JPH10190297A - Component mounting method - Google Patents
Component mounting methodInfo
- Publication number
- JPH10190297A JPH10190297A JP8342280A JP34228096A JPH10190297A JP H10190297 A JPH10190297 A JP H10190297A JP 8342280 A JP8342280 A JP 8342280A JP 34228096 A JP34228096 A JP 34228096A JP H10190297 A JPH10190297 A JP H10190297A
- Authority
- JP
- Japan
- Prior art keywords
- component
- mounting
- tool
- nozzle
- positioning mechanism
- 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
- Automatic Assembly (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、多機能な部品実装
機の部品実装方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting method for a multifunctional component mounter.
【０００２】[0002]
【従来の技術】近年、部品実装機は高精度・高生産性が
追求されている。部品の取り出しと基板への実装動作を
行う部品移載部としてのヘッド部がＸＹロボットによっ
て移動される構成の多機能の部品実装機がある。この種
の多機能の部品実装機の分野では、その部品供給形態の
自由度の高さと、実装可能部品レンジの広さと、単純な
構成がもたらす実装精度の高さとから必要とされる市場
が拡大され、現在ではその弱点である実装スピードの高
速化に向けた技術開発がなされてきている。2. Description of the Related Art In recent years, component mounting machines have been pursued with high precision and high productivity. 2. Description of the Related Art There is a multifunctional component mounter in which a head unit as a component transfer unit that performs a component removal operation and a mounting operation on a substrate is moved by an XY robot. In the field of multifunctional component mounters of this type, the required market is expanding due to the high degree of freedom in the component supply form, the wide range of mountable components, and the high mounting accuracy provided by simple configurations. At present, technical developments are being made to increase the mounting speed, which is the weak point.
【０００３】多機能部品実装機における実装スピードの
高速化のための従来の部品実装方法としては、ヘッド部
に複数本のツールを設け、部品取り出し時に複数個の部
品を取り出し、各部品の取り出し姿勢を認識の後、部品
を実装することを繰り返すことで、ＸＹロボットの移動
時間を短縮させて高速化することが図られている。As a conventional component mounting method for increasing the mounting speed in a multi-function component mounting machine, a plurality of tools are provided in a head portion, a plurality of components are taken out at the time of taking out components, and a posture for taking out each component. It is attempted to reduce the moving time of the XY robot and increase the speed by repeatedly mounting components after recognizing.
【０００４】以下図面を参照しながら、上述した従来の
部品実装方法について説明する。図６は従来の部品実装
方法における角度補正の動作内容を模式的に示すもので
ある。図６において、回転位置決めのための駆動源が各
ツールに備わっている場合には、部品認識の前に装着角
度方向への回転位置決めを行わせ、複数のツールを１つ
の回転位置決め駆動源で位置決めする場合には、部品吸
着の状態のまま部品認識を行わせる。Hereinafter, the above-described conventional component mounting method will be described with reference to the drawings. FIG. 6 schematically shows an operation content of the angle correction in the conventional component mounting method. In FIG. 6, when each tool is provided with a drive source for rotational positioning, rotational positioning in the mounting angle direction is performed before component recognition, and a plurality of tools are positioned by one rotary positioning drive source. In this case, the component recognition is performed in the state of the component suction.
【０００５】このような部品実装の角度補正を行う多機
能部品実装機の部品実装方法のうち、複数のツールを１
つの駆動源によって回転位置決めする場合についての詳
細動作を図７に示すフローチャートに基づいて説明す
る。[0005] Among the component mounting methods of the multifunctional component mounting machine for correcting the angle of component mounting, a plurality of tools are used.
The detailed operation in the case of rotational positioning by one drive source will be described based on the flowchart shown in FIG.
【０００６】まず、ステップ♯４１において吸着ノズル
本数の規定とカウンタｎの初期化を行い、ステップ♯４
２で第１番ノズルの吸着点にＸＹロボットを位置決め
し、ステップ♯４３〜♯４５で部品吸着を行い、ステッ
プ♯４６の条件分岐とステップ♯４７のカウンタの増加
によって部品の吸着動作を全てのノズルに対して行い、
全ノズルの部品吸着が完了した後、ステップ♯４８で各
ツール毎の部品吸着姿勢を認識する。First, in step # 41, the number of suction nozzles is specified and the counter n is initialized.
In Step 2, the XY robot is positioned at the suction point of the first nozzle, and in Steps # 43 to # 45, the components are picked up. Done for the nozzle,
After the component suction of all the nozzles is completed, the component suction posture of each tool is recognized in step # 48.
【０００７】この後、制御装置内で各ツール毎の部品吸
着姿勢のずれ量を角度補正量Δθ１、Δθ２・・・Δθ
Ｎとして算出し、制御装置のメモリ内に格納する。次
に、吸着の動作と同様にステップ♯５０〜♯５６におい
て部品装着を行うが、この際ステップ♯５１に示すよう
に回転位置決め機構は装着動作の度にそれぞれの部品の
指定された装着角度に補正量を足した位置に位置決めを
行う。[0007] Thereafter, in the control device, the deviation amount of the component suction posture for each tool is determined by the angle correction amounts Δθ1, Δθ2,.
It is calculated as N and stored in the memory of the control device. Next, components are mounted in steps # 50 to # 56 in the same manner as in the suction operation. At this time, as shown in step # 51, the rotation positioning mechanism moves the specified mounting angle of each component to the specified mounting angle for each mounting operation. Positioning is performed at the position where the correction amount is added.
【０００８】例を挙げると、４本のノズルで第１〜第４
の部品をそれぞれ９０°、１８０°、０°、９０°で装
着するものとし、第１番ノズル〜第４番ノズルで順に吸
着動作を行い、吸着時のずれが−５°、４°、２°、−
６°であった場合、それぞれ補正量は５°、−４°、−
２°、６°となり、ステップ♯１１での各ノズルの相対
的な動きは、 第１番ノズル：＋９５° 第２番ノズル：＋９５°→＋８１° 第３番ノズル：＋９５°→＋８１°→−１７４° 第４番ノズル：＋９５°→＋８１°→−１７４°→９４
° となる。[0008] To give an example, four nozzles make first to fourth nozzles.
Are mounted at 90 °, 180 °, 0 °, and 90 °, respectively, and the suction operation is sequentially performed by the first nozzle to the fourth nozzle, and the deviation at the time of suction is −5 °, 4 °, and 2 °. °, −
If it is 6 °, the correction amounts are 5 °, -4 °, and-
The relative movement of each nozzle in step # 11 is as follows: No. 1 nozzle: + 95 ° No. 2 nozzle: + 95 ° → + 81 ° No. 3 nozzle: + 95 ° → + 81 ° → − 174 ° No. 4 nozzle: + 95 ° → + 81 ° → -174 ° → 94
°.
【０００９】[0009]
【発明が解決しようとする課題】しかしながら上記のよ
うな方法では、部品認識後に（装着角度＋補正角度）を
回転させるので、高速で回転位置決めをすると部品の慣
性でずれてしまうという問題点を有している。上記の例
では最終装着する第４の部品は部品認識後、絶対量で４
４４°回転していることになる。また、ずれを防ぐため
に回転速度を落とすと、複数ノズルで吸着を行いＸＹロ
ボットの移動時間を削減してきた意味が無くなり、実装
スピードの低下につながるという問題点も有している。However, in the above-described method, since the (installation angle + correction angle) is rotated after the component recognition, there is a problem that when the rotary positioning is performed at a high speed, the component is deviated due to the inertia of the component. doing. In the above example, the fourth component to be finally mounted is 4 in absolute amount after component recognition.
This means that it has been rotated by 44 °. In addition, if the rotation speed is reduced to prevent the displacement, there is no point in reducing the moving time of the XY robot by performing suction with a plurality of nozzles, leading to a reduction in mounting speed.
【００１０】また、各ツール毎に回転駆動源を持てばこ
の課題は解決できるが、この方法ではヘッド部の重量が
増大し、ＸＹロボットを高速で移動することが困難とな
るという問題点を有している。This problem can be solved by providing a rotary drive source for each tool. However, this method has a problem that the weight of the head part increases and it becomes difficult to move the XY robot at high speed. doing.
【００１１】本発明は上記問題点を鑑み、実装スピード
を高速化できるとともに、実装精度を向上できる部品実
装方法を提供することを目的とする。SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide a component mounting method capable of increasing the mounting speed and improving the mounting accuracy.
【００１２】[0012]
【課題を解決するための手段】上記問題点を解決するた
めに本発明は、ＸＹロボットによりＸＹ方向に一体的に
移動されるとともに上下位置決め機構により上下動作さ
れかつ１つの駆動源を有する回転位置決め機構により同
時に回転方向に位置決めされる複数のツールにより複数
の部品を取り出し、取り出された部品の姿勢の認識結果
から位置補正量を算出し、位置補正および実装を部品数
に応じて複数回繰り返す部品実装方法であって、部品の
プリント基板に対する実装角度がθ°である場合に、取
り出し対象のツールを前記回転位置決め機構により負の
実装角度（−θ°）の位置に回転位置決めさせた後に前
記上下位置決め機構によりツールを下降させ、部品を取
り出しした後にツールを上昇させる取り出し動作を行
い、この取り出し動作をツール毎に複数回繰り返した後
に前記回転位置決め機構により前記ツールを原点（０
°）に位置決めし、各部品の姿勢を前記認識装置により
計測し、その計測値から各部品の補正量を前記演算装置
により求め、前記制御装置は実装する部品毎に前記回転
位置決め機構に対してその部品の補正量位置に位置決め
させた後に前記上下位置決め機構によりツールを下降さ
せ、部品を実装した後にツールを上昇させる実装動作
を、部品毎に複数回繰り返すものである。SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention relates to a rotary positioning device which is integrally moved in an XY direction by an XY robot, is vertically moved by a vertical positioning mechanism, and has one drive source. Components that take out multiple components by multiple tools that are simultaneously positioned in the rotation direction by the mechanism, calculate the position correction amount from the recognition result of the orientation of the retrieved components, and repeat position correction and mounting multiple times according to the number of components In the mounting method, when the mounting angle of the component with respect to the printed board is θ °, the tool to be taken out is rotated and positioned at a position of a negative mounting angle (−θ °) by the rotary positioning mechanism, and then the vertical The tool is moved down by the positioning mechanism, and after the parts are taken out, the take-up operation to raise the tool is performed. Origin the tool by the rotational positioning mechanism after repeating a plurality of times for each tool (0
°), the posture of each component is measured by the recognition device, the correction amount of each component is obtained by the arithmetic device from the measured value, and the control device controls the rotation positioning mechanism for each component to be mounted. The mounting operation of lowering the tool by the vertical positioning mechanism after positioning the component at the correction amount position, and raising the tool after mounting the component is repeated a plurality of times for each component.
【００１３】この発明によれば、実装スピードを高速化
できるとともに、実装精度を向上できる。According to the present invention, the mounting speed can be increased and the mounting accuracy can be improved.
【００１４】[0014]
【発明の実施の形態】本発明の請求項１に記載の発明
は、ＸＹロボットによりＸＹ方向に一体的に移動される
とともに上下位置決め機構により上下動作されかつ１つ
の駆動源を有する回転位置決め機構により同時に回転方
向に位置決めされる複数のツールにより複数の部品を取
り出し、取り出された部品の姿勢の認識結果から位置補
正量を算出し、位置補正および実装を部品数に応じて複
数回繰り返す部品実装方法であって、部品のプリント基
板に対する実装角度がθ°である場合に、取り出し対象
のツールを前記回転位置決め機構により負の実装角度
（−θ°）の位置に回転位置決めさせた後に前記上下位
置決め機構によりツールを下降させ、部品を取り出しし
た後にツールを上昇させる取り出し動作を行い、この取
り出し動作をツール毎に複数回繰り返した後に前記回転
位置決め機構により前記ツールを原点（０°）に位置決
めし、各部品の姿勢を前記認識装置により計測し、その
計測値から各部品の補正量を前記演算装置により求め、
前記制御装置は実装する部品毎に前記回転位置決め機構
に対してその部品の補正量位置に位置決めさせた後に前
記上下位置決め機構によりツールを下降させ、部品を実
装した後にツールを上昇させる実装動作を、部品毎に複
数回繰り返すものである。DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to the first aspect of the present invention is based on a rotary positioning mechanism which is integrally moved in the XY directions by an XY robot, is vertically moved by a vertical positioning mechanism, and has one drive source. A component mounting method in which multiple components are taken out by multiple tools that are simultaneously positioned in the rotation direction, a position correction amount is calculated from the recognition result of the orientation of the taken out components, and position correction and mounting are repeated a plurality of times according to the number of components. In the case where the mounting angle of the component with respect to the printed circuit board is θ °, after the tool to be taken out is rotationally positioned at a position of a negative mounting angle (−θ °) by the rotary positioning mechanism, the vertical positioning mechanism is used. Lowers the tool, takes out the component, and then raises the tool after taking out the component. By the rotational positioning mechanism after repeated several times to position the tool to the origin (0 °), the orientation of each component was measured by the recognition device, calculated by the arithmetic unit a correction amount of each component from the measured value,
The control device performs a mounting operation of lowering the tool by the vertical positioning mechanism after positioning the component at the correction amount position with respect to the rotation positioning mechanism for each component to be mounted, and raising the tool after mounting the component, This is repeated several times for each part.
【００１５】すなわち、１つの駆動源によって複数本の
ツールが同時に回転位置決めされる多機能部品実装機に
おいて、ツールを負の実装角度に回転位置決めさせた後
に部品を取り出しさせる取り出し動作をツール毎に複数
回繰り返した後にツールを原点（０°）に位置決めし、
各部品を部品認識し、その認識結果による補正量を各部
品毎に実装する直前に回転位置決め・実装を繰り返すも
のである。That is, in a multifunctional component mounting machine in which a plurality of tools are simultaneously rotated and positioned by one driving source, a plurality of removal operations for removing components after rotating and positioning the tools at a negative mounting angle are performed for each tool. After repetition, position the tool at the origin (0 °)
Each component is recognized as a component, and rotation positioning and mounting are repeated immediately before mounting the correction amount based on the recognition result for each component.
【００１６】これによれば、部品認識後の回転位置決め
は非常に小さな補正量のみの位置決めで済むため、複数
のツールであっても実装スピードを落とすことなく高精
度に実装することができる。加えて、複数個の部品を取
り出しした場合の最終実装部品も、部品認識後に回転す
る絶対量も補正量だけであるため非常に少ない。また、
取り出し時の負の実装角度への位置決めは部品認識前で
あることから、部品を破棄しない程度の高速で行えるた
め、このことからも実装スピードの高速化を実現するこ
とができる。According to this, since the rotation positioning after component recognition requires only a very small correction amount, even a plurality of tools can be mounted with high accuracy without reducing the mounting speed. In addition, the final mounted component when a plurality of components are taken out is very small because the absolute amount of rotation after component recognition is only the correction amount. Also,
Since the positioning to the negative mounting angle at the time of taking out is performed before component recognition, the mounting can be performed at such a high speed that the component is not discarded. Therefore, the mounting speed can be increased.
【００１７】請求項２に記載の発明は、上記請求項１に
記載の発明において、複数本のツールと１つの駆動源か
ら構成される回転位置決め機構が複数存在し、取り出し
動作および実装動作の際に異なる回転位置決め機構を交
互に使用するものである。According to a second aspect of the present invention, in the first aspect of the present invention, there are provided a plurality of rotary positioning mechanisms each composed of a plurality of tools and one drive source, and the rotation positioning mechanism includes , Different rotation positioning mechanisms are used alternately.
【００１８】これによれば、駆動源を交互に動作させる
ため取り出し時の負の実装角度への位置決めが一方の駆
動源につながったツールで取り出している間に次のツー
ルの回転位置決めを行うことができるため、無駄時間が
無くなり、実装時の補正量の位置決めも一方の駆動源の
ツールが実装している間に次の実装ツールを位置決めで
きるため、より緩やかな速度での位置決めができ、より
高速で実装精度を向上することができる。また、駆動源
の個数を無駄時間の無い最小限に抑えることができ、ツ
ール本数をどれだけ増加させても無駄時間が発生しない
ため、ツール数の多いヘッド部には特に効果的である。According to this, since the driving sources are alternately operated, the positioning to the negative mounting angle at the time of taking out is performed while the next tool is rotationally positioned while taking out with the tool connected to one driving source. This eliminates wasted time and allows the positioning of the correction amount during mounting to be performed at a slower speed because the next mounting tool can be positioned while the tool of one drive source is mounted. The mounting accuracy can be improved at high speed. In addition, the number of driving sources can be minimized without wasting time, and no wasted time is generated regardless of the number of tools. Therefore, the present invention is particularly effective for a head section having a large number of tools.
【００１９】以下、本発明の実施の形態にかかる部品実
装方法について、図面を参照しながら説明する。図１の
（ａ），（ｂ）は本発明の第１の実施の形態における部
品実装方法を具現化するシステム構成を示すものであ
る。図１の（ａ），（ｂ）において、１はヘッド部を水
平方向に移動するＸＹロボット、２は部品を吸着するツ
ールとしての４本（第１番〜第４番）のノズル、３はノ
ズル２を回転方向に位置決めする駆動系、４は駆動系３
の駆動源であるサーボモータ、５はノズル２をそれぞれ
上下運動させる上下位置決め機構、６は部品の吸着姿勢
を認識するための認識装置としてのカメラ、７はカメラ
６からの画像情報を処理し位置補正量を算出する演算装
置、８は実装する部品を供給するトレイ供給部、９は部
品を実装するプリント基板、１０はノズル２の吸気・排
気およびＸＹロボット１とサーボモータ４と上下位置決
め機構５を制御する制御装置である。また、サーボモー
タ４と駆動系３により回転位置決め機構が構成されてい
る。Hereinafter, a component mounting method according to an embodiment of the present invention will be described with reference to the drawings. FIGS. 1A and 1B show a system configuration that embodies the component mounting method according to the first embodiment of the present invention. In FIGS. 1A and 1B, reference numeral 1 denotes an XY robot that moves the head in the horizontal direction, 2 denotes four (first to fourth) nozzles as tools for sucking components, and 3 denotes a nozzle. A drive system for positioning the nozzle 2 in the rotational direction, 4 a drive system 3
The servo motor 5 is a driving source of the camera, 5 is an up and down positioning mechanism for moving the nozzle 2 up and down, 6 is a camera as a recognition device for recognizing the suction posture of the components, and 7 is a position which processes image information from the camera 6. An arithmetic unit for calculating a correction amount, 8 a tray supply unit for supplying components to be mounted, 9 a printed board on which components are mounted, 10 an intake / exhaust air for the nozzles 2, an XY robot 1, a servomotor 4, and a vertical positioning mechanism 5 Is a control device for controlling In addition, the servo motor 4 and the drive system 3 constitute a rotation positioning mechanism.
【００２０】以上のように構成されたシステムによる部
品実装方法について、以下、図１，図２および図３を用
いてその動作を説明する。図２は本実施の形態の動作フ
ローを示し、図３はノズルの動作と部品の方向の変化を
模式したものであって、図２の動作フローにしたがい、
図１、図３を参照しながら本実施の形態の動作を説明す
る。The operation of the component mounting method using the system configured as described above will be described below with reference to FIGS. 1, 2 and 3. FIG. 2 shows an operation flow of the present embodiment, and FIG. 3 schematically shows the operation of the nozzle and a change in the direction of the component, and according to the operation flow of FIG.
The operation of the present embodiment will be described with reference to FIGS.
【００２１】まず、ステップ♯１において吸着ノズル本
数の規定とカウンタｎの初期化を行い、ステップ♯２で
第１番ノズル２を負の装着角度（０−装着角度）すなわ
ち装着角度がθ１°であった場合−θ１°へ位置決め
し、同時に第１番ノズル２の吸着点すなわちトレイ供給
部８の位置にＸＹロボット１を位置決めする。このとき
のノズル２と吸着部品の位置関係は図３の「部品吸着」
段階のようになる。First, in step # 1, the number of suction nozzles is specified and the counter n is initialized. In step # 2, the first nozzle 2 is set at a negative mounting angle (0-mounting angle), that is, when the mounting angle is θ1 °. If there is, the XY robot 1 is positioned at -θ1 °, and at the same time, the XY robot 1 is positioned at the suction point of the first nozzle 2, that is, the position of the tray supply unit 8. The positional relationship between the nozzle 2 and the suction component at this time is shown in FIG.
It will be like a stage.
【００２２】ステップ♯３〜♯５で上下位置決め機構５
とノズル２の空圧を制御装置１０によって制御し部品吸
着を行い、ステップ♯６の条件分岐とステップ♯７のカ
ウンタの増加によって部品の吸着動作を４本のノズル２
の全てに対して行い、全ノズル２の部品吸着が完了した
後、ステップ♯８でサーボモータ４は原点位置に位置決
めする。ステップ♯９で各ノズル２毎の部品吸着姿勢を
カメラ６で認識する。この後ステップ♯１０で演算装置
７において各ノズル２毎の部品吸着姿勢のずれ量を角度
補正量Δθ１、Δθ２、Δθ３、Δθ４として算出して
制御装置１０のメモリ内に格納する。In steps # 3 to # 5, the vertical positioning mechanism 5
And the air pressure of the nozzle 2 is controlled by the control device 10 to perform component suction, and the component suction operation is performed by the four nozzles 2 by the conditional branch in step # 6 and the increase in the counter in step # 7.
After the suction of the components of all the nozzles 2 is completed, the servo motor 4 is positioned at the origin position in step # 8. In step # 9, the camera 6 recognizes the component suction posture of each nozzle 2. Thereafter, in step # 10, the arithmetic unit 7 calculates the deviation amount of the component suction posture for each nozzle 2 as the angle correction amounts Δθ1, Δθ2, Δθ3, and Δθ4 and stores them in the memory of the control device 10.
【００２３】このときのノズル２と部品の位置関係と補
正量Δθの位置関係は図３の「部品認識」段階のように
なる。次に、吸着の動作と同様にステップ♯１１〜♯１
７において部品装着を行うが、この際ステップ♯１２に
示すように、駆動系３やサーボモータ４からなる回転位
置決め機構は装着動作の度に制御装置９に記憶したそれ
ぞれの部品の補正量の位置に位置決めを行う。この時点
でのノズル２と部品の位置関係は、図３の「ノズルΔθ
回転」のようになる。At this time, the positional relationship between the nozzle 2 and the component and the positional relationship of the correction amount Δθ are as shown in the “component recognition” stage of FIG. Next, in the same manner as the suction operation, steps # 11 to # 1 are performed.
7, the component is mounted. At this time, as shown in step # 12, the rotation positioning mechanism including the drive system 3 and the servo motor 4 controls the position of the correction amount of each component stored in the control device 9 every time the mounting operation is performed. Perform positioning. The positional relationship between the nozzle 2 and the component at this time is shown in FIG.
"Rotation".
【００２４】従来例と同様の例を挙げると、第１〜第４
の部品をそれぞれ９０°、１８０°、０°、９０°で装
着するものとし、第１番〜第４番のノズル２で順に吸着
動作を行い、吸着時のずれが−５°、４°、２°、−６
°であった場合、それぞれ補正量は５°、−４°、−２
°、６°となり、ステップ♯１２での各ノズル２の相対
的な動きは、 第１番ノズル：＋５° 第２番ノズル：＋５°→−９° 第３番ノズル：＋５°→−９°→＋２° 第４番ノズル：＋５°→−９°→＋２°→＋８° となる。すなわち、最終装着ノズル（第４番ノズル）で
も絶対量で２４°しか動くことがない。Examples similar to the prior art include first to fourth.
Are mounted at 90 °, 180 °, 0 °, and 90 °, respectively, and the suction operation is sequentially performed by the first to fourth nozzles 2, and the displacement at the time of suction is −5 °, 4 °, 2 °, -6
°, the correction amounts are 5 °, -4 °, and -2, respectively.
°, 6 °, and the relative movement of each nozzle 2 in step # 12 is: No. 1 nozzle: + 5 ° No. 2 nozzle: + 5 ° → -9 ° No. 3 nozzle: + 5 ° → -9 ° → + 2 ° No. 4 nozzle: + 5 ° → -9 ° → + 2 ° → + 8 °. That is, even the final mounting nozzle (the fourth nozzle) moves only 24 ° in absolute amount.
【００２５】以上のように本実施の形態によれば、１つ
の駆動源（サーボモータ４）によって４本のノズル２が
同時に回転位置決めされる多機能部品実装機において、
ノズル２を負の装着角度に回転位置決めさせた後に部品
を吸着させる吸着動作をノズル２毎に４回繰り返した後
にノズル２を原点（０°）に位置決めし、各部品を部品
認識し、その認識結果による補正量を各部品毎に実装す
る直前に回転位置決め・実装を繰り返すことにより、部
品認識後のノズル２の回転量を最小限にすることができ
るため、部品認識後の部品の吸着姿勢に影響を与えるこ
となく高速・高精度での部品実装が可能になる。As described above, according to the present embodiment, in a multifunctional component mounting machine in which four nozzles 2 are simultaneously rotated and positioned by one driving source (servo motor 4),
After the nozzle 2 is rotated at a negative mounting angle and the suction operation of sucking the components is repeated four times for each nozzle 2, the nozzle 2 is positioned at the origin (0 °), and each component is recognized as a component. By repeating the rotation positioning and mounting immediately before mounting the correction amount based on the result for each component, the rotation amount of the nozzle 2 after component recognition can be minimized. High-speed, high-precision component mounting is possible without affecting the components.
【００２６】次に、本発明の第２の実施の形態について
図面を参照しながら説明する。図４は本発明の第２の実
施の形態における部品実装方法を具現化するヘッド部の
構成を示すもので、ヘッド部の他は図１の構成と同様な
ものである。Next, a second embodiment of the present invention will be described with reference to the drawings. FIG. 4 shows a configuration of a head unit embodying the component mounting method according to the second embodiment of the present invention. The configuration other than the head unit is the same as that of FIG.
【００２７】図４において、１４は部品を吸着するツー
ルとしての４本のノズル、１３はノズル１４をそれぞれ
上下運動させる上下位置決め機構、１２はノズル１４を
偶数本目と奇数本目のグループ毎に回転方向の位置決め
をする駆動系、１１は駆動系１２の駆動源である２個の
サーボモータで、図１に示すシステム構成と異なるのは
駆動系１２を偶数本目と奇数本目のノズル１４をグルー
プに分けて、グループ個々に２個のサーボモータ１１に
よって独立して駆動するようにした点である。なお、各
サーボモータ１１と駆動系１２によりそれぞれ回転位置
決め機構が構成されている。In FIG. 4, reference numeral 14 denotes four nozzles as a tool for sucking parts, 13 denotes an up-down positioning mechanism for moving the nozzles 14 up and down, and 12 denotes a rotating direction of the nozzles 14 for even and odd groups. A drive system 11 for positioning is provided with two servo motors which are drive sources of a drive system 12. What is different from the system configuration shown in FIG. 1 is that the drive system 12 is divided into even-numbered and odd-numbered nozzles 14. That is, each group is independently driven by two servo motors 11. In addition, each servomotor 11 and the drive system 12 constitute a rotation positioning mechanism.
【００２８】以上のように構成されたシステムによる部
品実装方法について、以下図４および図５を用いてその
動作を説明する。図５は本実施の形態の動作フローを示
したものであり、この動作フローにしたがい、図４を参
照しながら本実施例の動作を説明する。なお、上記実施
の形態と同機能のものには同符号を付す。The operation of the component mounting method using the system configured as described above will be described below with reference to FIGS. FIG. 5 shows an operation flow of the present embodiment, and according to this operation flow, the operation of the present embodiment will be described with reference to FIG. It is to be noted that components having the same functions as those of the above embodiment are denoted by the same reference numerals.
【００２９】まず、ステップ♯２１において吸着ノズル
本数の規定とカウンタｎの初期化を行い、ステップ♯２
２で第１番ノズル１４を負の装着角度（０−装着角
度）、すなわち装着角度がθ１°であった場合、角度−
θ１°への位置決めを開始し、ステップ♯２３では第２
番ノズル１４を負の装着角度（例えば−θ２°）への位
置決めを開始すると同時に第１番ノズル１４の吸着点に
ＸＹロボット１を位置決めする。ステップ♯２４への移
行は、第１番ノズル１４の位置決めが完了したことを条
件とする。このときの第２番ノズル１４は位置決め中で
も構わない。ステップ♯２４で上下位置決め機構１３と
ノズル１４の空圧を制御装置によって制御し部品吸着を
行い、ステップ♯２５の条件分岐とステップ♯２６のカ
ウンタの増加によって部品の吸着動作を順番に行い、奇
数番ノズル１４全ての部品吸着が完了した後、ステップ
♯２７および♯２８で最終のノズル１４に対しての部品
吸着を完了する。First, in step # 21, the number of suction nozzles is specified and the counter n is initialized.
2, the first nozzle 14 has a negative mounting angle (0-mounting angle), that is, if the mounting angle is θ1 °, the angle −
Positioning to θ1 ° starts, and in step # 23, the second
The XY robot 1 is positioned at the suction point of the first nozzle 14 at the same time as the positioning of the No. 14 nozzle at a negative mounting angle (for example, −θ2 °) is started. The transition to step # 24 is based on the condition that the positioning of the first nozzle 14 has been completed. At this time, the second nozzle 14 may be positioned. In step # 24, the control unit controls the air pressure of the vertical positioning mechanism 13 and the nozzle 14 to perform component suction, and sequentially performs the component suction operation by the conditional branch in step # 25 and the increase in the counter in step # 26. After the suction of the components of all the No. 14 nozzles is completed, the suction of the components to the final nozzle 14 is completed in steps # 27 and # 28.
【００３０】ステップ♯２９でサーボモータ１１は共に
ノズル１４を原点位置に位置決めする。ステップ♯３０
で各ノズル１４毎の部品吸着姿勢をカメラ６で認識す
る。この後、ステップ♯３１で各ノズル毎の部品吸着姿
勢のずれ量を角度補正量Δθ１、Δθ２、Δθ３、Δθ
４として算出し、制御装置１０のメモリ内に格納する。
次に、吸着の動作と同様にステップ♯３２〜♯３９にお
いて部品装着を行うが、この際ステップ♯３３および♯
３４に示すように回転位置決め機構１２は装着動作の度
に制御装置１０に記憶したそれぞれの部品の補正量の位
置に交互に位置決めを行う。In step # 29, both servo motors 11 position nozzle 14 at the origin position. Step $ 30
Then, the camera 6 recognizes the component suction attitude of each nozzle 14. Thereafter, in step # 31, the deviation amount of the component suction posture for each nozzle is determined by the angle correction amounts Δθ1, Δθ2, Δθ3, Δθ.
4 and stored in the memory of the control device 10.
Next, components are mounted in steps # 32 to # 39 in the same manner as the suction operation.
As shown at 34, the rotation positioning mechanism 12 alternately positions each component at the position of the correction amount stored in the control device 10 for each mounting operation.
【００３１】従来例および上記第１の実施の形態と同様
の例を挙げると、第１〜第４の部品をそれぞれ９０°、
１８０°、０°、９０°で装着するものとし、第１番〜
第４番のノズル１４で順に吸着動作を行い、吸着時のず
れが−５°、４°、２°、−６°であった場合、それぞ
れ補正量は５°、−４°、−２°、６°となり、ステッ
プ♯３３および♯３４での各ノズルの相対的な動きは、 第１番ノズル：＋５° 第２番ノズル：−４° 第３番ノズル：＋５°→−７ 第４番ノズル：−４°→＋１０° となる。すなわち、最終装着ノズル（第３番ノズル、第
４番ノズル）１４は絶対量で最大１４°（第４ノズル）
しか動くことがない。As an example similar to the conventional example and the first embodiment, the first to fourth parts are respectively 90 °,
At 180 °, 0 °, 90 °, No. 1 ~
The suction operation is sequentially performed by the fourth nozzle 14, and when the shift at the time of suction is −5 °, 4 °, 2 °, and −6 °, the correction amounts are 5 °, −4 °, and −2 °, respectively. , 6 °, and the relative movement of each nozzle in steps # 33 and # 34 is: No. 1 nozzle: + 5 ° No. 2 nozzle: -4 ° No. 3 nozzle: + 5 ° → −7 No. 4 Nozzle: -4 ° → + 10 °. In other words, the final mounting nozzle (third nozzle, fourth nozzle) 14 is an absolute amount of up to 14 ° (fourth nozzle)
Can only move.
【００３２】以上のように、本実施の形態によれば、２
つのサーボモータ１１に対し４本のノズル１４が奇数番
目と偶数番目が同時に回転位置決めされる多機能部品実
装機において、２個の回転位置決め機構のサーボモータ
１１を交互に動作させるため吸着前の負の装着角度への
位置決めが、一方のサーボモータ１１につながったノズ
ル１４で吸着している間に他方のサーボモータ１１が次
に吸着するノズル１４の回転位置決めを行うため無駄時
間が無くなり、装着時の補正量の位置決めも一方のサー
ボモータにつながったノズルが実装している間に他方の
サーボモータが次に実装するノズルを位置決めできるた
め、より緩やかな速度での位置決めができ、より高速で
実装精度を向上することができる。As described above, according to the present embodiment, 2
In a multifunctional component mounting machine in which four nozzles 14 are simultaneously rotated and positioned at odd and even numbers with respect to one servo motor 11, the servo motors 11 of the two rotation positioning mechanisms are alternately operated so that a negative pressure before suction is set. While the positioning to the mounting angle is performed while the suction is performed by the nozzle 14 connected to one of the servo motors 11, the other servo motor 11 performs the rotary positioning of the nozzle 14 to be suctioned next. Because the other servomotor can position the nozzle to be mounted next while the nozzle connected to one servomotor is mounted, positioning at a slower speed can be performed and mounting at higher speed Accuracy can be improved.
【００３３】なお、上記第１の実施の形態においてノズ
ル２は４本としたが２本以上の複数本であれば本数に制
限はない。加えて認識装置のカメラ６としては部品姿勢
を認識することができる測定機構であればよく、２次元
のラインセンサを用いて、ＸＹロボット１の移動によっ
て全体像を認識できるものでも良い。Although the number of nozzles 2 is four in the first embodiment, the number is not limited as long as the number of nozzles is two or more. In addition, the camera 6 of the recognizing device may be any measuring mechanism capable of recognizing the component posture, and may be a device capable of recognizing the entire image by moving the XY robot 1 using a two-dimensional line sensor.
【００３４】また、上記第２の実施の形態においてノズ
ル１４の本数を４本としたが駆動源１つに対して２本以
上の複数本であれば本数に制限はない。また駆動源のサ
ーボモータ１１を２個としたが、複数個であれば個数に
制限はない。Although the number of nozzles 14 is four in the second embodiment, the number of nozzles is not limited as long as the number is two or more for one drive source. Further, the number of the servo motors 11 as the driving source is two, but the number is not limited as long as the number is two or more.
【００３５】また、両実施の形態において、部品取り出
しをノズル２，１４による吸着動作としたが、部品を把
持するメカチャッキングとしても良い。また、駆動源を
サーボモータ４，１１としたが各種モータ、エアーシリ
ンダなど位置決め制御ができる駆動源であればよい。く
わえて、部品供給部はトレイプレートによる供給とした
が、テーピング部品供給・スティック部品供給などとし
ても良く、部品形態には依存しない。Further, in both embodiments, the picking-up of the components is performed by the suction operation by the nozzles 2 and 14, but it may be performed by mechanical chucking for gripping the components. Although the drive sources are the servomotors 4 and 11, any drive sources that can perform positioning control, such as various motors and air cylinders, may be used. In addition, the component supply unit is supplied by a tray plate, but may be a taping component supply or a stick component supply, and does not depend on the component form.
【００３６】[0036]
【発明の効果】以上のように本発明の第１の発明は、１
つの駆動源によって複数本のツールが同時に回転位置決
めされる多機能部品実装機で用いられる部品実装方法に
おいて、ツールを負の実装角度に回転位置決めさせた後
に部品を取り出す動作をツール毎に複数回繰り返した後
にツールを原点（０°）に位置決めし、各部品を部品認
識し、その認識結果による補正量を各部品毎に実装する
直前に回転位置決め・実装を繰り返すことにより、部品
認識後の回転位置決めは非常に小さな補正量のみの位置
決めで済むため、複数本のツールであっても実装スピー
ドを落とすことなく高精度に実装することができる。加
えて、複数個の部品を取り出しした場合の最終実装部品
に関しても、部品認識後に回転する絶対量が補正量だけ
であるため非常に少ない。また、取り出し時の負の実装
角度への位置決めは部品認識前であることから、部品を
破棄しない程度の高速で行えるため、このことからも実
装スピードの高速化を実現することができる。As described above, the first invention of the present invention has the following features.
In a component mounting method used in a multi-function component mounter where multiple tools are simultaneously rotated and positioned by one drive source, the operation of taking out components after rotating and positioning the tool to a negative mounting angle is repeated multiple times for each tool After that, the tool is positioned at the origin (0 °), each part is recognized as a part, and the amount of correction based on the recognition result is repeated for rotation positioning and mounting immediately before mounting for each part. Since only a very small correction amount is required for positioning, even a plurality of tools can be mounted with high precision without reducing the mounting speed. In addition, the final mounted component when a plurality of components are taken out is very small because the absolute amount of rotation after component recognition is only the correction amount. In addition, since the positioning to the negative mounting angle at the time of taking out is performed before component recognition, it can be performed at such a high speed that the component is not discarded, so that the mounting speed can be increased.
【００３７】本発明の第２の発明は、複数本のツールと
１つの駆動源から構成される回転位置決め機構が複数存
在し、取り出し動作及び実装動作の際に異なる回転位置
決め機構を交互に使用し、第１の発明の部品実装動作を
行うことにより、駆動源を交互に動作させるため取り出
し時の負の実装角度への位置決めが一方の駆動源につな
がったツールで取り出ししている間に次のツールの回転
位置決めを行うため、無駄時間が無くなり、実装時の補
正量の位置決めも一方の駆動源のツールが実装している
間に次の実装ツールを位置決めできるため、より緩やか
な速度での位置決めができ、より高速で実装精度を向上
することができる。また、ツール本数をどれだけ増加さ
せても無駄時間が発生しないため、ツール本数の多いヘ
ッド部には特に効果的である。According to a second aspect of the present invention, there are provided a plurality of rotary positioning mechanisms composed of a plurality of tools and one drive source, and different rotary positioning mechanisms are used alternately during the picking-out operation and the mounting operation. By performing the component mounting operation of the first invention, the driving source is alternately operated, so that the positioning to the negative mounting angle at the time of taking out is performed while the tool is taken out by the tool connected to one driving source. Since the rotation of the tool is positioned, there is no wasted time, and the positioning of the correction amount during mounting can be performed at the slower speed because the next mounting tool can be positioned while the tool of one drive source is mounted. The mounting accuracy can be improved at a higher speed. Also, no matter how much the number of tools is increased, no wasted time is generated, which is particularly effective for a head section having a large number of tools.
【図１】本発明の第１の実施の形態における部品実装方
法を具現化するシステム構成を示すもので、（ａ）はシ
ステム構成全体を概略的に示す斜視図、（ｂ）はシステ
ム構成のヘッド部を示す斜視図。FIGS. 1A and 1B show a system configuration embodying a component mounting method according to a first embodiment of the present invention, wherein FIG. 1A is a perspective view schematically showing the entire system configuration, and FIG. FIG. 3 is a perspective view showing a head unit.
【図２】同第１の実施の形態における実装動作のフロー
チャート。FIG. 2 is a flowchart of a mounting operation according to the first embodiment.
【図３】同第１の実施の形態におけるノズルと部品の角
度位置関係を模式的に示す図。FIG. 3 is a diagram schematically showing an angular positional relationship between a nozzle and a component in the first embodiment.
【図４】本発明の第２の実施の形態におけるヘッド部の
構成を概略的に示す斜視図。FIG. 4 is a perspective view schematically showing a configuration of a head unit according to a second embodiment of the present invention.
【図５】同第２の実施の形態における実装動作のフロー
チャート。FIG. 5 is a flowchart of a mounting operation in the second embodiment.
【図６】従来の部品実装方法のノズル回転動作と部品の
位置関係を模式的に示す図。FIG. 6 is a diagram schematically showing a nozzle rotation operation and a positional relationship between components in a conventional component mounting method.
【図７】従来の部品実装方法の実装動作の一例を示すフ
ローチャート。FIG. 7 is a flowchart showing an example of a mounting operation of a conventional component mounting method.
【符号の説明】 １ ＸＹロボット ２、１４ ノズル ３，１２ 駆動系 ４、１１ サーボモータ ５、１３ 上下位置決め機構 ６ カメラ（認識手段） ７ 演算装置 ８ トレイ供給部 ９ プリント基板 １０ 制御装置[Description of Signs] 1 XY robot 2, 14 Nozzle 3, 12 Drive system 4, 11 Servo motor 5, 13 Vertical positioning mechanism 6 Camera (recognition means) 7 Computing device 8 Tray supply unit 9 Printed circuit board 10 Control device
───────────────────────────────────────────────────── フロントページの続き (72)発明者 壁下 朗 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Akira Kamoshita 1006 Kazuma Kadoma, Kadoma City, Osaka Matsushita Electric Industrial
Claims (2)
移動されるとともに上下位置決め機構により上下動作さ
れかつ１つの駆動源を有する回転位置決め機構により同
時に回転方向に位置決めされる複数のツールにより複数
の部品を取り出し、取り出された部品の姿勢の認識結果
から位置補正量を算出し、位置補正および実装を部品数
に応じて複数回繰り返す部品実装方法であって、部品の
プリント基板に対する実装角度がθ°である場合に、取
り出し対象のツールを前記回転位置決め機構により負の
実装角度（−θ°）の位置に回転位置決めさせた後に前
記上下位置決め機構によりツールを下降させ、部品を取
り出しした後にツールを上昇させる取り出し動作を行
い、この取り出し動作をツール毎に複数回繰り返した後
に前記回転位置決め機構により前記ツールを原点（０
°）に位置決めし、各部品の姿勢を前記認識装置により
計測し、その計測値から各部品の補正量を前記演算装置
により求め、前記制御装置は実装する部品毎に前記回転
位置決め機構に対してその部品の補正量位置に位置決め
させた後に前記上下位置決め機構によりツールを下降さ
せ、部品を実装した後にツールを上昇させる実装動作
を、部品毎に複数回繰り返す部品実装方法。1. A plurality of parts by a plurality of tools which are integrally moved in an XY direction by an XY robot, are vertically moved by an up / down positioning mechanism, and are simultaneously positioned in a rotation direction by a rotation positioning mechanism having one drive source. And a position correction amount is calculated from the recognition result of the posture of the picked-up component, and the position correction and mounting are repeated a plurality of times in accordance with the number of components. In the case of, the tool to be taken out is rotationally positioned at the position of the negative mounting angle (-θ °) by the rotary positioning mechanism, then the tool is lowered by the vertical positioning mechanism, and the tool is raised after parts are taken out. The rotation positioning mechanism is performed after the removal operation is performed a plurality of times for each tool. More the tool origin (0
°), the posture of each component is measured by the recognition device, the correction amount of each component is obtained by the arithmetic device from the measured value, and the control device controls the rotation positioning mechanism for each component to be mounted. A component mounting method in which a mounting operation of lowering the tool by the vertical positioning mechanism after positioning the component at the correction amount position, and raising the tool after mounting the component is repeated a plurality of times for each component.
される回転位置決め機構が複数存在し、取り出し動作お
よび実装動作の際に異なる回転位置決め機構を交互に使
用する請求項１記載の部品実装方法。2. The component mounting according to claim 1, wherein there are a plurality of rotation positioning mechanisms each including a plurality of tools and one drive source, and different rotation positioning mechanisms are used alternately during the take-out operation and the mounting operation. Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34228096A JP3852997B2 (en) | 1996-12-24 | 1996-12-24 | Component mounting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34228096A JP3852997B2 (en) | 1996-12-24 | 1996-12-24 | Component mounting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH10190297A true JPH10190297A (en) | 1998-07-21 |
| JP3852997B2 JP3852997B2 (en) | 2006-12-06 |
Family
ID=18352508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP34228096A Expired - Fee Related JP3852997B2 (en) | 1996-12-24 | 1996-12-24 | Component mounting method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3852997B2 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002359497A (en) * | 2001-05-31 | 2002-12-13 | Sony Corp | Component-mounting device and method therefor |
| KR100604331B1 (en) * | 1999-02-02 | 2006-07-24 | 삼성테크윈 주식회사 | Head for Surface Mounting Device |
| JP2007235020A (en) * | 2006-03-03 | 2007-09-13 | Matsushita Electric Ind Co Ltd | Electronic component mounter, and electronic component mounting method |
| JP2011023763A (en) * | 2010-11-02 | 2011-02-03 | Sony Corp | Component mounting method |
| JP2011142350A (en) * | 2011-04-18 | 2011-07-21 | Sony Corp | Apparatus and method for mounting component |
| KR20120071277A (en) * | 2010-12-22 | 2012-07-02 | 삼성테크윈 주식회사 | Rotary mounting head unit, electronic device mounting apparatus, and mounting method |
| KR20120098497A (en) * | 2011-02-25 | 2012-09-05 | 쥬키 가부시키가이샤 | Electronic component mounting apparatus, and electronic component mounting method |
| JP2014154861A (en) * | 2013-02-14 | 2014-08-25 | Panasonic Corp | Electronic component press-fitting device and electronic component press-fitting method |
-
1996
- 1996-12-24 JP JP34228096A patent/JP3852997B2/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100604331B1 (en) * | 1999-02-02 | 2006-07-24 | 삼성테크윈 주식회사 | Head for Surface Mounting Device |
| JP2002359497A (en) * | 2001-05-31 | 2002-12-13 | Sony Corp | Component-mounting device and method therefor |
| JP2007235020A (en) * | 2006-03-03 | 2007-09-13 | Matsushita Electric Ind Co Ltd | Electronic component mounter, and electronic component mounting method |
| JP2011023763A (en) * | 2010-11-02 | 2011-02-03 | Sony Corp | Component mounting method |
| KR20120071277A (en) * | 2010-12-22 | 2012-07-02 | 삼성테크윈 주식회사 | Rotary mounting head unit, electronic device mounting apparatus, and mounting method |
| JP2012134348A (en) * | 2010-12-22 | 2012-07-12 | Samsung Techwin Co Ltd | Electronic component attachment apparatus |
| KR20120098497A (en) * | 2011-02-25 | 2012-09-05 | 쥬키 가부시키가이샤 | Electronic component mounting apparatus, and electronic component mounting method |
| JP2012178393A (en) * | 2011-02-25 | 2012-09-13 | Juki Corp | Apparatus and method for mounting electronic component |
| JP2011142350A (en) * | 2011-04-18 | 2011-07-21 | Sony Corp | Apparatus and method for mounting component |
| JP2014154861A (en) * | 2013-02-14 | 2014-08-25 | Panasonic Corp | Electronic component press-fitting device and electronic component press-fitting method |
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| Publication number | Publication date |
|---|---|
| JP3852997B2 (en) | 2006-12-06 |
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