JPH05198997A - Automatic electronic component mounting apparatus - Google Patents
Automatic electronic component mounting apparatusInfo
- Publication number
- JPH05198997A JPH05198997A JP4029992A JP2999292A JPH05198997A JP H05198997 A JPH05198997 A JP H05198997A JP 4029992 A JP4029992 A JP 4029992A JP 2999292 A JP2999292 A JP 2999292A JP H05198997 A JPH05198997 A JP H05198997A
- Authority
- JP
- Japan
- Prior art keywords
- electronic component
- conveyor
- circuit board
- printed circuit
- reference mark
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、プリント基板の幅に応
じて搬送コンベアのコンベア幅を可変とした電子部品自
動装着装置に関し、特に、コンベア幅の変更にともなっ
て移動側コンベアとともに移動する電子部品フィーダ
の、部品取出し口の座標位置を容易に修正できるように
した電子部品自動装着装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for automatically mounting electronic parts in which the conveyor width of a conveyor is variable according to the width of a printed circuit board, and more particularly to an electronic part which moves together with the moving side conveyor when the conveyor width is changed. The present invention relates to an electronic component automatic mounting apparatus capable of easily correcting the coordinate position of a component outlet of a component feeder.
【０００２】[0002]
【従来の技術】搬送コンベアによってプリント基板を搬
送して所定の位置に位置決めし、電子部品フィーダの部
品取出し口から装着ヘッドによって、この電子部品をプ
リント基板に装着する電子部品の自動装着装置において
は、電子部品を装着するプリント基板の大きさが変わっ
ても対応できるようにするため、通常プリント基板の搬
送コンベアの片側を可動式とし、コンベア幅を変更でき
るようにしてある。このような電子部品自動装着装置に
は、搬送コンベアの可動側コンベアに電子部品供給手段
を一体的に配置し、可動側コンベアの移動とともに電子
部品供給手段も移動するようにしたものがある。2. Description of the Related Art In a device for automatically mounting electronic components, a printed circuit board is transported by a transport conveyor to be positioned at a predetermined position, and the electronic component is mounted on the printed circuit board by a mounting head from a component outlet of the electronic component feeder. In order to cope with a change in the size of a printed circuit board on which electronic components are mounted, one side of the conveyor for carrying the printed circuit board is usually movable so that the width of the conveyor can be changed. In such an electronic component automatic mounting apparatus, an electronic component supply means is integrally arranged on a movable side conveyor of a transfer conveyor, and the electronic component supply means also moves as the movable side conveyor moves.
【０００３】上述したプリント基板の幅の変更にともな
ってコンベア幅を変化させる搬送コンベアにおいては、
搬送コンベアの可動側コンベアを移動させてプリント基
板の幅に対応させる際、プリント基板が基板案内部の間
をスムーズに移送するようにしなければならない。しか
し、変更したプリント基板の幅寸法仕様が同じものであ
っても、メーカ又は製造ロットごとにプリント基板の幅
寸法にばらつきを生じる。このため、プリント基板をス
ムーズに移送するようにさせるには、搬送コンベアの可
動側コンベア移動量をプリント基板（製造メーカ又は、
製造ロット）ごとに変えなければならず、正確な移動量
は不明となる。また、プリント基板の幅寸法が同じてあ
っても、プリント基板と基板案内部の隙間をどの程度に
するかは、搬送コンベアの幅調整を行なう作業員の感覚
によるため、同一作業員による場合であっても、隙間は
必ずしも一定ではなくばらつきを生じ、可動側コンベア
の正確な移動量は不明となる。[0003] In the above-mentioned transfer conveyor in which the conveyor width is changed in accordance with the change in the width of the printed circuit board,
When the movable side conveyor of the transfer conveyor is moved to correspond to the width of the printed circuit board, the printed circuit board must be smoothly transferred between the board guide portions. However, even if the changed width specifications of the printed board are the same, the width of the printed board varies depending on the manufacturer or the manufacturing lot. For this reason, in order to transfer the printed circuit board smoothly, the moving amount of the movable side conveyor is set to the printed circuit board (manufacturer or
It must be changed for each production lot), and the exact amount of movement is unknown. Even if the width of the printed circuit board is the same, it depends on the feeling of the worker who adjusts the width of the conveyor to decide how much the clearance between the printed circuit board and the board guide part should be. Even if there is a gap, the gap is not always constant and varies, and the exact amount of movement of the movable side conveyor becomes unknown.
【０００４】一方、プリント基板上の電子部品の装着位
置は、固定側コンベアの基板案内部に設けられた位置決
めピンによってプリント基板が位置決めされ、通常、こ
の位置決めピンの位置を基準位置として装着される。し
たがって、可動側コンベアの基板案内部とともに移動す
る電子部品フィーダの部品取出し口（供給位置）は、基
準位置である位置決めピンの位置からの距離が不明とな
り、その都度、部品取出し口の座標位置を修正しなけれ
ばならなかった。On the other hand, with respect to the mounting position of the electronic component on the printed circuit board, the printed circuit board is positioned by the positioning pin provided in the substrate guide portion of the fixed side conveyor, and normally, the mounting position of this positioning pin is used as the reference position. . Therefore, the component take-out port (supply position) of the electronic component feeder that moves together with the board guide unit of the movable side conveyor is unknown in the distance from the position of the positioning pin, which is the reference position, and the coordinate position of the component take-out port is changed each time. I had to fix it.
【０００５】[0005]
【発明が解決しようとする課題】この電子部品フィーダ
における部品取出し口の座標修正は、従来、各電子部品
フィーダの部品取り出し口の上方に装着ヘッドを移動
し、それぞれの部品が確実に吸着される位置をティーチ
ングすることによって行なっているため、修正に非常な
手数がかかり、また修正ミスを生じやすいという問題が
あった。本発明は上記の問題点にかんがみてなされたも
のであり、プリント基板の基板幅を変更した後における
電子部品フィーダの部品取出し口の座標位置を、容易に
求められるようにした電子部品自動装着装置の提供を目
的とする。To correct the coordinates of the component take-out port in this electronic component feeder, conventionally, the mounting head is moved above the component take-out port of each electronic component feeder so that the respective components are reliably sucked. Since it is performed by teaching the position, there is a problem that it takes a great deal of trouble to make a correction and a correction mistake is likely to occur. The present invention has been made in view of the above problems, and an electronic component automatic mounting apparatus that can easily obtain the coordinate position of a component ejection port of an electronic component feeder after changing the board width of a printed circuit board. For the purpose of providing.
【０００６】[0006]
【課題を解決するための手段】上記目的を達成するため
本発明の電子部品自動装着装置は、プリント基板を搬送
して所定の位置に位置決めするコンベア幅が可変の搬送
コンベアと、この搬送コンベアの可動側コンベアと連動
して移動する電子部品供給手段と、この電子部品供給手
段から電子部品を取り出し上記プリント基板に装着する
装着ヘッドとを有する電子部品自動装着装置において、
上記可動側コンベアに設けた基準マークと、この基準マ
ークの移動量を測定する移動量測定手段とを具備した構
成としてあり、好ましくは、上記移動量測定手段を、基
準マーク標準位置と実際の基準マーク位置とのずれを検
出する検出手段と、上記検出手段が検出したずれ分だけ
電子部品供給手段における各電子部品フィーダの部品取
出し口の座標位置を求める演算部とで構成し、さらに好
ましくは、上記検出手段を電子部品の装着位置の検出を
行なう装着ヘッドに設けられたＣＣＤカメラとした構成
としてある。In order to achieve the above object, an electronic component automatic mounting apparatus of the present invention is a conveyor having a variable conveyor width for conveying a printed circuit board and positioning it at a predetermined position, and a conveyor for this conveyor. In an electronic component automatic mounting apparatus having an electronic component supply means that moves in conjunction with a movable conveyor, and a mounting head that picks up an electronic component from the electronic component supply means and mounts it on the printed circuit board,
A reference mark provided on the movable conveyor and a moving amount measuring means for measuring the moving amount of the reference mark are provided.Preferably, the moving amount measuring means is a reference mark standard position and an actual reference. Detecting means for detecting the deviation from the mark position, and a calculating section for obtaining the coordinate position of the component outlet of each electronic component feeder in the electronic component supplying means by the displacement detected by the detecting means, and more preferably, The detection means is a CCD camera provided on a mounting head that detects the mounting position of the electronic component.
【０００７】[0007]
【作用】上記構成からなる本発明の電子部品自動装着装
置によれば、検出手段によって基準マークの位置を検出
し、この基準マークの移動量を求めることによって補正
値を演算し、プリント基板の幅変更により不明となった
各電子部品フィーダの部品取出し口の座標位置を求め
る。According to the electronic component automatic mounting apparatus of the present invention having the above-mentioned structure, the position of the reference mark is detected by the detecting means, and the correction value is calculated by obtaining the moving amount of the reference mark to obtain the width of the printed circuit board. Obtain the coordinate position of the component pick-up port of each electronic component feeder that became unknown due to the change.
【０００８】[0008]
【実施例】以下、本発明の電子部品自動装着装置の一実
施例について、図面を参照して説明する。図１は一実施
例装置の要部斜視図を示す。同図に示す一実施例装置
は、プリント基板Ｐの搬送コンベア１０と、電子部品を
供給する電子部品供給手段２０と、電子部品供給手段２
０から電子部品を取り出してプリント基板Ｐ上に装着す
る装着ヘッド３０、及び制御部４０（図１には図示せ
ず。）とで構成している。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an electronic component automatic mounting apparatus of the present invention will be described below with reference to the drawings. FIG. 1 shows a perspective view of a main part of an apparatus according to an embodiment. The apparatus shown in FIG. 1 includes a conveyor 10 for a printed circuit board P, an electronic component supply means 20 for supplying electronic components, and an electronic component supply means 2.
It is composed of a mounting head 30 for picking up electronic components from 0 and mounting them on the printed circuit board P, and a control unit 40 (not shown in FIG. 1).
【０００９】搬送コンベア１０は、固定側コンベア１１
ａと可動側コンベア１１ｂとからなり、可動側コンベア
１１ｂは図示しない駆動手段、例えば手動ハンドルと送
りねじによって搬送コンベア１０の幅方向（Ｙ方向）に
移動できるように構成してある。固定側コンベア１１ａ
及び可動側コンベア１１ｂは、それぞれプリント基板Ｐ
の下面を支持して送り方向（Ｘ方向）に移送させるコン
ベアベルト１２ａ，１２ｂと、プリント基板Ｐの両側辺
をガイドして幅方向（Ｙ方向）の移動を係止する基板案
内部１３ａ，１３ｂを有している。また、固定側コンベ
ア１１ａの内側には、移送されてきたプリント基板Ｐを
所定の位置に位置決めするための上下動可能な位置決め
ピン１４が設けてある。さらに、可動側コンベア１１ｂ
の基板案内部１３ｂの上面任意箇所には、基準マーク１
５が固着してある。The transfer conveyor 10 is a fixed side conveyor 11
The movable side conveyor 11b is configured to be movable in the width direction (Y direction) of the conveyor 10 by a driving means (not shown) such as a manual handle and a feed screw. Fixed side conveyor 11a
And the movable side conveyor 11b are the printed circuit boards P, respectively.
Conveyor belts 12a and 12b that support the lower surface of the printed circuit board and move it in the feed direction (X direction), and board guide portions 13a and 13b that guide both sides of the printed circuit board P and lock movement in the width direction (Y direction). have. Further, inside the fixed-side conveyor 11a, a vertically movable positioning pin 14 for positioning the transferred printed circuit board P at a predetermined position is provided. Furthermore, the movable side conveyor 11b
The reference mark 1 is provided at an arbitrary position on the upper surface of the board guide portion 13b of
5 is stuck.
【００１０】電子部品供給手段２０は、固定側コンベア
１１ａ及び可動側コンベア１１ｂに取り付けられた支持
板２１ａ，２１ｂの上部に、搬送コンベア１０に向い、
かつプリント基板の移送方向に沿って並列に取り付けた
多数の各種電子部品フィーダ２２ａ，２２ｂ，・・（支
持板２１ａ側は図示せず）とで構成してあり、多種類の
電子部品を供給できるようになっている。この各電子部
品フィーダ２２ａ，２２ｂ，・・には、それぞれ電子部
品の取出し口２３ａ，２３ｂ，・・が形成してある。The electronic component supply means 20 faces the transfer conveyor 10 above the supporting plates 21a and 21b attached to the fixed side conveyor 11a and the movable side conveyor 11b.
Further, it is composed of a large number of various electronic component feeders 22a, 22b, ... (The support plate 21a side is not shown) mounted in parallel along the transfer direction of the printed circuit board, so that various types of electronic components can be supplied. It is like this. The electronic component feeders 22a, 22b, ... Are provided with electronic component outlets 23a, 23b ,.
【００１１】装着ヘッド３０は、ヘッド本体３１と、こ
のヘッド本体３１に組み込んだ複数の装着スピンドル３
２及びこれら装着スピンドル３２を駆動させるための図
示しない駆動部とで構成してある。そして、ヘッド本体
３１は、周知のように電子部品を電子部品フィーダ２２
ａ，２２ｂ，・・の部品取出し口２３ａ，２３ｂ，・・
から電子部品を吸着して取り出し、プリント基板上の装
着位置へ搬送するために、平面上を二次元方向（Ｘ，Ｙ
方向）に移動する図示しない任意のロボットによって支
持されている。また、装着スピンドル３２も、周知のよ
うに電子部品を吸着するノズル（図示せず）と、ノズル
に吸着された電子部品をセンタリングするセンタリング
爪３３を有している。The mounting head 30 comprises a head body 31 and a plurality of mounting spindles 3 incorporated in the head body 31.
2 and a drive unit (not shown) for driving the mounting spindle 32. Then, as is well known, the head body 31 inserts the electronic components into the electronic component feeder 22.
a, 22b, ..., component take-out ports 23a, 23b, ...
In order to pick up electronic parts from the board and transport them to the mounting position on the printed circuit board, two-dimensional directions (X, Y
Direction) is supported by an arbitrary robot (not shown). Further, the mounting spindle 32 also has a nozzle (not shown) for sucking the electronic component and a centering claw 33 for centering the electronic component sucked by the nozzle, as is well known.
【００１２】装着ヘッド３０は、ヘッド本体３１の左端
に、基準マーク１５の検出手段であるとともに、基板認
識（基板上の所定の認識点の位置を認識して基板の誤供
給、位置決めの際の傾き等をチェックする）、又は電子
部品の装着位置の認識（装着装置のリードパターンを認
識して、プログラム上の装着位置と実際のプリント基板
上の装着位置との誤差を補正する）のためのＣＣＤカメ
ラ３４を設けてある。The mounting head 30 is a means for detecting the reference mark 15 at the left end of the head main body 31, and is used for board recognition (recognizing the position of a predetermined recognition point on the board to erroneously supply or position the board. For checking the inclination etc.) or recognizing the mounting position of the electronic component (recognizing the lead pattern of the mounting device and correcting the error between the mounting position on the program and the actual mounting position on the printed circuit board) A CCD camera 34 is provided.
【００１３】本実施例における電子部品自動装着装置
は、上述した搬送コンベア１０と、電子部品供給手段２
０及び装着ヘッド３０の動作を制御するための制御部４
０（図２）を備えている。この制御部４０は、上記制御
だけでなく、後述する電子部品フィーダ２２ａ，２２
ｂ，・・の部品取出し口２３ａ，２３ｂ，・・の座標位
置を求める計算等をも行なう。The electronic component automatic mounting apparatus according to the present embodiment includes the above-described transfer conveyor 10 and electronic component supply means 2.
0 and a control unit 4 for controlling the operation of the mounting head 30.
0 (FIG. 2). The control unit 40 performs not only the above control but also electronic component feeders 22a, 22 to be described later.
.., etc. are also calculated to obtain the coordinate positions of the component take-out ports 23a, 23b ,.
【００１４】上記構成からなる電子部品自動装着装置に
おいて、電子部品を装着するプリント基板Ｐの大きさ
（Ｙ方向の幅）が変わった場合には、搬送コンベア１０
の可動側コンベア１１ｂを移動させてプリント基板Ｐの
大きさと対応した幅にする。このとき、移送の際にプリ
ント基板Ｐが基板案内部１３ａ，１３ｂに沿ってスムー
ズに移送されるように可動側コンベア１１ｂを調整する
ため、前述した理由によって、可動側コンベア１１ｂと
ともに移動する支持板２１ｂ上の各電子部品フィーダ２
２ａ，２２ｂ，・・の部品取出し口２３ａ，２３ｂ，・
・の正確な座標位置は不明となる。In the electronic component automatic mounting apparatus having the above structure, when the size (width in the Y direction) of the printed circuit board P on which electronic components are mounted is changed, the conveyer conveyor 10 is used.
The movable side conveyor 11b is moved to a width corresponding to the size of the printed circuit board P. At this time, since the movable side conveyor 11b is adjusted so that the printed circuit board P is smoothly transferred along the board guide portions 13a and 13b at the time of transfer, the support plate that moves together with the movable side conveyor 11b for the reason described above. Each electronic component feeder 2 on 21b
2a, 22b, ..., parts outlets 23a, 23b ,.
・ The exact coordinate position of is unknown.
【００１５】次に、上述のような搬送コンベア１０の幅
変更をしたとき、支持板２１ｂ上の各電子部品フィーダ
２２ａ，２２ｂ，・・の部品取り出し口２３ａ，２３
ｂ，・・の座標を求める場合について説明する。Next, when the width of the conveyor 10 is changed as described above, the electronic component feeders 22a, 22b, ...
The case of obtaining the coordinates of b, ... Will be described.
【００１６】図２は、部品取り出し口２３ａ，２３ｂ，
・・の座標を求める際に用いる制御部４の一実施例のブ
ロック構成図であり、図３は、可動側コンベア１１ｂの
移動後の部品取り出し口２３ａ，２３ｂ，・・の座標を
求めるための説明図である。なお、可動側コンベア１１
ｂを移動させてもＸ方向の座標は変化しない。したがっ
て、以下においてはＹ方向の変化についてのみ説明す
る。FIG. 2 shows the parts outlets 23a, 23b,
FIG. 3 is a block configuration diagram of an embodiment of the control unit 4 used when obtaining the coordinates of the moving parts. FIG. 3 is a block diagram for obtaining the coordinates of the component take-out ports 23a, 23b ,. FIG. The movable side conveyor 11
The coordinates in the X direction do not change even if b is moved. Therefore, only the change in the Y direction will be described below.
【００１７】制御部４０は、記憶部４１と演算部４２及
び画像処理部４３を有している。記憶部４１には、第一
記憶部４１１，第二記憶部４１２，第三記憶部４１３及
び第四記憶部４１４がある。第一記憶部４１１は、基準
プリント基板（例えば、最小幅プリント基板：基板幅５
０ｍｍ）のときにおける電子部品フィーダ２２ａ，２２
ｂの取付基準位置（基準フィーダ原点）の座標Ｙ0 ＋ａ
を、製造時の入力によって予め記憶している。第二記憶
部４１２は、変更後のプリント基板の幅を、キーボード
等からの入力によって記憶する。The control unit 40 has a storage unit 41, a calculation unit 42, and an image processing unit 43. The storage unit 41 includes a first storage unit 411, a second storage unit 412, a third storage unit 413, and a fourth storage unit 414. The first storage unit 411 stores the reference printed circuit board (for example, minimum width printed circuit board: board width 5).
0 mm) electronic component feeders 22a, 22
Coordinate Y 0 + a of the mounting reference position (reference feeder origin) of b
Are stored in advance by input during manufacturing. The second storage unit 412 stores the changed width of the printed circuit board by inputting from a keyboard or the like.
【００１８】演算部４２には、第一演算部４２１，第二
演算部４２２，第三演算部４２３及び第四演算部４２４
がある。第一演算部４２１は、第一及び第二記憶部４１
１，４１２からのデータにもとづいて、変更したプリン
ト基板に対応した基準フィーダ原点の標準位置座標Ａ’
を計算する。すなわち、プリント基板Ｐの幅変更によ
り、搬送コンベア１０の可動側コンベア１１ｂが移動
し、基準フィーダ原点の座標も移動するので、このとき
の基準フィーダ原点の座標を標準位置座標Ａ’として、 Ａ’＝Ｙ1 ＋（Ｙ0 ＋ａ−５０） Ｙ1 ：変更したプリント基板の幅 Ｙ0 ：基準プリント基板の幅（５０ｍｍ） の式で求める。しかし、上述したように同じ寸法仕様の
プリント基板Ｐでも製造メーカや製造ロットごとにばら
つきがあり、またプリント基板Ｐと基板案内部１１ａ，
１１ｂの隙間にもばらつきを生じるためプリント基板の
幅の差分だけ補正しただけでは、プリント基板変更後に
おける基準フィーダ原点の正確な座標を得ることができ
ない。The operation unit 42 includes a first operation unit 421, a second operation unit 422, a third operation unit 423, and a fourth operation unit 424.
There is. The first calculation unit 421 is configured by the first and second storage units 41.
Standard position coordinates A'of the reference feeder origin corresponding to the changed printed circuit board based on the data from 1, 412
To calculate. That is, since the movable side conveyor 11b of the transfer conveyor 10 moves and the coordinates of the reference feeder origin also move by changing the width of the printed circuit board P, the coordinates of the reference feeder origin at this time are set as standard position coordinates A ', and A' = Y 1 + (Y 0 + a-50) Y 1: width Y 0 of the printed circuit board has been changed: determining the formula of width of the reference printed circuit board (50 mm). However, as described above, even the printed circuit boards P having the same size specifications vary depending on the manufacturer and the manufacturing lot, and the printed circuit board P and the board guide portion 11a,
Since the gap of 11b also varies, it is not possible to obtain accurate coordinates of the origin of the reference feeder after changing the printed circuit board only by correcting the width difference of the printed circuit board.
【００１９】そこで、装着ヘッド３０をＸ，Ｙ方向に移
動させるロボットを駆動し、装着ヘッド３０、すなわち
ＣＣＤカメラ３４をプリント基板の幅の差分（Ｙ1 −Ｙ
0 ）だけ補正して移動後の基準マーク１５の標準位置の
上方まで移動させる。このようにすると、上述したばら
つきによって生じた基準フィーダ原点のずれを、基準マ
ーク１５の標準位置とＣＣＤカメラ３４の中心位置のず
れαとして捉えることができる。したがって、画像とし
て捉らえたこの位置ずれを画像処理部４３で処理し、か
つ演算部４２の第二演算部４２２で演算を行ない補正量
αとする。次いで、第三演算部４２３において、基準フ
ィーダ原点の標準座標Ａ’の位置をこの補正量αで補正
することにより、可動側コンベア１１ｂの移動にともな
って移動した基準フィーダ原点１５の実際の座標位置Ａ
を求める。 Ａ＝Ａ’＋α＝Ｙ1 ＋（Ｙ0 ＋ａ−５０）＋αTherefore, the robot that moves the mounting head 30 in the X and Y directions is driven to move the mounting head 30, that is, the CCD camera 34, to the difference in the width of the printed circuit board (Y 1 -Y).
0 ) is corrected and moved to a position above the standard position of the reference mark 15 after the movement. By doing so, the deviation of the reference feeder origin caused by the above-mentioned variation can be grasped as the deviation α between the standard position of the reference mark 15 and the central position of the CCD camera 34. Therefore, the positional deviation captured as an image is processed by the image processing unit 43, and is calculated by the second calculation unit 422 of the calculation unit 42 to obtain the correction amount α. Next, in the third calculation unit 423, the position of the standard coordinate A ′ of the reference feeder origin is corrected by this correction amount α, so that the actual coordinate position of the reference feeder origin 15 that moves with the movement of the movable side conveyor 11b. A
Ask for. A = A '+ α = Y 1 + (Y 0 + a-50) + α
【００２０】一方、各電子部品フィーダ２２ａ，２２
ｂ，・・の電子部品フィーダ、例えば２２ａの部品取出
し口２３ａの座標Ｂは、座標Ａより一定量Ｂ0 だけオフ
セットした位置にある。このため、各電子部品フィーダ
ごとにおけるフィーダ原点からの部品取出し口座標Ｂ0
を、電子部品フィーダごとに求めておき、記憶部４１の
第三記憶部４１３に記憶しておく。On the other hand, each electronic component feeder 22a, 22
The coordinates B of the electronic component feeders b, ..., For example, the component take-out port 23a of 22a are at a position offset from the coordinate A by a fixed amount B 0 . Therefore, the component pick-up port coordinates B 0 from the feeder origin in each electronic component feeder
Is calculated for each electronic component feeder and stored in the third storage unit 413 of the storage unit 41.
【００２１】したがって、移動後の各電子部品フィーダ
の部品取出し口の座標Ｂは、第三演算部４２３で求めた
基準フィーダ原点１５の座標Ａと、第三記憶部４１３に
記憶してある各電子部品フィーダごとのフィーダ原点２
３ａ，２３ｂ，・・の座標Ｂ0 を、第四演算部４２３で
加算（減算）することによって求める。 Ｂ＝Ａ−Ｂ0 ＝Ｙ1 ＋（Ｙ0 ＋ａ−５０）＋α−Ｂ0こ
こで、（Ｙ0 ＋ａ−５０）及びＢ0 は、基板が移動して
も変化しない定数なので、変更後の基板幅Ｙ1 によって
計算した部品取出し口の座標に補正値αだけ加えてもよ
い。このようにして求めた、各電子部品フィーダの移動
後における部品取出し口の座標Ｂは、記憶部４１の第四
記憶部４１４に記憶され、かつ装着ヘッド３０による電
子部品フィーダ２２ａ，２２ｂ，・・の取出し口２３
ａ，２３ｂ，・・からの電子部品の取出し動作の指令値
となる。Therefore, the coordinate B of the component take-out port of each electronic component feeder after the movement is the coordinate A of the reference feeder origin 15 obtained by the third calculation unit 423 and each electronic component stored in the third storage unit 413. Feeder origin 2 for each component feeder
The coordinate B 0 of 3a, 23b, ... Is obtained by adding (subtracting) the fourth computing unit 423. B = A−B 0 = Y 1 + (Y 0 + a−50) + α−B 0 Here, (Y 0 + a−50) and B 0 are constants that do not change even if the substrate moves, so that after the change The correction value α may be added to the coordinates of the component outlet calculated by the board width Y 1 . The coordinates B of the component take-out port after the movement of each electronic component feeder obtained in this manner are stored in the fourth storage unit 414 of the storage unit 41, and the electronic component feeders 22a, 22b, ... Outlet 23
It becomes the command value of the taking-out operation of the electronic component from a, 23b, ....
【００２２】上述のように、本実施例の電子部品自動装
着装置によれば、プリント基板Ｐの幅変更にともなって
不明となってしまった各電子部品フィーダ２２ａ，２２
ｂ，・・の移動後における部品取出し口２３ａ，２３
ｂ，・・の座標Ｂを、可動側コンベア１１ｂに設けた基
準マーク１５をＣＣＤカメラ３４で検出する動作と制御
部４０における演算のみで求めることができる。As described above, according to the electronic component automatic mounting apparatus of the present embodiment, the electronic component feeders 22a, 22 which have become unclear as the width of the printed circuit board P is changed.
b, ... After removing parts 23a, 23
The coordinates B of b, ... Can be obtained only by the operation of detecting the reference mark 15 provided on the movable side conveyor 11b by the CCD camera 34 and the calculation in the control unit 40.
【００２３】なお、本発明の電子部品自動装着装置によ
れば、上記実施例に限定されるものではなく要旨の範囲
内で種々変形実施が可能である。例えば、 基準マークの検出手段を、装着ヘッドと独立して移動
させるようにしたもの。 また、検出手段を固定し、基準マークを目盛状等とし
て、この目盛を可動側コンベアとともに移動させるよう
にしたもの。 変更したプリント基板の幅を、基準マーク検出手段で
求めるようにしたもの。 この場合、変更したプリント基板幅の入力は不要とな
り、基準フィーダ原点の標準座標の計算も不要となる。The electronic component automatic mounting apparatus of the present invention is not limited to the above embodiment, and various modifications can be made within the scope of the invention. For example, the reference mark detection means is moved independently of the mounting head. Further, the detection means is fixed, the reference mark is in the form of a scale, and the scale is moved together with the movable conveyor. The changed width of the printed circuit board is obtained by the reference mark detection means. In this case, it is not necessary to input the changed printed circuit board width, and it is not necessary to calculate the standard coordinates of the reference feeder origin.
【００２４】[0024]
【発明の効果】以上の構成からなる本発明の電子部品自
動装着装置によれば、プリント基板の変更にともなって
可動側コンベアが移動し、これによって不明となった電
子部品フィーダの部品取出し口の座標位置をきわめて容
易に求めることができる。According to the electronic component automatic mounting apparatus of the present invention having the above-described structure, the movable side conveyor is moved along with the change of the printed circuit board, and the component take-out port of the electronic component feeder which becomes unclear due to this movement. The coordinate position can be obtained very easily.
【図１】本発明の電子部品自動装着装置の一実施例要部
斜視図を示す。FIG. 1 is a perspective view showing a main part of an embodiment of an electronic component automatic mounting apparatus according to the present invention.
【図２】部品取出し口の座標を求める際に用いる制御部
の一実施例のブロック構成図を示す。FIG. 2 is a block diagram of an embodiment of a control unit used when obtaining the coordinates of a component outlet.
【図３】部品取出し口の座標を求める際の説明図を示
す。FIG. 3 is an explanatory diagram for obtaining coordinates of a component outlet.
１０…搬送コンベア １１ａ…固定側コンベア １１ｂ…可動側コンベア １３ａ，１３ｂ…基板案内部 １５…基準マーク ２０…電子部品供給手段 ２２ａ，２２ｂ，・・ …電子部品フィーダ ２３ａ，２３ｂ，・・ …部品取出し口 ３０…装着ヘッド ３１…ヘッド本体 ３４…ＣＣＤカメラ ４０…制御部 ４１…記憶部 ４２…演算部 ４３…画像処理部 Ｂ…各電子部品フィーダの移動後における部品取出し口
の座標 Ａ…フィーダ原点の座標 Ａ’…フィーダ原点の標準位置座標 Ｙ1 …変更したプリント基板の幅 Ｙ0 …基準プリント基板（５０ｍｍ） α…フィーダ原点座標Ａとフィーダ原点標準位置座標と
のずれ量（検出手段で検出した基準マークのずれ量） Ｂ…各電子部品フィーダごとの部品取出し口の座標 Ｂ0 …フィーダ原点と各電子部品フィーダの部品取出し
口座標とのオフセット量10 ... Conveyor 11a ... Fixed side conveyor 11b ... Movable side conveyor 13a, 13b ... Board guide part 15 ... Reference mark 20 ... Electronic component supply means 22a, 22b, ... Electronic component feeder 23a, 23b ,. Port 30 ... Mounting head 31 ... Head body 34 ... CCD camera 40 ... Control unit 41 ... Storage unit 42 ... Calculation unit 43 ... Image processing unit B ... Coordinates of component ejection port after movement of each electronic component feeder A ... Feeder origin Coordinates A '... Standard position coordinates of the origin of the feeder Y 1 ... Width of the changed printed circuit board Y 0 ... Reference printed circuit board (50 mm) α ... Amount of deviation between the feeder origin coordinates A and the feeder origin standard position coordinates (detected by the detection means reference displacement amount of the mark) B ... the electronic components and the coordinate B 0 ... feeder origin component outlet of each electronic component feeder Fi Offset amount between Da parts outlet coordinates
Claims (3)
置決めするコンベア幅が可変の搬送コンベアと、この搬
送コンベアの可動側コンベアと連動して移動する電子部
品供給手段と、この電子部品供給手段から電子部品を取
り出し上記プリント基板に装着する装着ヘッドとを有す
る電子部品自動装着装置において、 上記可動側コンベアに設けた基準マークと、この基準マ
ークの移動量を測定する移動量測定手段とを具備したこ
とを特徴とする電子部品自動装着装置。1. A conveyer conveyor having a variable conveyor width for conveying a printed circuit board and positioning it at a predetermined position, an electronic component supplying means that moves in conjunction with a movable side conveyor of the conveyer, and an electronic component supplying means. An electronic component automatic mounting apparatus having a mounting head for picking up an electronic component from the above and mounting it on the printed circuit board, comprising: a reference mark provided on the movable side conveyor; and a movement amount measuring means for measuring the movement amount of the reference mark. An electronic component automatic mounting device characterized in that
検出する検出手段と、 上記検出手段が検出したずれ分だけ補正して、電子部品
供給手段における各電子部品フィーダの部品取出し口の
座標位置を求める演算部とからなる請求項１記載の電子
部品自動装着装置。2. The moving amount measuring means detects the deviation between the reference mark standard position and the actual reference mark position, and corrects only the deviation detected by the detecting means, and each of the electronic component supplying means. The electronic component automatic mounting apparatus according to claim 1, further comprising a calculation unit that obtains a coordinate position of a component outlet of the electronic component feeder.
を行なう装着ヘッドに設けられたＣＣＤカメラである請
求項２記載の電子部品自動装着装置。3. The electronic component automatic mounting apparatus according to claim 2, wherein the detection means is a CCD camera provided on a mounting head for detecting the mounting position of the electronic component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04029992A JP3095512B2 (en) | 1992-01-21 | 1992-01-21 | Electronic component automatic mounting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04029992A JP3095512B2 (en) | 1992-01-21 | 1992-01-21 | Electronic component automatic mounting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05198997A true JPH05198997A (en) | 1993-08-06 |
| JP3095512B2 JP3095512B2 (en) | 2000-10-03 |
Family
ID=12291443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP04029992A Expired - Fee Related JP3095512B2 (en) | 1992-01-21 | 1992-01-21 | Electronic component automatic mounting device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3095512B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08181488A (en) * | 1994-12-22 | 1996-07-12 | Juki Corp | Electronic parts mounting apparatus |
| JP2002173214A (en) * | 2000-12-08 | 2002-06-21 | Fuji Mach Mfg Co Ltd | Width changing method of base material conveyor and width changeable base material conveyor |
| JP2002299416A (en) * | 2001-04-02 | 2002-10-11 | Tokyo Ohka Kogyo Co Ltd | Substrate carrier device |
| JP2003110285A (en) * | 2001-09-28 | 2003-04-11 | Fuji Mach Mfg Co Ltd | Width varying method for substrate conveyor and width matching method therefor |
| JP2006295093A (en) * | 2005-04-11 | 2006-10-26 | Fuji Mach Mfg Co Ltd | Work system to circuit board |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109413984A (en) * | 2018-11-30 | 2019-03-01 | 天津韩尔电子有限公司 | A kind of feeder of plaster machine correction system and method |
-
1992
- 1992-01-21 JP JP04029992A patent/JP3095512B2/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08181488A (en) * | 1994-12-22 | 1996-07-12 | Juki Corp | Electronic parts mounting apparatus |
| JP2002173214A (en) * | 2000-12-08 | 2002-06-21 | Fuji Mach Mfg Co Ltd | Width changing method of base material conveyor and width changeable base material conveyor |
| JP2002299416A (en) * | 2001-04-02 | 2002-10-11 | Tokyo Ohka Kogyo Co Ltd | Substrate carrier device |
| JP2003110285A (en) * | 2001-09-28 | 2003-04-11 | Fuji Mach Mfg Co Ltd | Width varying method for substrate conveyor and width matching method therefor |
| JP2006295093A (en) * | 2005-04-11 | 2006-10-26 | Fuji Mach Mfg Co Ltd | Work system to circuit board |
| JP4529135B2 (en) * | 2005-04-11 | 2010-08-25 | 富士機械製造株式会社 | Circuit board work system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3095512B2 (en) | 2000-10-03 |
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