JPH0738292A - Component packaging device - Google Patents

Abstract

PURPOSE:To achieve an accurate synchronization of the turning phase of a packaging head for the rotary phase of a rotary drum. CONSTITUTION:A plurality of packaging heads which turn in reference to a shaft extended in diameter direction of a rotary drum are provided at the surrounding of the rotary drum rotating continuously at a specific speed. A drive motor 19 for driving each packaging head individually is provided. An encoder 21 for detecting the rotary position of the drive motor 4 of the rotary drum is provided and then a drive motor 4 is subjected to feedback control by a control part 23. Then, the control part 23 calculates the target turning phase of the packaging head only at a position needed for component packaging operation based on the rotary phase of the rotary drum detected by the encoder 21, outputs a position command signal to a turning shaft servo driver 26, and then drives the drive motor 19.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting apparatus capable of high-speed component mounting work by rotating a mounting head provided on an outer peripheral portion of a rotary drum.

[0002]

2. Description of the Related Art For example, in an apparatus for automatically mounting electronic components on a substrate, a mounting head provided on the outer peripheral portion of a rotary drum enables continuous mounting work at high speed. As a rotary cycloid type component mounting apparatus, one disclosed in Japanese Patent Laid-Open No. 4-217436 is known.

As shown in FIG. 9, this device is provided with, for example, 12 mounting heads 16 (only one is shown) on the outer peripheral portion of a rotary drum 3 which is continuously rotated in the direction of arrow a by a motor. Although not shown, a supply station for supplying components and a mounting station for arranging substrates are arranged around the rotary drum 3. The mounting head 16 is provided with a suction nozzle 18 for sucking a component at the lower end thereof, and in a state where the suction nozzle 18 is kept in a downward posture, the mounting head 16 is synchronized with the rotation of the rotary drum 3 to rotate. It is configured to make a turning motion in the direction of arrow b around a shaft 16a extending in the radial direction.

Thus, the suction nozzle 1 of the mounting head 16
8 is a peripheral portion of the rotary drum 3 shown in FIGS.
A cycloid motion having, for example, 10 bottom dead centers is performed on a locus c as shown by a broken line at the bottom dead center. At the bottom dead center, the rotation speed of the rotary drum 3 and the rotation speed of the mounting head 16 are increased. Cancel each other out, and the ground speed of the suction nozzle 18 becomes zero. The mounting head 16 acquires the component at one bottom dead center (rotational phase of the rotating drum 3 is 123 ° to 271.5 °) located at the supply station, and the other bottom dead center (rotating drum at the mounting station). The component is mounted on the substrate when the rotation phase of 3 is 0 °. By repeating this with the twelve mounting heads 16, the mounting work of the parts can be performed at an extremely high speed.

[0005]

By the way, in this type of component mounting apparatus, in order to obtain sufficient positional accuracy of the suction point and the mounting point (bottom dead center of the suction nozzle 18) of the component, the rotary drum 3 is predetermined. It is necessary to accurately synchronize the mounting head 16 and the mounting head 16 with each other so that the mounting head 16 has a predetermined swing phase with respect to the rotation phase. In the above-mentioned conventional apparatus, the rotation of the rotary drum 3 is transmitted to the mounting head 16 by the gear mechanism and converted into the turning motion.

However, in the case where the rotary drum 3 and the mounting head 16 are synchronized by the gear mechanism, it is difficult to manufacture a highly accurate gear with less rattling, and the play (or Due to this, there is a problem that accurate synchronization cannot be expected. In addition, the rotation phase of the rotary drum 3 and the rotation phase of the mounting head 16 are set to PLL (Phase LockLo
(op) circuit and speed correction circuit may be used for synchronization, but this makes the control circuit complicated and expensive, and the difficulty of manufacturing a highly accurate gear is still solved.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a component mounting apparatus capable of realizing accurate synchronization of the rotational phase of the mounting head with the rotational phase of the rotary drum.

[0008]

A component mounting apparatus according to the present invention comprises a rotary drum which is continuously rotated in a horizontal direction, and a mounting head which is vertically rotatable on an outer peripheral portion of the rotary drum. At the lowest point of the above, in the component supply unit disposed around the rotary drum, the component acquisition and the component mounting unit component mounting are performed, and the rotational phase of the rotary drum is detected. It is characterized in that it is provided with a rotation phase detecting means and a turning movement control means for electrically controlling the turning movement of the mounting head based on the rotation phase detected by the rotation phase detecting means.

Further, in this case, the turning motion control means controls the driving mechanism of the mounting head based on the command value and the means for calculating the target turning phase of the mounting head from the rotation phase of the rotary drum and outputting it as a command value. And a means for doing so. Further, the turning motion control means may be configured to cause the turning motion of the mounting head only at the position required for the component mounting work.

[0010]

According to the above means, the rotation phase detecting means
The rotational phase of the rotary drum is detected, and the rotational movement control means electrically controls the rotational movement of the mounting head based on the rotational phase. In this case, since the rotation phase of the rotary drum and the rotation phase of the mounting head are electrically synchronized by a mechanical method such as a gear mechanism, accurate synchronization can be realized. .

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. First, the overall configuration of the component mounting apparatus 1 will be briefly described with reference to FIGS. 8 and 9. FIG. 8 shows the component mounting apparatus 1 according to the present embodiment from the upper side. The rotary drum 3 provided in the central portion of the base 2 has a drive motor 4 and a speed reduction mechanism 5 which are AC servo motors in this case.
As a result, the shaft 3a is continuously rotated at a constant speed in the horizontal direction (direction of arrow a).

The base 2 is provided with a supply station 7 which is located on the rear side of the rotary drum 3 and which supplies the chip-shaped electronic parts 6, and is provided on the front side of the rotary drum 3. A mounting station 9 that is a component mounting portion on which the board 8 is disposed is provided.
Further, on the right side of the rotary drum 3, a component recognition unit 10 including a CCD camera or the like is provided. Of which
The supply station 7 includes a plurality of tape feeders 12 (only two are shown) on a mounting base 11 provided in an arc shape.
It is installed and configured. In addition, the mounting station 9 moves the substrate 8 freely in X and Y directions by X-.
The Y table 13, and a carry-in conveyor 14 and a carry-out conveyor 15 for carrying out and carrying in the substrate 8 to and from the X-Y table 13, respectively.

On the peripheral side surface of the rotary drum 3, a plurality of, for example, 12 mounting heads 16 (only four are shown) are provided at equal intervals in the circumferential direction. Figure 9
As shown in FIG. 3, the mounting head 16 includes a suction nozzle 18 that suctions and mounts the electronic component 6 on the tip of the link 17.
And is provided so as to be rotatable about a shaft 16a extending in the radial direction of the rotary drum 3. The suction nozzle 18
Is connected to a pressure adjusting source (not shown).

In this case, as will be described later, each mounting head 16 is independently driven by a drive motor 19 composed of an AC servo motor and a speed reduction mechanism 20 (see FIG. 2) provided inside the rotary drum 3. Then, it is designed to be driven to turn. Further, when the mounting head 16 pivots, a downward attitude of the suction nozzle 18 is maintained by an attitude maintaining mechanism (not shown).

As a result, the mounting head 16 becomes the rotary drum 3
In synchronism with the rotation (so-called revolution) of the rotor, it makes a revolving movement (so-called rotation) in the counterclockwise direction (direction of arrow b) when viewed from the side, so that the suction nozzle 18 surrounds the rotary drum 3 (see FIG. 8). 9 (indicated by a dotted chain line A), the cycloid motion of the locus c as shown by the broken line in FIG. 9 is performed.

Now, for example, in order to set 10 bottom dead centers around the rotary drum 3 (see FIG. 10), as shown in FIG. 2, the revolution radius R and the rotation radius r of the suction nozzle 18 are set. The ratio may be 10: 1 and the ratio of the revolution speed to the revolution speed may be 1:10. At the bottom dead center of the cycloid motion (the lowest point of rotation), the rotational speed of the rotary drum 3 and the rotational speed of the mounting head 16 cancel each other out, and the speed of the suction nozzle 18 in the horizontal and vertical directions with respect to the base 2. Becomes zero.

When ten bottom dead centers are set as shown in FIG. 10, for example, one predetermined mounting head 16 (suction nozzle 18) is provided on one of the supply stations 7 (of the rotary drum 3). The rotation phase is 123 ° to 271.5 °)
The predetermined electronic component 6 is sucked at the bottom dead center (suction point P shown in FIG. 8) of the mounting station 9 and the predetermined bottom dead center of the mounting station 9 (the mounting point Q where the rotation phase of the rotary drum 3 is 0 °). The work of mounting the electronic component 6 on the substrate 8 is repeated. At this time, the component recognition unit 1
At 0, also at the bottom dead center of 1 (rotational phase of the rotating drum 3 is 72 °), the suction nozzle 18 is detected by the CCD camera.
It is checked whether or not the electronic component 6 is correctly adsorbed.

By the way, as described above, the mounting head 16
The component mounting work may be performed by causing the suction nozzle 18 to perform a cycloid motion to obtain, for example, 10 bottom dead centers around the rotary drum 3 by continuously rotating the component. The bottom dead points required for the mounting work are only three points: the suction point P, the mounting point Q, and the check point.

Therefore, in this embodiment, the rotary drum 3 (hereinafter referred to as "drum shaft" in some cases) is configured as follows.
Of the mounting head 16 and the mounting head 16 (hereinafter, referred to as “swivel axis”) in synchronization with each other. As illustrated, the rotary drum 3 is normally stopped at the uppermost position so that the rotary motion is performed only at a position required for component mounting work.

That is, as shown in FIGS. 1 and 2, the rotary shaft of the drive motor 4 for rotationally driving the rotary drum 3 includes:
Rotational phase (and rotational speed) of the rotating drum 3 (drum shaft)
An encoder 21 is provided as a rotation phase detecting means for detecting the. In addition, the mounting head 1 is also attached to the rotation shaft of the drive motor 19 for rotating the mounting head 16.
An encoder 22 for detecting the rotation phase and the rotation speed of 6 (turn axis) is provided. The specifications of the drive motors 4 and 19, the encoders 21 and 22, and the speed reduction mechanisms 5 and 20 are set as shown in Table 1 below, for example.

[0021]

[Table 1]

FIG. 1 shows the hardware structure of the servo mechanism for controlling the rotary drum 3 and the mounting head 16, and the control unit 23 including a microcomputer is
The drum shaft speed command is output to the drum shaft servo driver 25 via the D / A interface 24, and the drive motor 4 is driven by the drum shaft servo driver 25. At this time, the speed feedback signal from the encoder 21 is input to the control unit 23, and feedback control is performed.

Then, as will be described later in the description of the operation,
The control unit 23 calculates the target turning phase of the turning shaft based on the position signal of the drum shaft (rotational phase of the rotary drum 3) from the encoder 21, and outputs the position command signal via the D / A interface 24. Output to the axis servo driver 26, and the drive motor 1
9 is driven. Therefore, the control unit 23
Thus, the turning motion control means according to the present invention is constituted. At this time, feedback control is performed by the velocity feedback signal from the encoder 22, and feedforward is applied to the velocity command value.

Next, the operation of the above structure will be described with reference to FIGS. Now, in the settings shown in Table 1 above, the ratio of the drum shaft radius R to the turning shaft radius r is 10: 1.
Then, considering the cycloid synchronization of the drum shaft 40 rpm and the orbiting shaft 400 rpm, ten bottom dead centers are set around the rotary drum 3. If 12 mounting heads 16 are provided around the rotary drum 3, 40 × 12 = 480 / min.
That is, the mounting work of the electronic component 6 of 0.125 sec / piece becomes possible.

Here, a certain rotary shaft (mounting head 1
6) Instead of continuously rotating the rotating drum 3, as shown in FIG. 5A from the stopped state at the uppermost point of the suction nozzle 18 (the position of the rotating shaft is 0 °) with respect to the rotating drum 3. Consider that the turning axis is rotated once in an acceleration / deceleration pattern having the same acceleration period, constant velocity period, and deceleration period. During this time, the suction nozzle 18 draws a cycloid locus e as shown in FIG.

At this time, the rotational position of the turning shaft is as shown in FIG.
As shown in (b), the acceleration becomes 90 ° at the end of the acceleration period, and the acceleration becomes 32000 deg / sec · sec. In addition, the rotation axis of 400 rpm (drive motor 19 is 3
In the constant velocity region of 200 rpm), the swivel axis is 180d
The time required for the egg rotation is 75 msec, and the acceleration and deceleration periods are also 75 msec. Here, the angular velocity VD of the drum shaft is 40 × 360/60 = 240 (d
(eg / sec), one rotation of the turning axis (225 m
sec), the drum shaft advances 54 deg.

Therefore, in order to set the bottom dead center (the rotation position of the turning axis is 180 °) at the PDpulse position on the drum shaft, the PDpulse position is reached for 112.5 sec.
Before, ie 27 deg (4000 × 81 × 27 in pulse conversion
/ 360 = 24300pulse) before starting the acceleration of the turning axis. Now, at time t = 0, the drum shaft position D = 0 ° and the swing shaft angular velocity VH = 0 deg / sec.
(Stop state), the position H of the turning axis is H = 0 ° (top point),
Assuming that the angular acceleration of the turning axis is AH, the position D of the drum axis is D = VD × t = 240t from the angular velocity VD. Therefore, when (1) 0 ≦ t <0.075 sec,

[0028]

[Equation 1] (2) When 0.075 ≦ t <0.150 sec,

[0029]

[Equation 2] (3) When 0.150 ≦ t <0.225 sec,

[0030]

[Equation 3] Becomes

As described above, when the suction nozzle 18 is rotated so as to draw the locus e as shown in FIG. 6, the position of the rotating shaft is uniquely determined by the position of the drum shaft.
The control unit 23 is located at a position necessary for component mounting work, that is, in FIG.
At the suction point P, the check point, and the mounting point Q, as shown in FIG. 5, the above calculation is performed to output the position command signal (and the speed command signal) of the rotation axis so as to drive the twelve mounting heads 16 to rotate. It has become. FIG. 3 shows an algorithm / flow chart of the control of the turning axis in this case, and FIG. 4 is a diagram showing the function of the control unit 23 in this case as a block. Feedforward is applied to the speed command value to reduce the error at the bottom dead center.

By executing the above-described control for each of the twelve mounting heads 16, 0.125 is set, as in the case where ten bottom dead centers are set around the rotary drum 3.
The mounting work of the electronic parts 6 of sec / piece comes to be performed. In this case, the rotation phase of the rotary drum 3 and the rotation phase of the mounting head 16 can be accurately synchronized, and highly accurate component mounting work can be performed.

As described above, according to this embodiment, the separate drive motor 19 is detected based on the detection of the rotation phase of the rotary drum 3.
Since the swiveling motion of the mounting head 16 driven by is electrically controlled, the rotation phase of the rotating drum 3 is different from the conventional gear mechanism that synchronizes the rotating drum 3 and the mounting head 16. Mounting head 16 for
It is possible to realize accurate synchronization of the turning phase of the, and eventually, high-speed and high-accuracy component mounting work becomes possible.

Especially, in this embodiment, since the mounting head 16 is driven to rotate only at the position required for the component mounting work, unlike the case where the rotating motion is performed around the entire circumference of the rotary drum 3, the machine It is possible to obtain an advantage that it is not necessary to consider an avoidance operation due to physical interference. Further, since the mounting head 16 is controlled by the software configuration, the suction point P and the mounting point Q are
It becomes possible to change the parts, etc. and the mounting speed of the parts very easily, and further, it is possible to obtain an advantage that the maintenance and the like becomes easier as compared with the case of using the gear mechanism. It is a thing.

In the above embodiment, the mounting head 16 is driven to rotate only at the position required for the component mounting work. However, as in the conventional case, the mounting head 16 may be rotated at a uniform speed over the entire circumference. Of course, even in this case, by controlling the rotational phase of the mounting head based on the rotational phase of the rotary drum, the intended purpose of achieving accurate synchronization can be achieved.

In addition, the present invention is not limited to the above embodiment, and the number of mounting heads, the number of bottom dead centers, the rotational speed of the rotary drum and the mounting head, the pattern of acceleration / deceleration of the mounting head, and the like are as follows. Various modifications can be made without departing from the spirit of the invention, such as appropriate modification.

[0037]

As is clear from the above description, according to the component mounting apparatus of the present invention, the rotational phase detecting means for detecting the rotational phase of the rotary drum, and the rotational phase detected by the rotational phase detecting means. Since the swivel motion control means for electrically controlling the swivel motion of the mounting head is provided on the basis of the above, it is possible to realize accurate synchronization of the swivel phase of the mounting 1 head with respect to the rotational phase of the rotating drum. Produce the desired effect.

[Brief description of drawings]

FIG. 1 is a block diagram showing a hardware configuration of a servo mechanism according to an embodiment of the present invention.

FIG. 2 is a diagram schematically showing a configuration of a rotary drum and a mounting head.

FIG. 3 is a flowchart showing a mounting head control procedure.

FIG. 4 is a block diagram showing functions relating to control of a mounting head in a control unit.

FIG. 5 is a diagram showing a relationship between an acceleration / deceleration pattern of a mounting head and a position.

FIG. 6 is a diagram showing a trajectory of a suction nozzle according to a turning motion of a mounting head.

FIG. 7 is a diagram showing a trajectory of a suction nozzle with respect to a rotation phase of a rotating drum.

FIG. 8 is a schematic top view of the component mounting apparatus.

FIG. 9 is a perspective view schematically showing a relationship between a rotary drum and a mounting head.

FIG. 10 is a diagram corresponding to FIG. 7 in the case where a cycloidal motion is performed on the entire circumference of a rotating drum.

[Explanation of symbols]

In the drawings, 1 is a component mounting device, 3 is a rotary drum, 4 is a drive motor, 5 is a speed reduction mechanism, 6 is an electronic component, 8 is a substrate, and 10 is a substrate.
Is a component recognition unit, 16 is a mounting head, 18 is a suction nozzle,
Reference numeral 19 is a drive motor, 20 is a speed reduction mechanism, 21 is an encoder (rotational phase detection means), 22 is an encoder, and 23 is a control section (turning movement control means).

Claims (3)

[Claims] 1. A rotary drum which is continuously rotated in a horizontal direction, and a mounting head which is vertically rotatable on an outer peripheral portion of the rotary drum, and at the lowest point of the mounting head,
In a configuration in which acquisition of a component in a component supply unit arranged in the peripheral portion of the rotary drum and mounting of a component in a component mounting unit are performed, a rotational phase detection unit that detects a rotational phase of the rotary drum, A component mounting apparatus comprising: a rotation motion control unit that electrically controls the rotation motion of the mounting head based on the rotation phase detected by the rotation phase detection unit. 2. The turning motion control means includes means for calculating a target turning phase of the mounting head from the rotation phase of the rotary drum and outputting it as a command value, and means for controlling the mounting head drive mechanism based on the command value. The component mounting apparatus according to claim 1, wherein the component mounting apparatus comprises: 3. The component mounting apparatus according to claim 2, wherein the pivoting movement control means is configured to cause the mounting head to perform the pivoting movement only at a position required for component mounting work.