JPH0446695B2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Field of Application The present invention was developed as a component mounting work device that sequentially mounts leadless type electronic components onto predetermined positions on a board, and its field of application is this. but not limited to.

2. Description of the Related Art As an apparatus for sequentially mounting electronic components on predetermined positions on a board, there is a known device disclosed in Japanese Patent Application Laid-open No. 144691/1983. This conventional example includes a work table that gives a two-degree-of-freedom motion to the board, and is configured so that electronic components from an electronic component mounting tool having mounting points at predetermined positions are sequentially mounted at predetermined positions on the board. There is.

In the above conventional example, the work table reciprocates between the substrate supply and discharge position and the work position,
At the board supply/discharge position, the board is supplied from the board supply unit, and at the same time, the board with electronic components mounted thereon is discharged to the board discharge unit, while at the work position, a predetermined movement is performed to give the board two degrees of freedom movement. It is configured as follows.

Problems to be Solved by the Invention According to the above-mentioned conventional example, while the work table returns to the substrate supply/discharge position for supplying and discharging substrates, that is, the time required for the reciprocating movement and the time required for supplying and discharging substrates. Since the electronic component mounting work is interrupted during the required time, a problem arises in that the equipment operating rate is low.

Means for Solving the Problems As shown in the above-mentioned conventional example, a table-moving work device equipped with a work table that gives two degrees of freedom to a workpiece such as a circuit board is used for tasks such as mounting electronic components. Although there is a problem in that work must be interrupted to supply and discharge workpieces such as substrates to and from the work table, the present invention is configured as follows in order to solve this problem.

That is, the present invention comprises a table supporting member composed of a plate-shaped fixed part of a two-degree-of-freedom planar motor, a plurality of work tables disposed on the table supporting member each composed of a movable part of the two-degree-of-freedom planar motor, and The plurality of work tables are connected to a workpiece supply unit and a supply position where the workpieces are supplied from the workpiece supply unit onto the worktable, and a predetermined work is performed by a work tool while the workpieces are moved in a predetermined two degrees of freedom. working position,
and a discharge position for discharging the work on the work table to the work discharge section, which is movable between positions on the table supporting member.

Effect Since the present invention has the above configuration, while a certain work table is in the working position and a predetermined work is being performed on the workpiece on the work table, another work table can be moved onto the table support member. The work can be transferred between the work supply section and the work discharge section, and after the predetermined work is completed, the predetermined work can be immediately continued to the next work on the work table. The work table itself moves with two degrees of freedom, and the movement is controlled by a two-degree-of-freedom planar motor, so the structure is simple and compact, and the movement can be precisely controlled. Moreover, it can be done quickly.

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

The embodiment shown in the drawings relates to a component mounting work device that sequentially mounts leadless type electronic components at predetermined positions on a board.

In this embodiment, a first work table 2a and a second work table 2 are mounted on the table support member 1.
b is provided. The table support member 1 is constituted by a plate-shaped fixed portion of a two-degree-of-freedom planar motor, and each of the work tables 2a, 2b is constituted by a movable portion of the two-degree-of-freedom planar motor.

A two-degree-of-freedom planar motor is a well-known motor, an example of which is shown in Japanese Patent Publication No. 52-48271, and is used in graph plotters and the like. This 2
A degree-of-freedom planar motor is constructed based on the Sawyer principle.

Figure 3 shows the sawyer principle, in which a forcer c with one permanent magnet a, two electromagnets b ₁ and b ₂ is attached to a plate-shaped fixed part made of tooth-shaped plate material with high magnetic permeability. It shows how it moves on d.
A sine wave current is passed through the electromagnet _b1 , and a cosine wave current is passed through the electromagnet _b2 .

Figure 3 shows the state when a cosine wave current is passed only through electromagnet b _2. At this time, the magnetic force is doubled at the pole and canceled at the pole, so the forcer c is as shown in Figure 3. Stop at a position. At this time, the magnetic forces of electromagnet _b1 are balanced.

Next, as shown in Figure 3, when a sinusoidal current is passed only through electromagnet b ₁ , the magnetic force is canceled out at the pole of electromagnet b ₁ , and the magnetic force is doubled at the pole, so half the tooth width, that is, 1/ The forcer c moves to the right in the figure by 4 pitches.

Similarly, as shown in FIG. 3, by alternately flowing the cosine wave current and the sine wave current, the forcer c can be moved 1/4 pitch at a time.

The movable part of the two-degree-of-freedom planar motor is equipped with a forcer c for the X axis and a forcer c for the Y axis, and its fixed part on the plate is composed of a lattice-shaped tooth-shaped plate material e, and the cosine wave current and the sine wave By controlling the current,
The movable part can be given two degrees of freedom movement in the X-Y directions.

The first work table 2a and the second work table 2b are each constituted by a movable part of a two-degree-of-freedom planar motor as described above, and are equipped with an X-axis forcer c and a Y-axis forcer c, as well as an air blowing device. By blowing out air at 2 to 3 atmospheres from the air hole 21, the table support member 1 is floated and moved at high speed. In addition, each work table 2a, 2b has a substrate (work) on its upper surface.
It is equipped with a guide rail 22 for placing w.

Reference numeral 3 denotes a workpiece supply section for supplying the workpiece w to each of the worktables 2a and 2b, which includes a guide rail 31 for keeping the workpiece w on standby and an extrusion rod 32 for supplying the workpiece w to the worktables 2a and 2b. It has an air cylinder 33.

Reference numeral 4 denotes a work discharge section for discharging the work w from each of the work tables 2a and 2b; a guide rail 41 receives the work w;
Retraction rod 42 for ejecting from a, 2b
It has an air cylinder 43 equipped with.

The first working table 2a moves in two degrees of freedom on the table support member 1 at the timing shown in FIG. Initially, as shown in FIG. 4, the first work table 2a is stopped at a connection position P where it is connected to the work supply section 3, and during this time the work w is supplied from the work supply section 3 to the first work table 2a. .

Next, the first work table 2a moves to a standby position Q as shown in FIG. 5, and waits here for the work on the work w on the second work table 2b to be completed. When the work on the work w on the second work table 2b is completed, the second work table 2b starts moving toward the discharge position S described later, but the first work table 2a replaces the second work table 2b. Move to position R.

At the work position R, as shown in FIG. 1, the first work table 2a performs a predetermined two-degree-of-freedom movement in the X-Y directions. Electronic component mounting tool 5 is located at work position R.
a first work table 2a on which is placed a
Electronic components are sequentially mounted at predetermined positions on the upper workpiece w.

When the component mounting work is completed, the first work table 2a moves toward the ejection position S. At this discharge position S, the first work table 2a stops while being connected to the workpiece discharge section 4, as shown in FIG. The workpiece that had electronic parts installed during this time lol
is discharged from the work table 2a to the workpiece discharge section 4.

As shown in FIG. 7, the second work table 2b moves at a timing delayed by half a cycle with respect to the movement of the first work table 2b.
Perform the same exercise as b. And the working position R
Since either the first work table 2a or the second work table 2b is located at the table except for a short changeover time, the component mounting work is carried out almost all the time.

The present invention can be configured in various ways other than those shown in the above embodiments. For example, it is possible to have three or more work tables composed of movable parts of two-degree-of-freedom planar motors;
The circulation trajectories a and 2b and their timings are also not limited to those shown in the above embodiment. It is also possible to circulate the work tables 2a, 2b without waiting at the standby position Q. Furthermore, the present invention can also be applied to a moving table type work device that performs other work such as soldering work and drilling work.

Effects of the Invention Since the present invention has the above-described configuration and operation, any one of the plurality of work tables can be positioned at the work position almost all the time, and even when supplying and discharging workpieces, the work table can be positioned at the work position almost all the time. As a result of being able to continue performing predetermined work on the workpiece without stopping the work table above, there is an effect that equipment operating efficiency can be dramatically improved.

Furthermore, since the present invention uses a two-degree-of-freedom planar motor to construct the work table and table support member, the structure of the work device can be simplified and made compact, and furthermore, the movement of the work table can be controlled accurately and quickly. There is also this effect.

[Brief explanation of drawings]

Fig. 1 is a perspective view of an embodiment of the present invention, Fig. 2 is a perspective view of its work table, Fig. 3 is a schematic diagram showing the principle of a two-degree-of-freedom planar motor, Figs. FIG. 6 is a plan view showing the operation of the present invention, and FIG. 7 is a timing chart showing the movement of each work table. DESCRIPTION OF SYMBOLS 1... Table support member, 2a, 2b... Work table, 3... Work supply part, 4... Work discharge part, w... Work, P... Supply position, R... Work position, S... Discharge position.

Claims (1)

[Claims] 1. In a table-moving work device equipped with a work table that provides two degrees of freedom movement to a workpiece such as a board, the table support member is composed of a plate-shaped fixed part of a two-degree-of-freedom planar motor, and the table support member is arranged on the table support member. a plurality of work tables each configured by a movable part of the two-degree-of-freedom planar motor, and a supply position where the plurality of work tables are connected to a work supply section and the work is supplied from the work supply section onto the work table; Between each position on the table support member of the work position where a predetermined work is performed by the work implement while performing a predetermined two-degree-of-freedom movement, and the discharge position where the workpiece on the work table is discharged to the workpiece discharge section. A table movable work device characterized by being movable.