JP5457081B2 - Electronic component mounting equipment - Google Patents

Description

  The present invention relates to an electronic component mounting apparatus that performs mounting by sucking an electronic component with a suction nozzle.

  The conventional electronic component mounting device is equipped with a suction nozzle, equipped with a head that can move freely in the XY plane, receives electronic components from the supply tray by suction, moves the head to the component mounting location on the board, and mounts it The electronic component is mounted by releasing the electronic component by the suction nozzle at the position (see, for example, Patent Document 1).

JP 2006-108292 A

  In the above-described conventional electronic component mounting apparatus, the lower surface of the electronic component before being sucked by the suction nozzle is held so as not to be misaligned in advance. As shown in FIG. 5 (A), the electronic component C has its sticking force adjusted so that it can be easily peeled off by the suction force of the suction nozzle N so as not to prevent the electronic component C from being sucked. In actuality, there may be variations in the suction force of each suction nozzle N and the sticking power of each electronic component. In rare cases, the sticking power of the electronic component C exceeds the suction force of the suction nozzle N. When raised, the electronic component C sometimes did not peel (FIG. 5B). As a result, there is a problem in that an electronic component suction error occurs, resulting in a reduction in work efficiency. In addition, although the electronic component is peeled off, the electronic component C may be hindered from rising and spilling from the suction nozzle N and dropping, and in that case, the electronic component C is consumed and the yield is deteriorated.

  An object of the present invention is to more reliably adsorb an electronic component to an adsorption nozzle.

The invention according to claim 1 is a substrate holding unit that holds a substrate on which electronic components are mounted, and a component supply unit that supplies a plurality of electronic components to be mounted and holds the electronic components attached to a supply tray. A head having a plurality of suction nozzles for sucking electronic components mounted on the substrate, a head moving mechanism for arbitrarily moving and positioning the head over a region including the component supply unit and the substrate holding unit, and the substrate in the electronic component mounting apparatus including an operation control means for performing a mounting operation control for, with a reciprocating motion imparting means for imparting a continuous reciprocating movement for the electronic components of the component supply unit, the reciprocating motion imparting means And a vibration device that vibrates the component supply unit at a predetermined frequency, and the operation control unit is configured to start from a state where the suction nozzle is in contact with an electronic component in the component supply unit. When it increased even without, and controls the vibration device to vibration at a predetermined frequency.

  The invention according to claim 2 includes a substrate recognition camera that captures an image of the mark on the substrate and recognizes the position of the substrate, and the operation control means stops the excitation by the excitation device, and then The position is recognized, and control is performed so that the electronic component is placed at the mounting position.

According to a third aspect of the invention, both when provided with the invention similar to the configuration of claim 1 or 2, wherein said suction nozzle is characterized in that for peeling from the supply tray said electronic component by suction.

Further, the invention according to claim 3 is characterized in that the component supply unit arranges the electronic components in a plane on the supply tray.

In the first aspect of the present invention, since including a reciprocating operation applying means for applying a continuous reciprocating motion with respect to the electronic components of the component supply unit, even when the lower surface of the electronic component is in close contact with the component supply unit side, Since the continuous reciprocating motion is given in addition to the upward tension by the suction nozzle, it is possible to effectively promote the peeling of the electronic component, and the suction nozzle can more securely suck the electronic component.
Therefore, it is possible to improve the reliability of the mounting operation of the electronic component mounting apparatus, suppress the suction error, improve the working efficiency, and improve the yield.

The reciprocating motion provided by the reciprocating motion applying means may be a vibration operation that is a linear reciprocating motion or a reciprocating rotational motion .

Furthermore, the invention according to claim 1 avoids applying reciprocating motion more than necessary because the reciprocating motion imparting means imparts reciprocating motion when the suction nozzle rises at least from the state of being in contact with the electronic component in the component supply section. In addition, it is possible to save labor during non-adsorption, and it is possible to prevent peeling and misalignment of other electronic components due to the application of reciprocating motion other than during adsorption.

Further, in the first aspect of the present invention, since the reciprocating motion applying means vibrates the component supply unit, it is not necessary to mount a vibration device on the head side, and the head can be reduced in size and weight. It becomes.

Furthermore, the invention described in claim 3 can effectively separate each electronic component even in a component supply portion of a type in which the electronic component is attached to the supply tray, thereby improving work efficiency and yield. It becomes possible to improve.

It is a top view which shows the whole electronic component mounting apparatus which concerns on this Embodiment. It is a side view of a vibration apparatus. It is a block diagram which shows the control system of an electronic component mounting apparatus. It is a flowchart of mounting operation control of an electronic component. FIG. 5A is an explanatory diagram when the electronic component is normally adsorbed by the adsorption nozzle, and FIG. 5B is an explanatory diagram when the electronic component does not peel and an adsorption error occurs.

(Embodiment of the Invention)
An embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a plan view showing a schematic configuration of an electronic component mounting apparatus 100 according to the present embodiment, and FIG. 3 is a block diagram showing a control system of the electronic component mounting apparatus 10. Hereinafter, as illustrated, two directions orthogonal to each other on the horizontal plane are defined as an X-axis direction and a Y-axis direction, respectively. In addition, a vertical vertical direction perpendicular to these is referred to as a Z-axis direction.
The electronic component mounting apparatus 100 mounts various electronic components C on a substrate K. As shown in FIG. 1, the electronic component mounting apparatus 100 includes a plurality of electronic component feeders 101 for supplying electronic components C to be mounted. A plurality of first component supply units 102 that are arranged and held in the axial direction, a second component supply unit 104 on which a tray 103 on which a plurality of electronic components C are placed, and a second component supply unit 104 are added. The vibration device 30 as a reciprocating motion imparting means for shaking, the board carrying means 108 for carrying the board K in the X-axis direction, and mounting of electronic components on the board K provided in the middle of the board carrying path by the board carrying means 108 A substrate holding part for performing work, a head 106 for holding a plurality of (six in this example) suction nozzles 105 so as to be movable up and down, and holding the electronic component C; 1 4 and an XY gantry 107 as a head moving mechanism for driving and transporting it to an arbitrary position in a work area including a substrate holding unit, a base frame 114 for mounting and supporting each of the above components, and operation control of each of the above components The operation control means 10 which performs is provided.

(Substrate transport means and substrate holder)
The substrate transport unit 108 includes a transport belt (not shown), and transports the substrate K along the X-axis direction by the transport belt.
Further, as described above, in the middle of the substrate transfer path by the substrate transfer means 108, the substrate holding portion (the substrate in FIG. 1) for fixing and holding the substrate K at the work position when the electronic component C is mounted on the substrate K. (The illustrated position of K) is provided. The substrate transport unit 108 transports and stops the substrate K to the substrate holding unit, and holds the substrate K by a holding mechanism (not shown). That is, a stable mounting operation of the electronic component C is performed while the substrate K is held by the holding mechanism.

(First component supply unit)
The first component supply unit 102 is an area along the X-axis direction that is provided at one end of the base frame 114 in the Y-axis direction and that can mount a plurality of electronic component feeders 101 side by side. A plurality of electronic component feeders 101 are arranged and mounted on the upper surface of the flat portion of the first component supply unit 102 along the X-axis direction. Each electronic component feeder 101 is provided with a latch mechanism, and can be attached to and detached from the first delivery supply unit by operating the latch mechanism.

The electronic component feeder 101 described above holds a tape reel (not shown) wound with a tape in which an infinite number of electronic components C are encapsulated at a uniform interval on the rear end side, and in the vicinity of the front end portion, as described above. In addition, the electronic component C is transferred to the head 106.
During the mounting operation of the electronic component C, the suction nozzle 105 is positioned on the transfer portion of the electronic component feeder 101 to be mounted on the head 106, and the electronic component C is transferred.

(Second component supply unit)
The second component supply unit 104 is provided on the base frame 114 on the opposite side of the first component supply unit 102 in the Y-axis direction with the substrate transport unit 108 interposed therebetween.
The second component supply unit 104 is a flat plate on which the tray 103 can be placed, and is supported by a vibration device 30 described later so as to be movable along the Y-axis direction.
In the tray 103, the electronic components C are arranged at a uniform interval in the X-axis direction and the Y-axis direction in a matrix, and the electronic components C are attached at each position. That is, each electronic component C is arranged in a planar shape on the upper surface of the tray 103. The sticking of the electronic component C is a temporary fixing for preventing the electronic component C from being displaced. When the electronic component C is attracted to the suction nozzle 105 and receives an upward tension, the electronic component C is peeled from the recess. However, it is difficult to accurately equalize the adhesive strength of each electronic component C, and there is some variation.
When the electronic component C is mounted, the head 106 positions the suction nozzle 105 in order for each electronic component C and transfers the electronic component C.

(XY gantry)
The XY gantry 107 includes an X-axis guide rail 107a that guides the movement of the head 106 in the X-axis direction, and two Y-axis guide rails 107b that guide the head 106 in the Y-axis direction together with the X-axis guide rail 107a. An X-axis motor 109 that is a movement drive source that moves the head 106 along the X-axis direction, and a Y-axis motor 110 that is a movement drive source that moves the head 106 in the Y-axis direction via the X-axis guide rail 107a It has. By driving the motors 109 and 110, the head 106 can be transported to almost the entire region between the two Y-axis guide rails 107b.
Each of the motors 109 and 110 is positioned so that the suction nozzle 105 is positioned via the head 106 by controlling the rotation amount of each of the motors 109 and 110 to be a desired rotation amount. Is going.
Further, the first and second component supply units 102 and 104 and the substrate holding unit described above are all disposed within the transportable area of the head 106 by the XY gantry 107 due to the necessity of the electronic component mounting work. .

(head)
The head 106 has six suction nozzles 105 that hold the electronic component C by air suction at the tip thereof, and six Z axes as lifting drive sources that raise and lower each suction nozzle 105 along the Z-axis direction. Six θ-axis motors 112 (FIG. 3) as rotation driving sources for adjusting the angle of the motor 111 (see FIG. 3) and the electronic component C held by rotating each suction nozzle 105 around the Z-axis direction. The substrate recognition camera 115 for recognizing the substrate position by imaging the mark on the substrate K, and the position of the electronic component C sucked by each suction nozzle 105 relative to the nozzle tip and the angle around the Z axis are detected. A component recognition camera 113 is provided. In FIG. 3, the motors 111 and 112 are illustrated for only one suction nozzle 105, but actually, each motor 111 and 112 is provided for each suction nozzle 105 mounted on the head 106. .

Each of the suction nozzles 105 is supported by the head 106 so as to be able to move up and down and rotate in a state along the Z-axis direction, so that the electronic component C can be received or mounted by raising and lowering and the angle of the electronic component C can be adjusted by rotating. It has become.
The component recognition camera 113 captures an image of the electronic component C at the tip of the suction nozzle 105 from the side, and detects whether the electronic component C is sucked at the nozzle tip and the direction of the electronic component C.
The board recognition camera 115 is mounted facing vertically downward, picks up an image of the board K from above, picks up a positioning mark on the board K, and detects the board position.

(Excitation device)
FIG. 2 is a side view of the vibration device 30. The vibration device 30 includes two guides 31 (one of which is not shown in FIG. 2) for supporting the flat plate-like second component supply unit 104 so as to reciprocate along the Y-axis direction, and a frame for supporting the guides 31. 32 and an air vibrator 33 which is provided below the second component supply unit 104 and applies vibration (reciprocating motion) along the Y-axis direction to the second component supply unit 104.
The air vibrator 33 is provided with a rod 33 b that receives a supply of air pressure and performs reciprocating back and forth operations, and the rod 33 b is connected to the second component supply unit 104. Further, the rod 33b of the air vibrator 33 is mounted on the frame 32 in a state in which the operation direction is directed to the Y-axis direction.
Further, when the air vibrator 33 is supplied with air pressure by the electromagnetic valve 33a (see FIG. 3), the rod 33b moves back and forth. . The air vibrator 33 applies vibrations along the Y-axis direction at a predetermined frequency to the second component supply unit 104 by supplying air pressure at a predetermined pressure. The frequency of such vibration is suitably selected within a range that is suitable for prompting the peeling of the electronic component C when the suction nozzle 105 picks up and pulls up the electronic component C, and does not cause a failure of the electronic component C. The For example, 50 [Hz] is used here.

(Operation control means)
As shown in FIG. 3, the operation control means 10 captures images of the motor drivers 109 a to 112 a of the X-axis motor 109, the Y-axis motor 110, the Z-axis motor 111, and the θ-axis motor 112 and the component recognition camera 113. A component video processing unit 113 a that converts an image into digital data, a board video processing unit 115 a that converts a captured image of the board recognition camera 115 into digital data, and an electromagnetic valve 33 a for controlling the air vibrator 33 are provided. Each of the motors 109 to 112 is a servo motor, and each of the motor drivers 109a to 112a performs feedback control.
Furthermore, the operation control means 10 includes a CPU 40 that performs mounting operation control of the electronic component C according to a predetermined control program, and a memory 41 that serves as a work area for various processes by storing various data that the CPU 40 performs processing. , A program for executing various processes and controls, a list of electronic components C to be mounted on the board K, mounting data required for mounting operation control such as mounting positions of each electronic component C and receiving positions of the electronic components C, and other settings A secondary storage device 42 for storing information and the like, and an I / F (interface) 43 for connecting the CPU 40 to various devices (each motor driver 109a to 112a, each image processing unit 113a, 115a, electromagnetic valve 33a, etc.). And.

The electronic component mounting operation control when the CPU 40 of the operation control means 10 sucks the electronic component C from the tray 103 of the second component supply unit 104 and mounts it on the substrate K will be described based on the flowchart of FIG.
The CPU 40 reads the mounting data from the secondary storage device 42 and acquires the position coordinate data of the mounting position with respect to the board K and the position where the electronic component C to be mounted is picked up.
Then, the X-axis motor 109 and the Y-axis motor 110 are controlled so that the suction nozzle 105 on the head 106 is positioned at the suction position of the electronic component C on the tray 103 of the second component supply unit 104 (step S1).

Next, the suction nozzle 105 is lowered to the receiving height of the electronic component C under the control of the Z-axis motor 111 (step S2). Then, the CPU 40 controls the electromagnetic valve 33a to start supplying air pressure to the air vibrator 33, and vibrates the tray 103 and the second component supply unit 104 along the Y-axis direction (step S3).
Then, the CPU 40 drives the Z-axis motor 111 through a predetermined standby time to raise the suction nozzle 105 to the conveyance height (step S4). At this time, since vibration is applied to the tray 103 by the air vibrator 33, the electronic component C pulled by the suction nozzle 105 is easily peeled off from the tray 103, and the electronic component C is suctioned to the suction nozzle 105 more reliably. Retained.
Further, the electromagnetic valve 33a of the air vibrator 33 is controlled so as to stop the supply of air pressure after a predetermined time has elapsed since the suction nozzle 105 started to rise (step S5).

Next, the head 106 starts to be conveyed to the board mounting position of the electronic component C (step S6). While the head 106 is moving, the electronic component C picked up by the tip of the suction nozzle 105 is imaged by the component recognition camera 113, and the positional deviation of the electronic component C with respect to the center position of the suction nozzle 105 and the angle around the center line are determined. Detect (step S7).
Further, the CPU 40 drives the θ-axis motor 112 based on the detected angle of the electronic component C to correct the orientation of the electronic component C (step S8).
When the head 106 reaches the mounting position of the substrate K, the substrate recognition camera 115 images the mark on the substrate K (step S9), accurately grasps the position of the substrate K, and is detected in the above-described step S7. In consideration of the position of the electronic component C with respect to the suction nozzle 105, the stop position of the head 106 in the X-axis direction and the Y-axis direction is corrected (step S10).
Further, the Z-axis motor 111 is driven to lower the suction nozzle 105 to the mounting height (step S11), the electronic component C is placed at the mounting position, and after a predetermined waiting time, the Z-axis motor 111 causes the suction nozzle 105 to move. Is raised (step S12), and the mounting operation control is terminated.

Note that the CPU 40 repeatedly executes the mounting operation control for all the electronic components C to be mounted set in the mounting data.
In addition, when the electronic component C to be mounted is the electronic component C supplied from the first component supply unit 102, the vibration is not performed by the vibration device 30 in steps S3 and S5.

(Effect of embodiment)
As described above, the electronic component mounting apparatus 100 includes the vibration device 30 and applies vibration to the second component supply unit 104 and the tray 103 while the suction nozzle 105 is pulled up after contacting the electronic component C. Therefore, it is possible to effectively promote the peeling of the electronic component C stuck on the tray 103, and to effectively avoid the adsorption error such as the remaining of the electronic component C on the tray 103 or the electronic component C being dropped. Thus, the reliability of the mounting operation of the electronic component mounting apparatus 100 can be improved, the work efficiency can be improved by suppressing the suction error, and the yield can be improved.
Further, since the vibration operation by the vibration device 30 is performed only from the time when the suction nozzle 105 comes into contact with the electronic component C until it is picked up by suction, the vibration operation is minimized and labor-saving during non-suction is achieved. It is possible to prevent the other electronic component C from being peeled off or displaced.
Further, the peeling effect of the electronic component C due to vibration can be obtained by applying a relative periodic reciprocating operation between the suction nozzle 105 and the electronic component C. Since the vibration device 30 vibrates the second component supply unit 104 and the tray 103, it is different from the case where the suction nozzle 105 is vibrated, and mounting of the vibration device on the head 106 can be avoided, and the head 106 can be downsized. In addition, the weight can be reduced.

(Other)
The above-described vibration device 30 vibrates the second component supply unit 104 along the Y-axis direction. However, the vibration is not limited to this direction, and is not limited to the X-axis direction, the Z-axis direction, or a direction in which these are combined. You can shake it.
In addition, although an air vibrator is used as a drive source of the vibration device 30, a drive source driven by electric power such as a motor, a solenoid, and a piezoelectric element may be used as a vibration drive source.

In addition, the vibration device as a reciprocating motion imparting unit that imparts a relative reciprocating motion to the suction nozzle and the electronic component C can be mounted on the head 106 side.
Further, instead of the vibration device 30, the θ-axis motor 112 mounted on the head 106 is reciprocally rotated with the same frequency as described above with a minute angular width at the same timing as the vibration of the vibration device 30 described above. It is also possible to promote peeling of the electronic component C by applying a relative reciprocating motion between the suction nozzle 105 and the electronic component C. In this case, the θ-axis motor 112 functions as a reciprocating motion applying means, and the same effect as that of the vibration device 30 can be obtained with the existing configuration, and the cost of parts can be reduced.

Similarly, instead of the vibration device 30, the Z-axis motor 111 mounted on the head 106 is reciprocally vibrated with the same frequency as described above at the same timing as the vibration device 30, and the suction nozzle 105 It is also possible to promote separation of the electronic component C by applying a relative reciprocating motion between the electronic component C and the electronic component C. In this case, the suction nozzle 105 is lifted after the vibration is finished. Further, instead of the vibration device 30, the X-axis motor 109 or the Y-axis motor 110 is reciprocally vibrated with the same frequency as described above at the same timing as the vibration device 30, and the suction nozzle 105 and the electronic component C It is also possible to promote separation of the electronic component C by applying a relative reciprocating motion between the electronic components C.
As described above, even when each of the motors 109, 110, and 111 is used as a reciprocating motion imparting unit, the same effect as when the θ-axis motor 112 is used can be obtained. Moreover, you may use combining either the vibration apparatus 30 mentioned above and the vibration by each motor 109-112. When combining, it is desirable that the excitation direction, phase, or frequency do not match.

In the electronic component mounting apparatus 100, only the vibration device 30 that vibrates the second component supply unit 104 is provided. However, the inside of the tape of the electronic component feeder 101 and the electronic component are easily attracted to each other. In this case, a vibration device that vibrates the first component supply unit 102 may be provided, and vibration may be performed at the same timing as the vibration device 30.
Alternatively, the first component supply unit 102 may be controlled to perform vibration at the same timing as the vibration device 30 by any of the motors 109 to 112 without providing the vibration device.

10 Operation control means 30 Exciting device (reciprocating motion applying means)
40 CPU
DESCRIPTION OF SYMBOLS 100 Electronic component mounting apparatus 101 Electronic component feeder 102 1st component supply part 103 Tray 104 2nd component supply part 105 Suction nozzle 106 Head 107 XY gantry (head moving mechanism)
109 X-axis motor (moving drive source)
110 Y-axis motor (moving drive source)
111 Z-axis motor (lifting drive source)
112 θ-axis motor (rotary drive source)
C Electronic component K Substrate

Claims (3)

A board holding unit for holding a board on which electronic components are mounted;
A component supply unit for supplying a plurality of electronic components to be mounted and attaching and holding the electronic components on a supply tray ;
A head having a plurality of suction nozzles for sucking electronic components mounted on the substrate;
A head moving mechanism for arbitrarily moving and positioning the head over an area including the component supply unit and the substrate holding unit;
In an electronic component mounting apparatus comprising operation control means for executing mounting operation control on the substrate,
Comprising a reciprocating motion imparting means for imparting a continuous reciprocating movement for the electronic components of the component supply section,
The reciprocating motion applying means includes a vibration device that vibrates the component supply unit at a predetermined frequency.
The operation control means controls the vibration device to vibrate at a predetermined frequency when the suction nozzle rises at least from a state in contact with an electronic component in the component supply unit. Component mounting equipment. A board recognition camera that images the mark on the board and recognizes the position of the board,
  2. The electronic device according to claim 1, wherein the operation control unit recognizes the position of the substrate after stopping the excitation by the excitation device and controls the electronic component to be placed at a mounting position. 3. Component mounting equipment. The component supply unit arranges the electronic components in a plane on the supply tray,
The electronic component mounting apparatus according to claim 1, wherein the suction nozzle separates the electronic component from the supply tray by suction .

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