JPH03280590A - Coater - Google Patents

Abstract

PURPOSE:To coat a desired position of a printed board with adhesive even if a coating head is rotated by controlling XY moving driving means based on stored deviated distance, deviated angle, WY coordinates position to be originally coated with the adhesive and coating angle data. CONSTITUTION:A coating head 9 rotated at a desired rotary angle to a desired position of a printed board 2 placed on a table is relatively moved in X- and Y-directions, and coated with adhesive. A deviated distance between a reference point on the head for determining a coating position and the rotating center of the head, and a deviated angle becoming a reference line on the head for determining a coating angle by a straight line for connecting the reference point to the rotating center are stored in first storage means, XY coordinates position to be originally coated with the adhesive and coating angle data are stored in second storage means, and the driving means is so controlled as to coat the original coating position of the board with the adhesive at the coating angle based on the information.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial Application Field The present invention is a method for applying adhesive to a printed circuit board placed on a table by discharging adhesive from a plurality of application nozzles provided at the tip of a rotatable application head. The present invention relates to a coating device that applies the adhesive by allowing the coating head, which has been rotated to a desired position by a desired rotation angle, to be relatively moved in the XY direction by an XY movement drive means.

(b) Prior Art A prior art of a coating device of this type in which a coating head is provided with a plurality of coating nozzles is disclosed in Japanese Patent Publication No. 61-56638.

However, in this prior art, when the coating head rotates at a predetermined angle in a horizontal plane to apply adhesive, the center of rotation of the coating head and the coating reference point that should be the center of rotation (in the case of two coating nozzles) Since there is a misalignment between the centers of the coating nozzles, please place the coating head in the correct position.
The drawback was that it was impossible to do so.

(8) Problems to be Solved by the Invention Therefore, an object of the present invention is to eliminate the influence of rotation even when the application head rotates, and to enable adhesive to be applied to a desired position on a printed circuit board. .

(d) Means for Solving the Problems Therefore, the present invention aims to spray adhesive from a plurality of application nozzles provided at the tip of a rotatable application head to a desired position of a printed circuit board placed on a table. In a coating device that applies the adhesive by moving the coating head, which has been rotated by a desired rotation angle, by an XY movement drive means, a reference point on the coating head and a reference point on the coating head that determines the coating position are provided. a first storage means for storing the deviation distance from the rotation center of the adhesive and the deviation angle formed with the reference line on the application head which determines the application angle by a straight line connecting the reference point and the rotation center; a second storage means for storing the desired XY coordinate position and coating angle data; and control means for controlling the driving means so that the adhesive can be applied to the original application position on the printed circuit board at the original application angle based on each piece of information stored in the second storage means.

(*) The action control means performs printing based on the scratch distance and misalignment angle stored in the first storage means and the XY coordinate position and application angle data stored in the second storage means where the adhesive should originally be applied. The XY movement driving means is controlled so that the adhesive can be applied to the original application position on the substrate at the original application angle.

(f) Example An embodiment of the present invention will be described below based on the drawings.

In Figures 1 and 2, (1) main printed circuit board (2
) is placed on the XY child table, the X-axis motor drive circuit (
It moves in the X direction by an X-axis motor (4) which is rotated by 3), and moves in the X-direction by a Y-axis motor (6) which is rotated by a Y-axis motor drive circuit (5). (7) is the above XY
This dispenser unit has an application head (9) that applies adhesive (8) to a printed circuit board (2) placed on a sub-table (1).

(10) is a supply conveyor that transports and supplies the printed circuit board (2), and (11) is a discharge conveyor that transports and discharges the board (2). (12) is a printed circuit board (2
) is used to transfer the board (2) on the supply conveyor (10) onto the XY child table 1),
The board (2) on the XY child table 1) is transferred to the discharge conveyor (1).
1) Place it on top.

Square chip components such as resistors and capacitors (not shown) are applied onto the printed circuit board (2) by a downstream component mounting device (not shown), and are mounted in alignment with the positions of the adhesive (8). become.

The dispenser unit (7) will be described in detail below with reference to FIG.

A syringe (14) filled with adhesive (8) is provided at the top of the application head (9), and the application head (9) is provided with a syringe (14) filled with adhesive (8).
) The adhesive (8) can be completely discharged from the two application nozzles (Is) (15) provided at the bottom of the syringe (14) and communicating with the syringe (14). (15) An air hose (16) is attached to send compressed air to be discharged from (15).

(17) is a vertically moving lever rotatably supported on a support member (19) via a support shaft (18), and a roller (20) at one end is provided on the top of the coating head (9). It is completely fitted between the pair of locking parts (21), and the roller (22) at the other end is biased by a spring (23) so as to come into pressure contact with the drive cam (24). The cam (24) is driven by a vertical motor (26) that is rotated by a cam drive circuit (25).
) can be rotated.

Further, the application head (9) is fully fitted into the gear (27>), and the 0-rotation gear motor ( The gears 29) and 30) are fixed to the printed circuit board (2) without moving up and down, and the gear (27) does not move up and down with the gear (30), but meshes with and rotates.

In FIG. 4, (32> is the XY coordinate position and application head (
RA for storing application position fNc data that stores θ rotation angle position data, which is the rotation angle seen from above on a horizontal plane due to the rotation of the rotary gear motor (29) of 9), for each application order.
M, and (33>) is a ROM in which programs related to coating operations are stored.

0 (zero) degree of the θ rotation angle position is the coating head (9)
Two rotation angles at which the straight line connecting the centers of the two nozzles (15) (15) (one center is N1 and the other center is N) is parallel to the Y axis of the XY table (1). The rotation angle position is one of the two positions. That is, a straight line perpendicular to the straight line connecting N1°N is parallel to the X-axis. This θ rotation angle position data coincides with data on the rotation angle position in the θ direction of the chip component mounted by the component mounting device.

Two coating nozzles (15) provided on the coating head (9)
) (15) The midpoint between the nozzle centers N, , N (hereinafter referred to as the midpoint between coating nozzles) is located at the XY coordinate position to be coated, and this point is Agent (
8) This serves as a coating reference point for determining the coating position. The coating nozzles (15) (15) are installed so that the middle point between the coating nozzles and the rotation center of the coating head, which is the center of rotation of the coating head, coincide as much as possible, but it is not possible to make them coincide at all. As shown in FIG. 5, which is a view when looking at the coating head (9>), a shift occurs.

Therefore, RAM (32) further contains the distance that is the deviation between the midpoint OM between the coating nozzles and the coating head rotation center 〇! and 0. The half line passing through OM is half line 0.0,
The half line Ot Half line 0. counterclockwise from X. The angle α as represented in FIG. 5, which is the angle to OM, is stored.

The half line O1X is the reference line on the application head that determines the application angle of the adhesive (8〉).
is parallel to the X axis of the XY table (1), and the coating head (9) is at a θ rotation angle position of 0 (zero) degree. This angle α is calculated from 02, which is the coating reference point, and 0, which is the center of rotation.
l indicates which direction it is in when viewed from the half line o8X.

(34) is the CPU, RAM (32) and ROM (
Based on the data and programs stored in 34),
Each drive circuit (3) (
5) The coating operation is controlled by controlling (25) and (28).

The nth coating position coordinates stored in the RAM (32) are (Xn, Yn), the θ rotation angle position is θn, and based on the data, the position of the rotation center O6 is (Xn, Yn).
When the XY table (1) is moved and the rotary gear motor (29) is rotated to the angular position of 00 degrees to position the application head (9) as shown in Yn), the position of Oy is X = Xn
+ l cos(θn+ a ), Y = Yn+
Since it is expressed as esin (θn+a), the CPU (
34> is ff1cos(θn+
α) Move the distance XY child table 1) corrected by 1 sin (θn+α) in the Y direction, and move O as X−Xn−1cos(θn+a), Y=Yn−1si
It is stopped at n(θn+α) and 0 is located at (Xn, Yn).

The CPU (34) controls the rotary gear motor drive circuit (28) to rotate the application head (9) to a predetermined rotational angle position using the rotational origin detected by a rotational origin detection means (not shown) as a reference angular position. Control and rotate gear motor (2
This is done by rotating the application head (9).
) is stored in the RAM (32) and indicates how much the angular position of the half line O1X on the axis of rotation is shifted from the rotation origin position, and is stored in the RAM (32). Depending on the direction of installation, it may be a half-straight line O1 relative to the rotation origin position.
Even if the angular position of X changes, it can be corrected.

The operation of the above configuration will be described below.

In this embodiment, it is assumed that the above-mentioned P is 0.5 m and α is 30 degrees.

First, the printed circuit board (2) is conveyed to the supply board (1o), transferred to the transfer unit (12), and placed on the lXY table (1). At this time, CP
U (33) controls the rotary gear drive circuit (28) to rotate the rotary gear motor (29), and moves the coating rod (9) to the θ rotation angle position via the gear (27) and gear (30). Rotate to the 0 (zero) position and stop.

Further, the XY table (1) is moved so that the origin (0,0) of the printed circuit board (2) is located at OII.

The CPU (34) calculates the first coating position tX-200, Y-250 (the unit is m5-c') among the coating position tNc data stored in the RAM (32) as shown in FIG.
and θ rotation angle θ-0 (zero) degrees, and based on the above calculation formula, set 0 to position O at the coordinates (200, 250). The position to stop is X=200-0.5Xc
os30°dew 200-0,257T, Y-250-0,
Calculate 5X sin 30° deprivation 249.75. and,
The CPU (34) controls the X-axis motor drive circuit (3) and the Y-axis motor drive circuit (5), respectively, and rotates the X-axis motor (4) and Y-axis motor (6) to rotate the XY child table 1). 0 at the position of the above calculation result. position. In this way, the midpoint (OM) between the coating nozzles stops at the position of the coordinates (200, 250) of the printed circuit board (2) placed on the XY child table 1).

The CPU (34) then controls the cam drive circuit (25) to rotate the vertical movement motor (26). Then, the drive cam (24) is rotated, and the vertical lever (17) is rotated counterclockwise in FIG. 3 around the support shaft (18) via the roller (22) due to the biasing force of the spring (23). move, roller (2
0) and the locking part (21), the application head (9)
The gear (27) descends while sliding on the gear (30). At this time, the adhesive (8) in the syringe (11) has already been completely discharged to the tip of the application nozzle (15) by compressed air via the air hose (16), and the application head (9) is lowered. The coating can be completely applied onto the printed circuit board (2).

When the vertical movement motor (26) further rotates, the vertical movement lever (17) rotates clockwise, the coating head (9) rises, and the first coating operation ends.

Next, the CPU (34) selects the second application position tX=150. from the RAM (32). Read Y-200 and θ=30 degrees, and apply 0. The position to stop is X
= 150-0.5 Xcos60°=149.75
, Y=200-0.5Xsit+60@=20o-0
, 25, 1-cho. Therefore, the CPU (34)
The first 0. The second O6 calculated from the stop position of
The X-axis motor (4) and the Y-axis motor (6) can be rotated so that the XY child table 1) moves the moving distance to the stop position.

The CPU (34) also operates a rotary gear motor drive circuit (28).
) to rotate the rotary gear motor (29), and the gear (
27> and the gear (30), the coating head (9) is rotated 30 degrees counterclockwise when viewed from above. thus,
OM stops at the position of coordinates (150, 200) on the printed circuit board (2).

Then, the CPU (34) controls the drive circuit (25) to rotate the vertical movement motor (26), and applies the adhesive (8>) onto the printed circuit board (2) in the same manner as the first application operation. do.

Next, the CPU (34) selects the third coating position X=170. from the RAM (32). Read Y = 100 and θ = 90 degrees, and set the position where 06 should stop as described above to X = 1
70-0.5 Xcosl 20°=170.25,
Y= 100-0.5Xsin120″″=1000
．． 251 teeth is calculated, and in the same manner as described above, the coating head is stopped at this position, and the coating head is rotated counterclockwise by 60 degrees to reach the θ rotation angle position of 90 degrees. thus,
After positioning the OM at the coordinates (170, 100) of the printed circuit board (2), the coating head (9) is lowered to apply the adhesive (8) to the printed circuit board (2) in the same manner as described above.

The coating operation is continued in the same manner, and the printed circuit board (
When the coating of all the coating positions in step 2) is completed, the transfer unit (12) transfers the substrate (2) to the discharge conveyor (11). Then, the discharge carrier (11) transports the substrate (2) and discharges it to the next culm.

Note that the θ rotation angle position of the coating head (9>) at O (zero) degrees does not have to be the above-mentioned position, but is a half line O from the X axis of the XY child table 1) at the angular position determined as 0 (zero) degrees. RAM (32) stores the value of the angular position of ヮOM and calculates the value of α as described above.
Any position may be used instead of , but the angle of deviation from the θ rotation angle data when mounting the chip component must be memorized and corrected to prevent angular deviation.

Also, the half line 0.0. is parallel to the X-axis (
If the application position data using the θ rotation angle position in 9) as the 0 (zero) degree position can indicate the same reference line as above as 0 (zero) degree, then the above α should be stored in RAM (32). The XY movement will be controlled based on the same calculation formula as described above.

Further, in the above embodiment, 0. The amount of deviation between and Ow is expressed using the distance P and angle α, but the deviation is expressed and memorized as a component parallel to the straight line connecting the nozzle centers and a component in the perpendicular direction, and based on these component data, the amount of correction by θ rotation is calculated. It is also possible to calculate and perform a corrective movement.

Furthermore, in the above embodiment, the midpoint between the coating nozzles is stored in RAM (
The movement of the XY child table was corrected so as to stop at the position of the XY coordinate data stored in ) may be corrected only in the straight line direction connecting the centers.

That is, the data in the RAM (32) is X=Xn.

Y=Yn, θ=θn, and if the movement is made without correction, the rotation center 0, as shown in FIG. 8, becomes (Xn).

In the first embodiment, the center N8 of the coating nozzle (15) is located at the center N of the coating nozzle (15). The position of Ol, which is the midpoint between Nz, was corrected to be at the 01 position, but the 0. This is a correction so that the OM is located at the foot position t (0, in Fig. 8) of the perpendicular line drawn to the straight line connecting the nozzles (15) (15) centers. The amount of deviation is d (in the above example, d z
When expressed in a calculation formula as (l sin α), the stopping position of 01 is
XY child table 1 so that osθn is i [A
) will be moved.

The reason for correcting only this direction is that if there is a deviation in the straight line direction connecting the coating nozzles (15) (15), even if the deviation is only a small amount, the chip parts (not shown) can be fixed with adhesive (8) in the next process. > If the adhesive (4) is applied to two points, one of the adhesives (4) will be hidden by the component and the adhesive will not adhere if it is an ultraviolet curable adhesive, or one of the adhesives will The adhesive (8) may be misaligned with respect to the parts, making it impossible to bond them, but even if there is a slight amount of scratching in a direction perpendicular to this direction in the horizontal plane, it will not affect the adhesion of the parts, so please apply it carefully. -Nozzle (15)
(15) Only the deviation in the straight line direction connecting the gaps is corrected.

Further, in the above-described embodiment, an example in which the XY cutter (1) moves in XY is explained, but the same control can be performed when the coating head (9) moves in XY.

Furthermore, even when there are three or more coating nozzles, a reference point for coating is determined, and the deviation between that position and the center of rotation of the coating head and the coating angle are determined from the reference line on the coating head and the center of rotation of the head at the reference point. If the shift angle in the direction is memorized, control can be performed in the same way.

(G) Effects of the Invention As described above, the present invention can apply adhesive to a desired position on a printed circuit board even when there is a thread between the center of rotation and the reference point of application.

[Brief explanation of drawings]

FIG. 1 is a plan view of a coating device to which the present invention is applied, FIG. 2 is a perspective view of essential parts of the device, FIG. 3 is a side view of a dispenser unit, and FIG. 4 is a block diagram of a control system of the present invention. , Figures 5 and 6 are diagrams showing the positional relationship between the midpoint between the coating nozzle and the nozzle center on the XY table and the center of rotation of the coating head when viewed from above, and Figure 7 shows the coating position NC data. The diagram shown in FIG. 8 is an XY diagram for explaining the second embodiment.
FIG. 3 is a diagram showing the positional relationship between the midpoint between the coating nozzle and the nozzle center on the table and the center of rotation of the coating head when viewed from above. (1)...XY child table (2)...Printed circuit board, <3)...X-axis motor drive circuit, (5)...
Y-axis motor drive circuit, (8)...Adhesive,
(9>... Application head, (27)... Gear, (2
8)...Rotating gear motor drive circuit, (30>...Gear, <32)...RAM, (34)...CPU
.

Claims (1)

[Claims] (1) Adhesive is discharged from multiple application nozzles provided at the tip of a rotatable application head, and the application head, which has been rotated by a desired rotation angle, is placed at a desired position on a printed circuit board placed on a table. Relatively XY movement by XY movement drive means
In a coating device that moves to apply the adhesive, the deviation distance between the reference point on the coating head that determines the coating position and the rotation center of the coating head, and the straight line connecting the reference point and the rotation center determine the coating angle. a first storage means for storing the deviation angle made with a reference line on the application head to be determined; a second storage means for storing the XY coordinate position and application angle data at which the adhesive should originally be applied; and a control means for controlling the driving means so that the adhesive can be applied to the original application position of the printed circuit board at the original application angle based on each piece of information stored in the storage means according to item 2. .