KR102157071B1 - Self-running magazine supply and recovery apparatus for SMT process - Google Patents

Abstract

An autonomous driving type magazine supply and collection device for SMT process is disclosed.
The disclosed self-driving magazine supply and collection device for the SMT process is a device that supplies a magazine to a surface mounting line that performs a chip mounting process on a substrate and retrieves a magazine from the surface mounting line, and is controlled by a control unit. Including the first and second magazine robots of the type, wherein the first and second magazine robots circulate a virtual circulation track by a control command from the control unit in front of the surface mounting line, while the first magazine robot is loaded with the mounting target substrate. When supplying the magazine to the magazine supply part of the surface mount line, the second magazine robot collects the magazine loaded with the mounted substrate from the magazine drawer of the surface mount line, and the first magazine robot collects the magazine on the surface mount line from the magazine supply part. When moving to the magazine withdrawal part with the magazine loaded, the second magazine robot places the magazine retrieved from the magazine withdrawal part on the magazine collecting part provided on the virtual track and at the same time mounts the magazine loaded with the mounting target substrate. The cycle moving toward the magazine supply unit is repeated, and the first and second magazine robots have a magazine receiving unit in which a pair of facing sides among the four sides is opened, and through which the magazine is accommodated, A driving body that is autonomously driven by; A magazine supply and collection member installed in the magazine receiving unit and supplying the magazine stored in the magazine receiving unit to the magazine introduction unit, collecting an empty magazine, or recovering a magazine loaded with a mounted substrate from the magazine drawing unit; And a height adjustment member capable of adjusting the height of the magazine supply and collection member in order to match the height with the introduction conveyor provided in the magazine introduction part; further comprising, the supply and recovery member is installed on both sides of the inside of the magazine storage unit, the magazine It is operated toward the opened portion of the storage unit, but further includes a conveyor belt whose traveling direction is switched by a forward and reverse rotation motor, wherein the belt gears of each conveyor belt are rotatable on support members provided on both sides of the magazine storage unit. It is supported, and the height of the support member is adjusted by a height adjustment member including a vertical screw shaft, and the support member includes first and second support plates on which the belt gears of each conveyor belt are rotatably installed, and the first support plate and predetermined It is composed of a fixing plate arranged to be overlapped at intervals, and the screw shaft further includes each fastened to the fixing plate and the second support plate, and the first and second support plates are spaced by a space adjusting member, but the space adjusting member is , A space adjustment shaft which is rotatably supported at both ends of the fixing plate and the second support plate, and a threaded portion is formed on the outer circumferential surface of the first support plate so that the counter screw portions formed on the inner circumferential surface of the first support plate are engaged; Consisting of a shaft motor that rotates the spacing control shaft, the first support plate moves linearly along the threaded portion as the space control shaft rotates by the shaft motor, and the distance between the first and second support plates is adjusted, and the surface A bar code is provided on the front of each unit of the mounting line, and a bar code recognition unit that recognizes the bar code and transmits the recognized signal to the control unit is provided on the first and second magazine robots. It characterized in that it further comprises a control unit to determine the current location.

Description

Self-running magazine supply and recovery apparatus for SMT process}

The present invention relates to a magazine supply and collection device for the SMT process, and more specifically, autonomously moves to the beginning of the surface mounting line to automatically supply the magazine, and also autonomously moves to the end of the surface mounting line to automatically recover the magazine. , It relates to a self-driving magazine supply and collection device for SMT process.

Surface Mount Technology (SMT) prints solder paste on a printed circuit board (PCB), and mounts various surface mount devices (SMDs) on it. It may refer to a technology of bonding between the PCB and the lead of the surface-mounted component through a reflow process after being mounted using the method.

In order to perform a surface mounting operation using such a surface mounting technology, a plurality of devices for performing each unit process must be provided, and these devices must be arranged very appropriately. Therefore, recently, in order to maximize the efficiency of the process, a surface mounting system in which a plurality of devices performing each unit process are arranged in-line has been widely used.

On the other hand, in the above-described surface mount system, a loader is installed at the initial side of the surface mount system and an unloader is applied to the end side to move a magazine loaded with a component or a substrate at a certain place to another place. In the case of a loader, a supply conveyor is provided for supplying a magazine loaded with parts or substrates, and an unloader is also provided with a take-out conveyor for drawing out a magazine loaded with a mounted substrate.

Here, the operation of supplying the magazine to the supply conveyor and the operation of drawing out the magazine from the take-out conveyor are performed manually. Therefore, there is a problem that the worker must reside.

To improve this, a line tracer can be used. A line tracer is an autonomous mobile robot that moves along a specified driving line, and is called an AGV (Automatic Guided Vehicle). The basic principle of the line tracer is to detect a traveling line drawn on the floor with a sensor and move along the line to a target position, and supply or withdraw a magazine. A typical line tracer uses an infrared sensor to detect a running line. Since this infrared sensor can only detect black and white logic, it detects a black line on a white background or a white line on a black background. Because the light-emitting part of the infrared sensor used here emits infrared light, black absorbs and white reflects. This difference is used to detect the driving line. The structure of the line tracer is mainly composed of an 8-bit inexpensive CPU, DC motor, stepping motor, infrared sensor, etc. In general, more than 2 sets of infrared sensors (1 set of infrared sensors-light emitting part and light receiving part) are used. This is to smoothly follow the drawn lines.

In the case of applying the line tracer, there is an advantage that the magazine can be supplied and withdrawn automatically, but in the SMT process, a specific technology using it has not been disclosed so far, and even if this is applied, there is a problem in the installation that requires a running line. The facility cost problem should also be considered, so a solution to this should be preceded.

Document 1: Registered Utility Model Publication No. 20-0385781 (registered on May 25, 2005) Document 2: Registered Patent Publication No. 10-1600394 (registered on February 29, 2016) Document 3: Registered Patent Publication No. 10-1581893 (registered on December 24, 2015)

An object of the present invention is to provide an autonomous driving type magazine supply and collection device for an SMT process in which the operation of supplying and collecting magazines in the SMT process is effectively performed by an autonomous driving robot.

The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned can be clearly understood by those of ordinary skill in the technical field to which the present invention belongs from the following description. There will be.

In order to solve the above problems, the present invention is a device for supplying and recovering a magazine for an autonomous driving type for an SMT process, supplying a magazine to a surface mounting line that performs a process of mounting a chip on a substrate and recovering a magazine from the surface mounting line. As, the first and second magazine robots of autonomous driving type controlled by the control unit are included, wherein the first and second magazine robots circulate the virtual circulation track by a control command from the control unit in front of the surface mounting line, When the magazine robot supplies the magazine loaded with the mounting target substrate to the magazine supply unit of the surface mounting line, the second magazine robot collects the magazine loaded with the mounted substrate from the magazine withdrawal unit of the surface mounting line, and the first magazine robot When moving from the magazine supply part of this surface mount line to the magazine withdrawal part with an empty magazine mounted, the second magazine robot puts the magazines retrieved from the magazine withdrawal part into the magazine collection part provided on the virtual track, and at the same time, the mounting target The cycle of moving toward the magazine supply unit after mounting the magazine on which the substrate is loaded is repeated.In the first and second magazine robots, a pair of opposite sides of the four sides are opened, through which the magazine is stored. A driving body that has a storage unit and is autonomously driven by a control command from a control unit; A magazine supply and collection member installed in the magazine receiving unit and supplying the magazine stored in the magazine receiving unit to the magazine introduction unit, recovering an empty magazine, or recovering a magazine loaded with a mounted substrate from the magazine drawing unit; And a height adjustment member capable of adjusting the height of the magazine supply and collection member in order to match the height with the introduction conveyor provided in the magazine introduction part; further comprising, the supply and recovery member is installed on both sides of the inside of the magazine storage unit, the magazine It is operated toward the opened portion of the storage unit, but further includes a conveyor belt whose traveling direction is switched by a forward and reverse rotation motor, wherein the belt gears of each conveyor belt are rotatable on support members provided on both sides of the magazine storage unit. It is supported, and the height of the support member is adjusted by a height adjustment member including a vertical screw shaft, but the support member includes first and second support plates on which the belt gears of each conveyor belt are rotatably installed, and the first support plate and predetermined It is composed of a fixing plate arranged to be overlapped at intervals, and the screw shaft further includes each fastened to the fixing plate and the second support plate, and the first and second support plates are spaced by a space adjusting member, but the space adjusting member is , A space adjustment shaft which is rotatably supported at both ends of the fixing plate and the second support plate, and a threaded portion is formed on the outer circumferential surface of the first support plate, thereby engaging a counter screw part formed on the inner circumferential surface of the through hole of the first support plate; Consisting of a shaft motor that rotates the spacing control shaft, the first support plate moves linearly along the threaded portion as the space control shaft rotates by the shaft motor, and the distance between the first and second support plates is adjusted, and the surface A bar code is provided on the front of each unit of the mounting line, and a bar code recognition unit that recognizes the bar code and transmits the recognized signal to the control unit is provided on the first and second magazine robots. It characterized in that it further comprises a control unit to determine the current location.

delete

delete

delete

delete

delete

According to the self-driving magazine supply and collection device for the SMT process according to the present invention, the supply and collection of magazines in the SMT process is performed using an autonomous driving robot, so that there is no need for fixed facilities for supplying and collecting existing magazines. Space can be secured, and the hassle of manually transporting magazines can be eliminated.

In addition, according to the self-driving magazine supply and collection device for the SMT process, it is possible to reduce the facility cost by implementing autonomous driving without facilities of a driving ship when driving the autonomous robot.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a layout diagram of a surface mounting line and first and second magazine robots according to the present invention
2 is a movement path diagram of the first and second magazine robots according to the present invention
3 is a configuration diagram of the main parts of the first and second magazine robots according to the present invention
Figure 4 is a configuration diagram of a space adjusting member of the support plate according to the present invention
5 is a view for explaining a barcode recognition process according to the present invention

The present invention may be implemented in a number of different forms, and thus is not limited to the embodiments described herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and similar reference numerals are given to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, bonded)" with another part, it is not only "directly connected", but also "indirectly connected" with another member in between. "Including the case. In addition, when a part "includes" a certain component, it means that other components may be further provided, rather than excluding other components unless specifically stated to the contrary.

The terms used in the present specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or a combination thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a layout diagram of a surface mounting line and first and second magazine robots according to the present invention, and FIG. 2 is a movement path diagram of the first and second magazine robots according to the present invention.

1 and 2, the self-driving magazine supply and collection device for the SMT process according to the present invention is a magazine on a surface mounting line (L) that performs a process of mounting chips on a substrate (magazine: M). As a device for collecting a magazine from the surface mounting line while supplying the, it includes first and second magazine robots 100a and 100b. In the present embodiment, two magazine robots are described, but the present invention is not limited thereto, and three or more robots may be installed if only smooth operation can be secured.

The first and second magazine robots 100a and 100b continuously circulate the virtual circulation track T in front of the surface mount line L according to the control command of the control unit 200 to supply and collect the magazine M. The mechanism is described in detail as follows. Here, the virtual circular track is a setting map previously input to the control unit 200 and may be set in various forms depending on the site situation as well as the track type presented as an example.

As an example, when the first magazine robot 100a supplies the magazine M on which the mounting target substrate is loaded to the magazine supply unit 1 of the surface mounting line L, the second magazine robot 100b is surface mounted. The magazine M on which the mounted substrate is loaded can be collected from the magazine drawing part 2 of the line L.

On the other hand, when the first magazine robot 100a moves from the magazine supply unit 1 of the surface mounting line L to the magazine withdrawal unit 2 with the empty magazine M mounted, the second magazine robot 100b The magazine M retrieved from the magazine withdrawal unit 2 is placed on the magazine collection unit (not shown) provided on the virtual track, and at the same time, the magazine M in which the mounting target substrate is loaded is mounted and the magazine supply unit ( You can move towards 1).

When looking at the moving process of the first and second magazine robots 100a and 100b, the first magazine robot 100a and the second magazine robot 100b organically move on the virtual circulation track T, and different positions By playing their respective roles in the magazine, the supply and collection of magazines can be carried out efficiently.

3 is a configuration diagram of the main parts of the first and second magazine robots according to the present invention, and FIG. 4 is a configuration diagram of a space adjusting member of the support plate according to the present invention.

3 and 4, the first and second magazine robots 100a and 100b include a traveling body 110, a magazine supply and collection member 120, and a height adjustment member 130.

The driving body 110 is a driving means for supplying or collecting the magazine M by moving to a corresponding position of the surface mounting line L. When a driving command is transmitted by the control unit 200, a receiving unit provided in the driving body Upon receiving this, it moves or stops along a predetermined map.

The traveling body 110 may have a substantially hexahedral shape, and a pair of facing sides among the four side surfaces are opened, and thus a magazine receiving unit 111 through which a magazine M is received or withdrawn.

It is preferable that a collision detection sensor is installed on the outer surface of the driving body 110 to prevent collisions with obstacles (workers or objects, etc.) in the circulation track during the driving process. When an obstacle is detected by the collision detection sensor, this detection signal is transmitted to the control unit 200, so that the control unit can control the driving body to stop. Unlike this, it is also possible to continue driving by modifying the path to avoid the obstacle. It will be possible.

The magazine supply and collection member 120 is installed in the magazine receiving unit 111 of the traveling body 110 to supply the magazine M stored in the magazine receiving unit to the magazine introduction unit 1 or to collect an empty magazine Alternatively, it serves to recover the magazine M in which the mounted substrate is loaded from the magazine withdrawal unit 2.

As shown in FIG. 3, the magazine supply and collection member 120 is installed inside the magazine receiving unit 111 and is operated toward the opened portion of the magazine receiving unit, and the moving direction is changed by a forward and reverse rotation motor (not shown). Convertible conveyor belts can be applied.

The conveyor belt 121 is disposed horizontally on both sides of the magazine storage unit to be transported while supporting both sides of the bottom of the magazine storage unit 111, and each conveyor belt 121 is provided on both sides of the magazine storage unit 111 It may be supported by the supporting member 140 to be. The support member 140 includes first and second support plates 141 and 142 on which the belt gear 122 of each conveyor belt 121 is rotatably installed, and a fixing plate disposed to overlap with the first support plate 141 at a predetermined distance. It may consist of 143.

Here, the height of the support member 140 may be adjusted by a height adjustment member 130 including a vertical screw shaft 131. The height adjustment member 130 is for securing smoothness when the magazine M is inserted and removed by adjusting the height of the conveyor belt 121 to the introduction conveyor 1a provided in the magazine introduction part 1, and the screw shaft 131 ) Is fastened to the fixing plate 143 and the first support plate 141, respectively, and as the screw motor (not shown) is driven, the fixing plate 143 and the first support plate 141 are linearly moved in the vertical direction to adjust the height. Make it possible.

The first and second support plates 141 and 142 may have their spacing d adjusted by the spacing adjusting member 150. The distance adjusting member 150 is rotatably supported at both ends of the fixing plate 143 and the second support plate 142, and a threaded portion 151a is formed on the outer circumferential surface of the first support plate, thereby forming a through hole of the first support plate 141 (141a) a gap adjustment shaft 151 to which a counter screw portion formed on the inner circumferential surface is engaged; It may be composed of a shaft motor 152 that rotates the distance adjustment shaft. Therefore, as the distance adjustment shaft 151 is rotated by the shaft motor 152, the first support plate 141 is brought close to the second support plate 142 or is in circular contact, so that the gap between them can be narrowed or widened. .

And, on the upper side of the first and second support plates 141 and 142, a buffer guard 160 made of rubber material to prevent impact due to collision with the support plate when the magazine M is pulled out or pulled in from the conveyor belt 121. ) Can be installed.

Meanwhile, as shown in FIG. 5, a barcode 170 is provided on the front of each unit of the surface mounting line L, and the first and second magazine robots 100a and 100b recognize the barcode and use the recognized signal as a control unit. A barcode recognition unit 171 to transmit may be provided.

For example, when the first and second magazine robots are reset for some reason, each of the magazine robots is stopped at an arbitrary position on the circulation track. When starting the operation again in this state, the control unit 200 must recognize the current position of the magazine robot, and the barcode 170 and the barcode recognition unit 171 may be applied as means that the control unit 200 can recognize. .

When the barcode recognition unit 171 recognizes the barcode closest to it and transmits the recognized signal to the control unit 200, the control unit 200 can recognize that the magazine robot is stationary at a specific barcode position, so when it is restarted It is used as a reference point when moving the position of the magazine robot.

Although the present specification has been described with reference to preferred embodiments of the present invention, those skilled in the art will variously modify and change the present invention within the scope not departing from the spirit and scope of the present invention described in the claims described below. You will be able to do it. Therefore, if the modified implementation basically includes the elements of the claims of the present invention, all should be considered to be included in the technical scope of the present invention.

100a, 100b: first and second magazine robots
110: running body 111: magazine storage
120: magazine supply and collection member 121: conveyor belt
130: height adjustment member 140: support member
141, 142: first and second support plates 143: support plate
150: gap adjusting member 151: gap adjusting shaft
160: safety guard 170: barcode
171: barcode recognition unit 200: control unit

Claims (6)

A device that supplies a magazine to a surface mounting line that performs a process of mounting a chip on a substrate and retrieves a magazine from the surface mounting line,
Including self-driving first and second magazine robots controlled by a control unit,
When the first and second magazine robots circulate the virtual circulation track in front of the surface mounting line by a control command from the control unit, when the first magazine robot supplies the magazine on which the mounting target substrate is loaded to the magazine supply unit of the surface mounting line The second magazine robot collects the magazine loaded with the mounted substrate from the magazine withdrawal part of the surface mounting line,
When the first magazine robot moves from the magazine supply part of the surface mount line to the magazine withdrawal part with an empty magazine mounted, the second magazine robot puts the magazine recovered from the magazine withdrawal part into the magazine collection part provided on the virtual track. At the same time, the cycle of moving toward the magazine supply unit after loading the magazine in which the target substrate is loaded is repeated.
The first and second magazine robots include: a traveling body having a magazine receiving unit in which a pair of side surfaces facing each other among the four side surfaces is opened to receive a magazine therethrough, and is autonomously driven by a control command from a control unit; A magazine supply and collection member installed in the magazine receiving unit and supplying the magazine stored in the magazine receiving unit to the magazine introduction unit, recovering an empty magazine, or recovering a magazine loaded with a mounted substrate from the magazine drawing unit; And a height adjustment member capable of adjusting the height of the magazine supply and recovery member in order to match the height with the introduction conveyor provided in the magazine introduction part;
The supply and recovery member is installed on both sides of the inside of the magazine storage unit and is operated toward the opened portion of the magazine storage unit, and further includes a conveyor belt whose traveling direction is switched by a forward and reverse rotation motor,
The belt gears of each conveyor belt are rotatably supported by support members provided on both sides of the magazine storage unit, and the height of the support members is adjusted by a height adjustment member including a vertical screw shaft, and the support member is each conveyor belt. Consisting of a first and second support plates on which the belt gear is rotatably installed, and a fixed plate disposed to overlap with the first support plate at a predetermined distance, the screw shaft further comprises fastening to the fixed plate and the second support plate, respectively,
The first and second support plates are spaced by a space adjustment member, but the space adjustment member is rotatably supported at both ends of the fixing plate and the second support plate, and a screw part is formed on the outer circumferential surface of the first support plate. A gap adjustment shaft to which a counter threaded portion formed on the inner peripheral surface of the through hole is engaged; Consisting of a shaft motor that rotates the space adjusting shaft, further comprising adjusting the distance between the first and second support plates while the first support plate moves linearly along the screw portion as the distance control shaft rotates by the shaft motor,
A barcode is provided on the front of each unit of the surface mount line, and a barcode recognition unit that recognizes the barcode and transmits the recognized signal to the control unit is provided on the first and second magazine robots, and the first and second magazine robots are based on the recognized barcode signal. Self-driving magazine supply and collection device for SMT process further comprising a control unit to determine the current location of the.

















delete delete delete delete delete

Images