JPH06155186A - Collision avoiding method for part mounting head and part mounting device using this head - Google Patents
Collision avoiding method for part mounting head and part mounting device using this headInfo
- Publication number
- JPH06155186A JPH06155186A JP4301160A JP30116092A JPH06155186A JP H06155186 A JPH06155186 A JP H06155186A JP 4301160 A JP4301160 A JP 4301160A JP 30116092 A JP30116092 A JP 30116092A JP H06155186 A JPH06155186 A JP H06155186A
- Authority
- JP
- Japan
- Prior art keywords
- component mounting
- collision
- beams
- collision avoidance
- component
- 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
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Numerical Control (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Control Of Position Or Direction (AREA)
- Automatic Assembly (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、ＸＹ移動する複数の部
品装着ヘッドを有した、部品装着装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting apparatus having a plurality of component mounting heads for XY movement.
【０００２】[0002]
【従来の技術】従来、各々独立してＸＹ移動する部品装
着ヘッドを備え、基板上に効率良く部品を装着する装置
が種々提案されており、特開平１−１７７９３０号公
報、実開昭６３−１４７２３０号公報等にこのような装
置が記載されている。また、特開平１−１７７９３０号
公報記載の装置では、重複した移動範囲を有する２つの
作業ヘッドの衝突を防止するため、部品を保持して装着
作業域内へ進入する作業ヘッドの動作と、部品の装着作
業を終えて装着作業域外へ退出する作業ヘッドの動作と
を同期させ、２つの作業ヘッドが同時に装着作業域内に
進入できないように制御している。2. Description of the Related Art Heretofore, various types of devices have been proposed which are equipped with component mounting heads that move independently in XY directions to efficiently mount components on a substrate, as disclosed in JP-A-1-177930 and Shokai Sho 63-. Such a device is described in Japanese Patent Publication No. 147230. Further, in the device described in JP-A-1-177930, in order to prevent collision of two work heads having overlapping movement ranges, the operation of the work head that holds a component and enters the mounting work area, and the operation of the component The operation of the work head that exits out of the mounting work area after finishing the mounting work is synchronized with the operation so that the two work heads cannot simultaneously enter the mounting work area.
【０００３】[0003]
【発明が解決しようとする課題】特開平１−１７７９３
０号公報記載の作業ヘッド制御方法では、例え、装着作
業域へ進入する方の作業ヘッドの移動距離と、退出する
ほうの作業ヘッドの移動距離との差が最小となるよう
に、各作業ヘッドの装着順序を設定したとしても、装着
作業域内に入ることのできる作業ヘッドは、どちらか一
方のみである。本発明は、複数の作業ヘッドが互いに衝
突回避間隔を越えて接近しない限り、装着作業域内に複
数の作業ヘッドの進入を許し、更なる装着効率の向上を
可能とする部品装着装置において、各作業ヘッドが衝突
を回避する方法を提供しようとするものである。DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
In the work head control method described in Japanese Patent No. 0, for example, each work head is adjusted so that the difference between the travel distance of the work head that enters the mounting work area and the travel distance of the work head that leaves the mounting work area is minimized. Even if the mounting order is set, only one of the work heads can enter the mounting work area. The present invention provides a component mounting apparatus that allows a plurality of work heads to enter the mounting work area and further improves the mounting efficiency unless the plurality of work heads approach each other within a collision avoidance interval. The head seeks to provide a way to avoid collisions.
【０００４】[0004]
【課題を解決するための手段】本発明では、複数の部品
装着ヘッドとビーム、及びビーム支持体とを配し、部品
装着ヘッドをビームに対し、ビームの長さ方向に移動可
能に各々取り付け、それら各ビームを、その長さ方向と
直角の方向に移動可能にビーム支持体に支持し、各部品
装着ヘッドと対応するビームとを駆動する。そして、部
品を基板上に自動装着する際、各部品装着ヘッドの現在
位置を認知し、各ヘッドが次に移動する目標位置によっ
て、各ビームに取り付けられた部品装着ヘッド同志が衝
突を回避できる、ビーム間の限界間隔まで接近するかど
うかを判断し、この限界間隔を越えて接近する場合に
は、一方のビームを、その限界間隔を越えて移動する距
離を残して一時移動待機させるか、または、その限界間
隔を保持できる退避位置に一時待機させることにより、
部品装着ヘッド間の衝突を回避する。According to the present invention, a plurality of component mounting heads, a beam, and a beam support are arranged, and the component mounting heads are attached to the beam so as to be movable in the length direction of the beam. Each of these beams is supported by a beam support so as to be movable in a direction perpendicular to its length direction, and drives each component mounting head and the corresponding beam. Then, when the components are automatically mounted on the board, the current position of each component mounting head is recognized, and the target position to which each head moves next allows the component mounting heads attached to each beam to avoid collision. It is determined whether or not to approach the limit interval between the beams, and when approaching beyond this limit interval, one beam is temporarily moved to standby while leaving a distance to move beyond the limit interval, or , By temporarily waiting at the evacuation position that can hold the limit interval,
Avoid collisions between component mounting heads.
【０００５】さらに、各ビームの対向する側面の少なく
とも一方の側面に、互いに接近したことを知らせる衝突
警告センサーと、支持された部品装着ヘッド同志が衝突
回避限界距離まで接近したことを知らせる衝突回避セン
サーとを取り付け、衝突警告センサーが動作したとき、
対応するビームの移動速度を減速し、衝突回避センサー
が動作したとき、対応するビームの移動を強制停止させ
て、部品装着ヘッド間の衝突を回避する。Further, a collision warning sensor for notifying that at least one of the opposite side surfaces of each beam approaches each other, and a collision avoidance sensor for notifying that the supported component mounting heads have approached each other to a collision avoidance limit distance. And when the collision warning sensor is activated,
When the collision avoidance sensor operates by reducing the moving speed of the corresponding beam, the movement of the corresponding beam is forcibly stopped to avoid the collision between the component mounting heads.
【０００６】[0006]
【作用】一方のビ−ムに他方のビームが衝突回避限界間
隔を越えて接近しようとすると、その間隔を保持すべ
く、いずれかのビームが一時移動を停止するか、また
は、いずれかのビームが退避位置に移動する。さらに、
各ビーム間に設けた衝突警告センサーが、各ビームの接
近速度を減速させ、同じく衝突回避センサーが、さらに
接近しようとする各ビームを、衝突回避限界間隔を保た
せて強制停止させる。When one beam tries to approach the other beam beyond the collision avoidance limit interval, either beam temporarily stops moving or one of the beams keeps the interval. Moves to the retracted position. further,
A collision warning sensor provided between the beams decelerates the approach speed of each beam, and a collision avoidance sensor forcibly stops each beam that is about to approach further with a collision avoidance limit interval maintained.
【０００７】[0007]
【実施例】図１は本発明の実施例に使用する部品装着装
置の斜視図であり、その構成を説明する。部品装着装置
１０は、ベ−ス１１を有し、その上面のテ−ブル部１２
に様々な構成要素を配置している。すなわち１３はテ−
ブル部１２の中央を通るコンベア、１４はコンベア１３
の片側に配置された第１部品供給部、１５はコンベア１
３の反対側に配置された第２部品供給部である。コンベ
ア１３は基板１の送り込み及び送り出しと、装着位置に
おける基板１の位置決めの役割を担う。第１部品供給部
１４は複数の部品供給装置１６を横１列に並べたもので
ある。個々の部品供給装置１６は、部品を一定ピッチで
収納した部品テ−プをもって部品供給を行うタイプのも
のであるが、この種供給装置は文献例も多く（例：米国
特許第４，７３５，３４１号）、周知のものであるから
詳細な説明は省略する。第２部品供給部１５も、複数の
部品供給装置１７をコンベア１３の送り方向に沿って横
１列に並べたものである。部品供給装置１７は傾斜した
スティック状マガジンから部品を送り出すものであり、
これまた文献に種々紹介され（例：米国特許第４，７３
１，９２３号）、周知であるから詳細な説明を省略す
る。DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a perspective view of a component mounting apparatus used in an embodiment of the present invention, and its construction will be described. The component mounting apparatus 10 has a base 11 and a table portion 12 on the upper surface thereof.
Various components are arranged in. That is, 13 is
A conveyor passing through the center of the bull section 12, and a conveyor 13
The first component supply unit arranged on one side of the
3 is a second component supply unit arranged on the opposite side of 3. The conveyor 13 plays a role of feeding and feeding the substrate 1 and positioning the substrate 1 at the mounting position. The first component supply unit 14 is formed by arranging a plurality of component supply devices 16 in a horizontal row. The individual component supply device 16 is of a type that supplies components using a component tape in which components are stored at a constant pitch, but there are many literature examples of this type of supply device (eg, U.S. Pat. No. 4,735,35). No. 341), which is well known, and detailed description thereof will be omitted. The second component supply unit 15 also has a plurality of component supply devices 17 arranged in a horizontal row along the feeding direction of the conveyor 13. The component supply device 17 delivers components from an inclined stick-shaped magazine,
This is also introduced variously in the literature (eg US Pat. No. 4,73).
No. 1,923), which is well known, and detailed description thereof will be omitted.
【０００８】テ−ブル部１２の両端には、水平、かつコ
ンベア１３と直角に延びる支持梁２０、２１を、テ−ブ
ル面から所定高さ持ち上げて設置する。支持梁２０、２
１は互いに平行であり、それぞれの上面にレ−ル２２を
固定する。レ−ル２２の１本毎に２個のスライダ２３を
配設し、支持梁２０側のスライダと支持梁２１側のスラ
イダを１個づつペアにして、これらにビ−ム２４、２５
の各両端部を固定する。これによりビ−ム２４、２５
は、ビ−ム自身の長さ方向と直角の方向に移動できるよ
う支持されたことになる。ビ−ム２４、２５の移動は、
各１対づつの送りねじにより行う。支持梁２０、２１の
両端には立ち上がり壁２６、２７、２８、２９を設け、
その外面にパルスモ−タ３０、３１、３２、３３を固定
する。パルスモ−タ３０、３１、３２、３３はそれぞれ
送りねじ（ボ−ルねじ）３４、３５、３６、３７を連結
している。送りねじ３４、３６はビ−ム２４の両端下面
に固定した図示しないナットに連結し、送りねじ３５、
３７はビ−ム２５の両端下面に固定した図示しないナッ
トに連結する。パルスモ−タ３０、３２を回転させれば
ビ−ム２４が移動し、パルスモ−タ３１、３３を回転さ
せればビ−ム２５が移動する。当然のことながら、ビ−
ム２４、２５は平行移動しなければならず、そのような
動きが生じるように両側のパルスモ−タを制御しなけれ
ばならない。その移動の方向はビ−ムの長さ方向あるい
はコンベア１３の基板送り方向と直角であり、この場合
これをＹ方向とする。At both ends of the table portion 12, support beams 20 and 21 that extend horizontally and at a right angle to the conveyor 13 are installed by raising a predetermined height from the table surface. Support beams 20, 2
Numerals 1 are parallel to each other, and the rails 22 are fixed to the respective upper surfaces. Two sliders 23 are provided for each of the rails 22, one slider on the side of the supporting beam 20 and one slider on the side of the supporting beam 21 are paired, and beams 24, 25 are provided to these.
Secure each end of the. This allows the beam 24, 25
Is supported so that it can move in a direction perpendicular to the length of the beam itself. To move the beams 24 and 25,
Use one pair of feed screws each. Providing rising walls 26, 27, 28, 29 at both ends of the support beams 20, 21,
The pulse motors 30, 31, 32 and 33 are fixed to the outer surface thereof. The pulse motors 30, 31, 32 and 33 are connected to feed screws (ball screws) 34, 35, 36 and 37, respectively. The feed screws 34 and 36 are connected to nuts (not shown) fixed to the lower surfaces of both ends of the beam 24, and the feed screws 35 and
37 is connected to nuts (not shown) fixed to the lower surfaces of both ends of the beam 25. When the pulse motors 30 and 32 are rotated, the beam 24 moves, and when the pulse motors 31 and 33 are rotated, the beam 25 moves. Naturally,
The frames 24, 25 must translate and the pulse motors on both sides must be controlled to cause such movement. The moving direction is perpendicular to the beam length direction or the substrate feeding direction of the conveyor 13, and in this case, this is the Y direction.
【０００９】図２はビームの支持構造及び送り構造を示
す上面図であり、ビ−ム２４、２５の下面には図示しな
いレ−ルを固定し、これにスライダ４４、４５を取り付
ける。スライダ４４、４５を移動させるのは送りねじ
（ボ−ルねじ）４６、４７である。送りねじ４６、４７
はビ−ム２４、２５の下面に取り付けられたパルスモ−
タ４８、４９によって回転を与えられる。送りねじ４
６、４７が回転するとスライダ４４、４５はビ−ム２
４、２５の長さ方向に移動する。これがＸ方向となる。FIG. 2 is a top view showing a beam supporting structure and a beam feeding structure. Rails (not shown) are fixed to the lower surfaces of the beams 24 and 25, and sliders 44 and 45 are attached thereto. It is feed screws (ball screws) 46 and 47 that move the sliders 44 and 45. Feed screw 46, 47
Is a pulse mode mounted on the underside of the beams 24, 25.
Rotation is provided by the switches 48, 49. Lead screw 4
When the sliders 6 and 47 rotate, the sliders 44 and 45 move to the beam 2
It moves in the length direction of 4, 25. This is the X direction.
【００１０】スライダ４４、４５は部品装着ヘッド５
０、５１を支持する。部品装着ヘッド５０、５１はいず
れも真空吸着ノズル５２を有し、内蔵したエアシリンダ
（図示せず）によりこれに高さ変位（Ｚ方向変位）を与
え、同じく内蔵したパルスモ−タ（図示せず）によりＺ
方向まわりの角度変位（シ−タ変位）を与える。The sliders 44 and 45 are parts mounting heads 5.
Supports 0, 51. Each of the component mounting heads 50 and 51 has a vacuum suction nozzle 52, and a height displacement (Z direction displacement) is given to this by a built-in air cylinder (not shown), and a built-in pulse motor (not shown). ) By Z
The angular displacement (sheet displacement) about the direction is given.
【００１１】６０は両ビームの間隔が警戒距離（衝突回
避限界距離に達するまでの、余裕を見込んだ距離）に達
したことを検知する衝突警告センサーで、実施例の場
合、ビーム２４のビーム２５に向かう側面に取り付け
る。衝突警告センサー６０は、距離設定型反射光検出方
式のフォトセンサーであり、図２に示すように、検出光
を一定の角度で投光し、一定距離離れた位置から反射さ
れた検出光のみを受光して、その一定距離離れた位置に
物体が存在するかどうかを判断する。すなわち、ビーム
２４にビーム２５が警戒距離にまで接近したとき、この
接近を検出し、後述する制御部に検出結果を伝達する。Reference numeral 60 denotes a collision warning sensor for detecting that the distance between the two beams has reached a warning distance (a distance that allows for a margin until reaching the collision avoidance limit distance). In the embodiment, the beam 25 of the beam 24 is used. Attach to the side facing. The collision warning sensor 60 is a distance setting type reflected light detection type photosensor, and as shown in FIG. 2, projects the detection light at a certain angle and only detects the detection light reflected from a position separated by a certain distance. Light is received and it is determined whether or not an object exists at a position separated by a certain distance. That is, when the beam 25 approaches the beam 24 to the warning distance, this approach is detected and the detection result is transmitted to the control unit described later.
【００１２】６１は両ビームの間隔が衝突回避限界距離
に達したことを検知する衝突回避センサーで、実施例の
場合、ビーム２５のビーム２４に向かう側面に取り付け
る。衝突回避センサー６１は、衝突警告センサー６０と
同様に、距離設定型反射光検出方式のフォトセンサーで
あり、ビーム２５にビーム２４が衝突回避限界距離にま
で接近したとき、この接近を検出し、後述する制御部に
検出結果を伝達する。Reference numeral 61 is a collision avoidance sensor for detecting that the distance between the two beams has reached the collision avoidance limit distance, and in the case of the embodiment, it is attached to the side surface of the beam 25 facing the beam 24. Similar to the collision warning sensor 60, the collision avoidance sensor 61 is a distance setting type reflected light detection type photo sensor, and detects the approach when the beam 24 approaches the beam 25 to the collision avoidance limit distance, and will be described later. The detection result is transmitted to the control unit.
【００１３】７０は部品装着装置１１を動作制御する制
御部であり、パルスモータ３０、３２と、３１、３３を
駆動して、ビーム２４、２５を数値制御（Ｙ方向）し、
かつパルスモータ４８、４９を駆動して、部品装着ヘッ
ド５０、５１を数値制御（Ｘ方向）する際、図３に示す
フローチャートのプログラムを実行して、ソフトウェア
上で両部品装着ヘッド間の衝突防止を図る。また、制御
部７０は、前述した衝突警告センサー６０のビーム検出
信号により、両ビームの移動速度を減速させ、衝突回避
センサー６１のビーム検出信号により、両ビームの移動
を強制停止させる機能を有している。Reference numeral 70 denotes a control unit for controlling the operation of the component mounting apparatus 11, which drives the pulse motors 30, 32, 31, 33 to numerically control the beams 24, 25 (Y direction),
In addition, when the pulse motors 48 and 49 are driven to numerically control the component mounting heads 50 and 51 (X direction), the program of the flowchart shown in FIG. 3 is executed to prevent a collision between both component mounting heads by software. Plan. Further, the control unit 70 has a function of decelerating the moving speed of both beams by the beam detection signal of the collision warning sensor 60 described above and forcibly stopping the movement of both beams by the beam detection signal of the collision avoidance sensor 61. ing.
【００１４】部品装着装置１０の動作は次のようにな
る。まず制御部７０は、コンベア１３を駆動し、一方の
側から基板１を運び込ませ、所定位置に位置決めさせ
る。この基板１の、部品を装着されるべき個所には既に
接着剤が塗布されている。ここで制御部７０は、パルス
モ−タ３０、３２のペア、またはパルスモ−タ３１、３
３のペアを駆動し、ビ−ム２４または２５にＹ方向の動
きを与える。パルスモ−タ４８または４９を駆動すれ
ば、部品装着ヘッド５０または５１にＸ方向の動きも与
えることになる。こうして部品装着ヘッド５０、５１に
ＸＹ方向の動きを与え、真空吸着ノズル５２を所定の部
品供給装置の上に位置させる。部品装着ヘッド５０は第
１部品供給部１４に割り当てられており、選択された部
品供給装置１６に向け真空吸着ノズル５２を降下させ、
部品をピックアップする。部品ピックアップ後制御部７
０は、部品装着ヘッド５０に内蔵されたパルスモ−タを
駆動し、真空吸着ノズル５２がピックアップした部品
に、水平面内の所定の角度変位を与え、かつ部品装着ヘ
ッド５０、５１に前述のＸＹ方向の動きを与えて、その
部品を基板上の装着位置へ移送させる。そして、内蔵す
るエアシリンダを駆動して真空吸着ノズルを下降させ、
部品を基板１に装着する。The operation of the component mounting apparatus 10 is as follows. First, the control unit 70 drives the conveyor 13 to carry in the substrate 1 from one side and position it at a predetermined position. An adhesive has already been applied to the parts of the substrate 1 where the parts are to be mounted. Here, the control unit 70 controls the pair of pulse motors 30 and 32 or the pulse motors 31 and 3, respectively.
3 pairs are driven to give the beam 24 or 25 a movement in the Y direction. When the pulse motor 48 or 49 is driven, the component mounting head 50 or 51 is also moved in the X direction. In this way, the component mounting heads 50 and 51 are moved in the XY directions, and the vacuum suction nozzle 52 is positioned above a predetermined component supply device. The component mounting head 50 is assigned to the first component supply unit 14, and lowers the vacuum suction nozzle 52 toward the selected component supply device 16,
Pick up parts. Control part 7 after picking up parts
0 drives the pulse motor built in the component mounting head 50 to give a predetermined angular displacement in the horizontal plane to the component picked up by the vacuum suction nozzle 52, and to the component mounting heads 50 and 51 in the XY directions described above. To move the component to the mounting position on the substrate. Then, the built-in air cylinder is driven to lower the vacuum suction nozzle,
The component is mounted on the board 1.
【００１５】第２部品供給部１５から部品を取り出す必
要がある場合、制御部７０は、部品装着ヘッド５１を目
的の部品供給装置１７の上に移動させる。そして部品を
ピックアップし、同様に基板１の所定位置に装着する。
制御部７０は、予定された部品装着作業が終了すると、
コンベア１３に作業済み基板を送り出させ、新しい基板
を運び込ませる。When it is necessary to take out a component from the second component supply unit 15, the control unit 70 moves the component mounting head 51 onto the target component supply device 17. Then, the component is picked up and similarly mounted at a predetermined position on the substrate 1.
The control unit 70, when the scheduled component mounting work is completed,
The worked substrate is sent to the conveyor 13 and a new substrate is carried in.
【００１６】このような部品装着装置の動作において
は、部品装着ヘッドが各ビーム２４、２５のレールに沿
ってＹ方向移動する限り、ビーム２４、２５が一定距離
以上接近しなければ、部品装着ヘッド同志が衝突するこ
とはない。この点に着目して、制御部７０は、ビーム同
志が、部品装着ヘッドの衝突を回避できる限界間隔を越
えて接近しないように、各ビームのＹ方向移動を、図３
のフローチャートに示すプログラムで、補正制御する。In the operation of such a component mounting apparatus, as long as the component mounting head moves along the rails of the beams 24 and 25 in the Y direction, the component mounting head must be close to the beams 24 and 25 for a certain distance or more. Comrades do not collide. Focusing on this point, the control unit 70 controls the movement of each beam in the Y direction so that the beams do not approach each other beyond a limit interval at which the collision of the component mounting heads can be avoided.
Correction control is performed by the program shown in the flowchart of FIG.
【００１７】（ａのステップ）装着作業を実行している
間、制御部７０は、或る装着ステップにおいて、各部品
装着ヘッド５０、５１の現在位置（ＸＹ座標値）を認知
する。(Step a) While executing the mounting work, the control unit 70 recognizes the current position (XY coordinate value) of each component mounting head 50, 51 in a certain mounting step.
【００１８】（ｂのステップ）各部品装着ヘッドが、認
知された現在位置から次へ移動する先のＸＹ座標値を確
認する。この時、各ヘッドが辿る移動軌跡を比較し、そ
の長短がどちらであるかを記憶しておく。(Step b) Each component mounting head confirms the XY coordinate values of the destination to which it moves next from the recognized current position. At this time, the movement loci traced by the heads are compared with each other and the length of the movement is stored.
【００１９】（Ｃのステップ）各ビームの移動先間の間
隔（Ｙ座標値）が、各ビームに取り付けられた部品装着
ヘッド同志が衝突を回避できる、ビーム間の限界間隔を
越えるかどうかを判断する。(Step C) It is judged whether or not the distance (Y coordinate value) between the moving destinations of the respective beams exceeds the limit distance between the beams which allows the component mounting heads attached to the respective beams to avoid collision. To do.
【００２０】（ｄのステップ）ｃのステップで、衝突回
避限界間隔を越えないと判断された場合、すなわち、目
標位置に移動しても衝突回避限界間隔を侵すことがない
場合には、装着プログラム通りに、両部品装着ヘッドを
その目標位置に移動させる。In step (d), when it is determined that the collision avoidance limit interval is not exceeded, that is, when the collision avoidance limit interval is not violated even if the vehicle moves to the target position, the mounting program is executed. Then, both component mounting heads are moved to their target positions.
【００２１】（ｅのステップ）ｃのステップで、衝突回
避限界間隔を越えると判断された場合、すなわち、目標
位置に移動すると衝突回避限界間隔を侵す場合には、ま
ず、ｂのステップで移動軌跡が短いと判断した方の部品
装着ヘッドを、その目標位置に移動させる。(Step e) If it is determined in step c that the collision avoidance limit interval is exceeded, that is, if the collision avoidance limit interval is violated when moving to the target position, first, in step b, the movement locus is determined. The component mounting head that is determined to be short is moved to the target position.
【００２２】（ｆのステップ）移動軌跡の短い方の部品
装着ヘッドの移動を開始させながら、その部品装着ヘッ
ドを持つビームの、移動して行こうとする衝突回避限界
領域（そのビームと衝突回避限界間隔とで囲まれた領
域）内に、他方のビームが存在するかどうかを判断す
る。(Step f) While starting the movement of the component mounting head having the shorter movement locus, the collision avoidance limit region (a collision avoidance with the beam) of the beam having the component mounting head is about to move. It is determined whether or not the other beam exists within the area surrounded by (limit interval).
【００２３】（ｇのステップ）目標位置へ移動していく
方の衝突回避限界領域内に、他方のビームが存在する場
合には、その他方のビーム、すなわち移動軌跡の長い方
の部品装着ヘッド側ビームを、衝突回避限界間隔を保つ
ことのできる退避位置（衝突回避限界領域を侵す距離分
だけ遠ざけた位置）へ一旦移動させ、そこで待機させ
る。目標位置へ移動していく方の衝突回避限界領域内
に、他方のビームが存在しない場合には、他方のビーム
を、衝突回避限界領域に侵入して移動しようとする距離
を残して、一時移動待機させる。この衝突回避を行っ
て、次の装着動作に移行させる。(Step g) When the other beam is present in the collision avoidance limit region of the one moving to the target position, the other beam, that is, the component mounting head side having the longer movement locus The beam is once moved to a retracted position where the collision avoidance limit interval can be maintained (a position away from the collision avoidance limit region by a distance that violates the collision avoidance limit region), and is made to stand by there. If the other beam does not exist within the collision avoidance limit area that is moving to the target position, temporarily move the other beam, leaving a distance to move into the collision avoidance limit area. Make it stand by. This collision avoidance is performed and the next mounting operation is performed.
【００２４】さらに、制御部７０は、前述の衝突回避方
法に加え、衝突警告センサー６０と衝突回避センサー６
１によっても、衝突回避動作を行わせる。すなわち、ビ
ーム２４、２５が衝突警戒距離に達すると、衝突警告セ
ンサー６０がビーム２５の存在を検出して制御部７０に
伝達し、制御部７０は、両ビームの移動速度を減速させ
る。さらに両ビームが接近して、衝突回避限界間隔に達
すると、衝突回避センサー６１がビーム２４の存在を検
出して制御部７０に伝達し、制御部７０は、両ビームを
強制的に停止させる。Further, in addition to the above-mentioned collision avoidance method, the control unit 70 includes the collision warning sensor 60 and the collision avoidance sensor 6
1 also causes the collision avoidance operation to be performed. That is, when the beams 24 and 25 reach the collision warning distance, the collision warning sensor 60 detects the presence of the beam 25 and transmits it to the control unit 70, and the control unit 70 decelerates the moving speed of both beams. When the two beams further approach each other and reach the collision avoidance limit interval, the collision avoidance sensor 61 detects the presence of the beam 24 and transmits it to the control unit 70, and the control unit 70 forcibly stops both beams.
【００２５】本実施例において使用した部品装着装置
は、ビームを２本としたが、それを越える複数本のビー
ムを備える場合であっても、上述した衝突回避方法を適
用可能である。また、この部品装着装置では、各ビーム
の両端部を、左右一対の支持梁上に支持し、かつその上
に敷かれた左右並行のレール上を移動させて、Ｙ方向の
変位を与え、部品装着ヘッドをビームの長さ方向に移動
させて、Ｘ方向の変位を与える構造としたが、基台１１
の中央を左右に跨ぐ支持梁を設け、これに直交する形で
各ビームの中央部分を左右移動可能に吊り下げて、Ｘ方
向の変位を与え、部品装着ヘッドをビームの長さ方向に
移動させて、Ｙ方向の変位を与える構造であっても、Ｙ
方向の代わりにＸ方向に着目して、各ビームの衝突を同
様に回避すればよい。Although the component mounting apparatus used in this embodiment has two beams, the above-mentioned collision avoidance method can be applied even when the number of beams exceeds two. Further, in this component mounting apparatus, both ends of each beam are supported on a pair of left and right support beams, and are moved on rails parallel to each other on the left and right sides to give a displacement in the Y direction. The mounting head is moved in the length direction of the beam to give a displacement in the X direction.
A support beam that straddles the center of the beam is provided, and the central part of each beam is hung so that it can move left and right in a form orthogonal to this, and displacement in the X direction is given to move the component mounting head in the length direction of the beam. Therefore, even if the structure gives a displacement in the Y direction,
Focusing on the X direction instead of the direction, collision of each beam may be similarly avoided.
【００２６】さらに、本実施例においては、衝突警告セ
ンサ−を、各ビームの対向する側面の一方に１個、衝突
回避センサ−を他方の側面に１個、それぞれ配置するこ
ととしたが、これを片方のみの配置とし、そのセンサー
のビーム検出信号により、衝突警告と衝突回避を行うよ
うに制御してもよい。また、安全性を考慮して、ビーム
の対向する側面それぞれに、衝突警告センサーと衝突回
避センサ−とを配置し、各センサーの片方が故障して
も、衝突警告あるいは衝突回避動作に支障がないように
配慮することもできる。Further, in this embodiment, one collision warning sensor is arranged on one of the opposite side surfaces of each beam, and one collision avoidance sensor is arranged on the other side surface. May be arranged on only one side, and the collision detection and the collision avoidance may be controlled by the beam detection signal of the sensor. Further, in consideration of safety, a collision warning sensor and a collision avoidance sensor are arranged on each of the opposite side surfaces of the beam, and even if one of the sensors fails, the collision warning or the collision avoidance operation is not hindered. You can also consider so.
【００２７】[0027]
【発明の効果】本発明により、それぞれＸＹ移動する部
品装着ヘッドが、衝突回避限界間隔を越えて接近しよう
としても、その間隔を保持すべく、いずれかのビームが
一時移動を停止するか、または、いずれかのビームが退
避位置に移動するため、衝突することがない。さらに、
衝突警告センサーと衝突回避センサーの働きにより、ビ
ームの駆動装置等に異常が発生して暴走するような場合
が発生しても、部品装着ヘッド間の衝突を阻止できる。
また、本発明の衝突回避方法により、装着作業域内に複
数の部品装着ヘッドの進入を許しても、衝突が発生せ
ず、装着効率を向上させることができる。According to the present invention, even if the component mounting heads that move in XY directions approach each other beyond the collision avoidance limit interval, either beam temporarily stops moving so as to maintain the interval, or Since either of the beams moves to the retracted position, there is no collision. further,
Due to the functions of the collision warning sensor and the collision avoidance sensor, even if an abnormality occurs in the beam driving device or the like and a runaway occurs, a collision between the component mounting heads can be prevented.
Further, according to the collision avoidance method of the present invention, even if a plurality of component mounting heads are allowed to enter the mounting work area, a collision does not occur and the mounting efficiency can be improved.
【図１】本発明の実施例に使用する部品装着装置の斜視
図である。FIG. 1 is a perspective view of a component mounting apparatus used in an embodiment of the present invention.
【図２】部品装着装置のビ−ムの支持構造及び送り構造
を示す上面図である。FIG. 2 is a top view showing a beam support structure and a feed structure of the component mounting apparatus.
【図３】実施例を説明するフローチャートである。FIG. 3 is a flowchart illustrating an example.
１ 基板 １０ 部品装着装置 ５０ 部品装着ヘッド ５１ 部品装着ヘッド ２４ ビ−ム ２５ ビ−ム ２０ 支持梁（ビ−ムの支持体） ２１ 支持梁（ビ−ムの支持体） ３４ 送りねじ ３５ 送りねじ ３６ 送りねじ ３７ 送りねじ 1 Substrate 10 Component Mounting Device 50 Component Mounting Head 51 Component Mounting Head 24 Beam 25 Beam 20 Support Beam (Beam Support) 21 Support Beam (Beam Support) 34 Feed Screw 35 Feed Screw 36 Feed screw 37 Feed screw
Claims (2)
ーム支持体とを備え、部品装着ヘッドをビームに対し、
ビームの長さ方向に移動可能に各々取り付け、それら各
ビームを、その長さ方向と直角の方向に移動可能にビー
ム支持体に支持し、各部品装着ヘッドと対応するビーム
とを駆動して、部品供給部からそれぞれ所望の部品を取
り上げ、基板上の所定位置に移送して装着する部品装着
装置において、 前記各部品装着ヘッドの現在の位置を認知し、各部品装
着ヘッドが次に移動する目標位置によって、各ビームに
取り付けられた部品装着ヘッド同志が衝突を回避でき
る、ビーム間の限界間隔まで接近するかどうかを判断
し、前記限界間隔を越えて接近する場合には、一方のビ
ームを、その限界間隔を越えて移動する距離を残して一
時移動待機させるか、または、その限界間隔を保持でき
る退避位置に一時待機させることにより、部品装着ヘッ
ド間の衝突を回避する部品装着ヘッド衝突回避方法。1. A plurality of component mounting heads, a beam, and a beam support, and the component mounting head with respect to the beam,
Each of them is movably attached in the length direction of the beam, each of those beams is supported by a beam support so as to be movable in a direction perpendicular to the length direction, and each component mounting head and the corresponding beam are driven, In a component mounting apparatus that picks up a desired component from the component supply unit, transfers it to a predetermined position on a board and mounts it, the current position of each component mounting head is recognized, and each component mounting head moves to the next target. Depending on the position, it is determined whether the component mounting heads attached to the respective beams can approach a collision, avoiding a collision, or approaching a limit interval between the beams. Between the component mounting heads is temporarily stopped by leaving a distance to move beyond the limit interval or by temporarily waiting at a retracted position where the limit interval can be held. Component mounting head collision avoidance method for avoiding collision.
で、部品供給部からそれぞれ所望の部品を取り上げ、基
板上の所定位置に移送して装着する、請求項１に記載の
部品装着ヘッド衝突回避方法を使用した部品装着装置で
あって、 前記各部品装着ヘッドを、自身の長さ方向に各々移動可
能に支持する複数のビームと、 前記各ビームを、その長さ方向と直角の方向に移動可能
に支持するビーム支持体と、 前記各ビームを個々に位置決め移動させる複数の駆動装
置と、 前記各ビームの対向する側面の少なくとも一方の側面に
設けられ、互いに接近したことを知らせる衝突警告セン
サーと、 前記各ビームの対向する側面の少なくとも一方の側面に
設けられ、支持された部品装着ヘッド同志が衝突回避限
界距離まで接近したことを知らせる衝突回避センサー
と、 前記衝突警告センサーが動作したとき、対応するビーム
の移動速度を減速し、前記衝突回避センサーが動作した
とき、対応するビームの移動を強制停止させる制御装置
とを備えることを特徴とする部品装着装置。2. The component mounting head collision avoidance according to claim 1, wherein a plurality of component mounting heads, each of which moves in XY, picks up a desired component from a component supply unit, transfers it to a predetermined position on a substrate, and mounts it. A component mounting apparatus using the method, wherein each of the component mounting heads is movably supported in its length direction, and each beam is moved in a direction perpendicular to the length direction. A beam support that supports the beam, a plurality of driving devices that individually position and move the beams, and a collision warning sensor that is provided on at least one of the opposite side surfaces of the beams and that indicates that the beams approach each other. A collision turn that is provided on at least one of the opposite side surfaces of each beam and that indicates that the supported component mounting heads have approached the collision avoidance limit distance. A sensor, and a controller for decelerating the moving speed of the corresponding beam when the collision warning sensor operates, and forcibly stopping the movement of the corresponding beam when the collision avoidance sensor operates. Parts mounting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30116092A JP3311397B2 (en) | 1992-11-11 | 1992-11-11 | Component mounting head collision avoidance method and component mounting apparatus using the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30116092A JP3311397B2 (en) | 1992-11-11 | 1992-11-11 | Component mounting head collision avoidance method and component mounting apparatus using the same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06155186A true JPH06155186A (en) | 1994-06-03 |
| JP3311397B2 JP3311397B2 (en) | 2002-08-05 |
Family
ID=17893511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP30116092A Expired - Lifetime JP3311397B2 (en) | 1992-11-11 | 1992-11-11 | Component mounting head collision avoidance method and component mounting apparatus using the same |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3311397B2 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7043820B2 (en) | 2001-07-27 | 2006-05-16 | Fuji Machine Mfg. Co., Ltd. | Electric-component mounting system |
| JP2009114549A (en) * | 2005-01-05 | 2009-05-28 | Samsung Mobile Display Co Ltd | Drive shaft of vapor deposition source for deposition system, and deposition system having the same |
| JP2009170722A (en) * | 2008-01-17 | 2009-07-30 | Panasonic Corp | Component-mountng device, control method and program |
| JP2009231723A (en) * | 2008-03-25 | 2009-10-08 | Hitachi High-Tech Instruments Co Ltd | Mounting apparatus for electronic component |
| JP2010177476A (en) * | 2009-01-29 | 2010-08-12 | Hitachi High-Tech Instruments Co Ltd | Electronic component mounting device |
| JP2010205784A (en) * | 2009-02-27 | 2010-09-16 | Hitachi High-Tech Instruments Co Ltd | Electronic component mounting apparatus |
| JP2011119300A (en) * | 2009-11-30 | 2011-06-16 | Hitachi High-Tech Instruments Co Ltd | Method of mounting electronic component |
| JP2013138270A (en) * | 2013-04-12 | 2013-07-11 | Yamaha Motor Co Ltd | Component mounting method and component mounting device |
| JP2019520224A (en) * | 2016-06-14 | 2019-07-18 | トーマス マグネーテ ゲーエムベーハーＴｈｏｍａｓ Ｍａｇｎｅｔｅ Ｇｍｂｈ | Assembly apparatus and control method of assembly apparatus |
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1992
- 1992-11-11 JP JP30116092A patent/JP3311397B2/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7043820B2 (en) | 2001-07-27 | 2006-05-16 | Fuji Machine Mfg. Co., Ltd. | Electric-component mounting system |
| JP2009114549A (en) * | 2005-01-05 | 2009-05-28 | Samsung Mobile Display Co Ltd | Drive shaft of vapor deposition source for deposition system, and deposition system having the same |
| US8366832B2 (en) | 2005-01-05 | 2013-02-05 | Samsung Displays Co., Ltd. | Driving shaft of effusion cell for deposition system and deposition system having the same |
| JP2009170722A (en) * | 2008-01-17 | 2009-07-30 | Panasonic Corp | Component-mountng device, control method and program |
| JP2009231723A (en) * | 2008-03-25 | 2009-10-08 | Hitachi High-Tech Instruments Co Ltd | Mounting apparatus for electronic component |
| JP2010177476A (en) * | 2009-01-29 | 2010-08-12 | Hitachi High-Tech Instruments Co Ltd | Electronic component mounting device |
| JP2010205784A (en) * | 2009-02-27 | 2010-09-16 | Hitachi High-Tech Instruments Co Ltd | Electronic component mounting apparatus |
| JP2011119300A (en) * | 2009-11-30 | 2011-06-16 | Hitachi High-Tech Instruments Co Ltd | Method of mounting electronic component |
| JP2013138270A (en) * | 2013-04-12 | 2013-07-11 | Yamaha Motor Co Ltd | Component mounting method and component mounting device |
| JP2019520224A (en) * | 2016-06-14 | 2019-07-18 | トーマス マグネーテ ゲーエムベーハーＴｈｏｍａｓ Ｍａｇｎｅｔｅ Ｇｍｂｈ | Assembly apparatus and control method of assembly apparatus |
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| Publication number | Publication date |
|---|---|
| JP3311397B2 (en) | 2002-08-05 |
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