size of the apparatus can be reduced. Further, this XY moving device is connected to a so-called X-axis
When used as a Y-moving device, the driving of the motors provided on the left and right sides of the moving body can be controlled in accordance with the position of the object to be conveyed. Efficiency can be improved.

According to a third aspect of the present invention, there is provided a method for controlling an XY moving apparatus, comprising: a moving body extending in the left and right direction; a transfer object supported movably in a longitudinal direction of the moving body; When controlling an XY moving device comprising: a moving object driving means, and a conveying object driving means for moving the conveying object in a longitudinal direction of the moving object, a position of the conveying object on the moving object. And controlling the driving of the moving body driving means based on the position.

According to the control method of the XY moving device according to the third aspect, irrespective of the position of the object to be conveyed, always sufficient positioning characteristics (speed, acceleration, accuracy, etc.) at the left and right ends of the moving body (beam) Can be obtained, and displacement and oscillation can be prevented. Further, the object to be transported can be moved at high speed and with high accuracy, and the work time can be reduced.

According to a fourth aspect of the present invention, there is provided a method of controlling an XY moving apparatus according to the third aspect.
The moving body driving means is provided on each of the left and right sides of the moving body, and a gain of a control signal for controlling a motor provided in the moving body driving means based on a position of the object to be conveyed on the moving body. Is changed.

According to the control method of the XY moving device according to the fourth aspect, the same effect as in the third aspect can be obtained, and the control method of the XY moving device can be used as a control method of a so-called master-slave type XY moving device. When used, the drive of the slave motor can be controlled based on the current command output to the master motor.
The control process on the slave side can be omitted. Further, since the position detecting means only needs to be provided on the master side, the manufacturing cost can be reduced, and the size of the apparatus can be reduced. When this control method of the XY moving device is used as a control method of a so-called two-axis parallel drive type XY moving device, the driving of the motors provided on both the left and right sides of the moving body is performed.
Since control can be performed in accordance with the position of the object to be conveyed, the time required for movement to the predetermined position is shortened, and work efficiency can be improved.

According to a fifth aspect of the present invention, there is provided a method of controlling an XY moving apparatus according to the third or fourth aspect, wherein the control of driving of the moving body driving means is performed according to a preset correction pattern. It is characterized by being performed based on.

According to the control method of the XY moving device according to the fifth aspect, the same effect as in the third or fourth aspect can be obtained, and the correction pattern can be easily changed in response to the change of the object to be conveyed. Yes, work efficiency can be improved.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the XY moving device according to the present invention is used as a part of an electronic component mounting device will be described below with reference to the drawings. The drawings are only schematically shown to the extent that the invention can be understood, and thus the invention is not limited to the illustrated examples.

The electronic component mounting device is a device for mounting a circuit board on a circuit board conveyed to a predetermined position on a base upper surface by a conveyor.
After the head vacuum sucks the electronic component from the electronic component supply unit, the head is moved to a predetermined position on the circuit board by operating a plurality of driving means, and the electronic component is mounted on the circuit board. The electronic component mounting apparatus according to the present embodiment includes a beam as a moving object, a head as an object to be conveyed, a timing belt as a moving object driving unit and an object driving unit, and a rotary motor (Y1-axis motor, Y2-axis motor). A motor, an X-axis motor), an encoder as position detection means, and control means for controlling these operations.

Here, the structure of the master-slave type electronic component mounting apparatus according to the present embodiment is almost the same as the well-known electronic component mounting apparatus shown in the above-mentioned prior art (see FIG. 2). It has a structure. Therefore, in the following description, control means of the electronic component mounting apparatus according to the present embodiment will be mainly described. In the following description, components of the electronic component mounting apparatus according to the present embodiment, which are substantially the same as those of the well-known electronic component mounting device, have the same reference numerals as those shown in FIG. Shall be used. A detailed description of these will be omitted. In the following description, the Y direction is the beam 13
The X direction is a direction orthogonal to the Y direction in a horizontal plane. Then, of the left and right ends of the beam 13, the side on which the position detecting means (encoder 23) is provided (master side) is defined as the Y1 axis side, and the opposite side is defined as the Y2 axis side.

The control means 30 controls the driving of a Y1-axis motor 22a and a Y2-axis motor 22b as moving body driving means, an X-axis motor as conveying object driving means, and the like to move the head 14 to a predetermined position. Is provided. The control means includes a Y-axis position / speed control unit 31, an X-axis load position detection unit 32, a gain switching unit 33, and the like, as shown in the block circuit diagram of FIG. The position command in the figure is a command relating to the destination coordinates and the feed speed of the head 14 specified in advance. The current command is calculated based on the position command and the current position of the head 14, and is a command regarding a current amount for controlling the driving of the Y1-axis motor 22a and the Y2-axis motor 22b.

The Y-axis position / speed controller 31 outputs a current command for controlling the driving of the Y1-axis motor 22a based on the feedback signal sent from the Y1-axis encoder 23, and further outputs the current command. And outputs a current command for appropriately controlling the driving of the Y2-axis motor 22b. Y-axis position / speed controller 31
Is a position deviation proportional amplifier 31a, a speed limiter 31b,
A speed deviation PI calculator 31c, a current limiter 31d, a low-pass filter 31e, a speed calculator 31f, and the like are provided.

The position and speed of the head 14 in the Y direction are detected based on a feedback signal sent from the Y1-axis encoder 23, and a deviation from the position command is obtained. Then, a proportional operation and an integral operation are performed on this deviation by the speed deviation PI calculator 31c. Then, the obtained current (torque) command is input to the Y1-axis current amplifier 24a.

The Y1-axis current amplifier 24a amplifies the input current command and generates a drive current as the Y1-axis motor 22a.
a. As a result, the drive control of the Y1-axis motor 22a is performed. X-axis load position detector 32
Is a beam 13 based on a feedback signal (X-axis encoder signal) sent from an X-axis encoder (not shown).
It is provided to detect the position of the upper head 14 in the X direction. The detected position of the head 14 in the X direction is input to the gain switching unit 33 provided in the control unit 30 as an X-axis load position signal. The gain switching unit 33 is provided to change the gain on the Y2-axis side based on the input X-axis load position signal and a preset correction pattern. Then, the changed current command is sent to the Y2-axis current amplifier 24b.
To control the driving of the Y2-axis motor 22b.

Here, for example, when the head 14 is on the master side, the load on the master side increases due to the weight of the head 14. Therefore, the current command is output larger than when the head 14 is located near the middle of the beam 13. And, based on this current command,
Y2 on the slave side that is less affected by the load on the head 14
When the control of the shaft motor 22b is performed, a displacement or the like occurs at both ends of the beam 13. The same applies when the head 14 is on the slave side. Therefore, as described above, by adjusting the drive current input to the slave-side motor (Y2-axis motor 22b) based on the position of the head 14 in the X direction, the slave-side (Y2-axis side) motor is also adjusted. Sufficient characteristics (speed, acceleration, etc.) can be obtained, and effects such as shortening of positioning time and suppression of displacement at both ends of the beam 13 can be obtained.

The correction pattern indicates a correction amount in the Y direction on the slave side corresponding to each position of the beam 13 in the X axis direction. As a method of obtaining the correction pattern, for example, at the time of assembling and adjusting the electronic component mounting apparatus 10, the beam 13 is actually moved, and is generated on the Y2 axis side of the beam 13 at each position of the head 14 on the beam 13 in the X axis direction. The deviation is actually measured, the correction amount is obtained, and each of these correction amounts can be obtained by linear interpolation.
Alternatively, a curve interpolation method using an exponential function, a logarithmic function, or the like may be used. Also, a gain value, amplification, and attenuation coefficient that are optimal for positioning on the slave side may be obtained. Further, for example, the position of the head 14 may be divided stepwise into the master side, the center, the slave side, and the like, and the gain value at each position may be obtained.

The MPU, CPU, etc. are used instead of the Y-axis position / speed control unit 31, the X-axis load position detection unit 32, and the gain switching unit 33 provided in the control device 30, and the input position command is processed by a program. By doing so, a structure for controlling the driving of the Y1-axis motor 22a and the Y2-axis motor 22b may be adopted.

In this embodiment, a rotary encoder is used as the position detecting means for detecting the position of the head 14 in the X and Y directions. Then, the position and speed of the head 14 detected by each encoder are used as feedback signals in the control unit 30 as described above.
It is sent to the axis position / speed control unit 31 and the X-axis load position detection unit 32. The encoder is composed of the support beam 12 and the beam 1
Alternatively, a linear encoder provided along the length direction of 3 may be used. Further, as the moving body driving means and the transport object driving means, for example, a well-known driving device such as a combination of a rotary motor and a ball screw or a linear motor may be used.

In the present embodiment, a so-called master-slave type electronic component mounting apparatus has been described. However, the present invention is also applicable to a two-axis parallel drive type electronic component mounting apparatus. The switching of the gain according to the position of the head is performed for each of the two moving body driving means provided on the left and right sides of the beam, or is performed for only one of them.

Next, a control method of the electronic component mounting apparatus 10 according to the present embodiment will be described. First, the control means 30 outputs a current command to the Y1-axis motor 22a and the Y2-axis motor 22b based on the position command to move the beam 13 in the Y direction. The control means 30 controls the movement of the head 14 in the X direction at the same time as the movement of the beam 13 in the Y direction.

Next, a feedback signal from the Y1-axis encoder 23 on the master side is sent to the position / speed controller 31. The position / speed control unit 31 performs arithmetic processing to reduce the deviation between the feedback signal and the position command, and outputs a current command to the Y1-axis motor 22a and the Y2-axis motor 22b. Here, on the slave side, the gain switching section 33 changes the gain on the Y2-axis side based on the X-axis load position signal input from the X-axis load position detection section 32 and a preset correction pattern. . Then, the changed current command is input to the Y2-axis current amplifier to control the driving of the Y2-axis motor 22b.

Then, the head 14 is moved to a predetermined position on the component supply body, the electronic components of the component supply body are sucked by the suction nozzle 11, and the head 14 is moved to a predetermined position on the circuit board. Is mounted on the circuit board. By repeating this operation, the mounting of the electronic components on the circuit board is completed.

As described above, according to the electronic component mounting apparatus 10 according to the present invention, sufficient positioning characteristics (speed, acceleration, accuracy, etc.) are always provided at both left and right ends of the beam 13 irrespective of the position of the head 14. Thus, displacement and oscillation can be prevented. In addition, components can be mounted at high speed and with high accuracy, and the working time can be reduced.

Further, since the drive of the slave side motor (Y2-axis motor) is controlled based on the master side current command, the slave side control means can be omitted. Further, since the encoder 23 may be provided only on the master side, the manufacturing cost can be reduced, and the size of the apparatus can be reduced.

[0035]

According to the XY moving device of the first aspect,
Regardless of the position of the object to be conveyed, sufficient positioning characteristics (speed, acceleration, accuracy, etc.) can always be obtained at the left and right ends of the moving body (beam), and displacement and oscillation can be prevented. Further, the object to be transported can be moved at high speed and with high accuracy, and the work time can be reduced.

According to the XY moving device of the second aspect, the same effect as in the first aspect can be obtained, and when this XY moving device is used as a so-called master-slave type XY moving device, the control means on the slave side Can be omitted. Further, the manufacturing cost can be reduced, and the size of the device can be reduced. Further, when this XY moving device is used as a so-called XY moving device of a so-called two-axis parallel drive system, the time required for moving the moving body to a predetermined position is shortened, and work efficiency can be improved.

According to the control method of the XY moving device according to the third aspect, irrespective of the position of the object to be conveyed, always sufficient positioning characteristics (speed, acceleration, accuracy, etc.) at the left and right ends of the moving body (beam). Can be obtained, and displacement and oscillation can be prevented. Further, the object to be transported can be moved at high speed and with high accuracy, and the work time can be reduced.

According to the control method of the XY moving device according to the fourth aspect, the same effect as in the third aspect can be obtained, and the control method of the XY moving device can be used as a control method of a so-called master-slave type XY moving device. When used, the control process on the slave side can be omitted. In addition, the position detecting means,
Since it is sufficient to provide the device only on the master side, the manufacturing cost can be reduced, and the size of the device can be reduced.
Further, when this control method of the XY moving device is used as a control method of a so-called two-axis parallel drive type XY moving device,
The time required for the moving body to move to the predetermined position is shortened, and work efficiency can be improved.

According to the control method of the XY moving device according to the fifth aspect, the same effect as in the third or fourth aspect can be obtained, and the correction pattern can be easily changed in response to the change of the object to be conveyed. Yes, work efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a part of a control method of an electronic component mounting apparatus according to an embodiment.

FIG. 2 is a main part perspective view showing the structure of a general electronic component mounting apparatus.

FIG. 3 is a block diagram showing a part of a conventional control method of an electronic component mounting apparatus.

[Explanation of symbols]

 Reference Signs List 10 XY moving device (electronic component mounting device) 13 Moving object (beam) 14 Transport target (head) 22a Moving object driving means (Y1-axis motor) 22b Moving object driving means (Y2-axis motor) 23 Position detecting means (encoder) 24 Conveyance object drive means (X-axis motor) 30 Control means (30)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hiroshi Anzai F-term (reference) in 1-Juki Co., Ltd. 8-2-2 Kokuryo-cho, Chofu-shi, Tokyo 3F059 AA01 AA03 DA02 DA08 DD01 EA06 FA03 FB15 FB26 FB28 FB30 FC02 FC13 FC14 5H303 AA05 BB02 BB08 BB12 BB17 DD01 DD28 FF08 HH05 KK02 KK03 KK08 KK17 KK24

Claims (5)

[Claims] 1. A moving object extending left and right, an object to be transferred movably supported in a longitudinal direction of the moving object, moving object driving means for moving the moving object, and the object to be transferred. Object driving means for moving the object in the longitudinal direction of the moving object, position detecting means for detecting the position of the object to be conveyed on the moving object, the moving object driving means and the object driving means An XY moving device comprising: a control unit for controlling the moving unit driving unit based on a position of the transport target detected by the position detecting unit. apparatus. 2. The XY moving device according to claim 1, wherein the moving body driving means is provided on each of left and right sides of the moving body, and the control means controls the movement of the object to be conveyed on the moving body. An XY moving device, wherein a gain of a control signal for controlling a motor included in the moving body driving means is changed based on a position. 3. A moving body extending left and right, an object to be supported movably supported in a longitudinal direction of the moving body, a moving body driving means for moving the moving body, and the object to be transferred. When controlling an XY moving device comprising: a moving object driving means for moving the moving object in the longitudinal direction of the moving body, a position of the moving object on the moving body is detected, and the movement is performed based on the position. A method for controlling an XY moving device, comprising controlling driving of a body driving unit. 4. The control method for an XY moving device according to claim 3, wherein the moving body driving means is provided on each of right and left sides of the moving body, and based on a position of the object to be conveyed on the moving body. And controlling a gain of a control signal for controlling a motor included in the moving body driving means. 5. The XY moving device control method according to claim 3, wherein the driving control of the moving body driving means is performed based on a preset correction pattern. How to control the device.