JPH11289197A - Mounting machine and positioning method thereof - Google Patents

Abstract

(57) [Problem] To provide a mounting machine and a positioning method thereof capable of positioning a movable portion with high accuracy without being affected by mechanical factors. SOLUTION: In a mounting machine configured to drive a movable part such as a mounting head 4 by a motor 5 and detect and control the position of the movable part 4 by an encoder 6, the position of the movable part 4 is determined. Laser length measuring devices 9a and 9b for detection are provided,
With the movable portion 4 positioned, the laser length measuring devices 9a, 9
The position was actually measured by b, and the deviation was corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mounting machine, and more particularly to a method for positioning a movable portion such as an XY robot for moving a mounting head in the XY directions for positioning and an XY table for moving a substrate in the XY directions for positioning. It is.

[0002]

2. Description of the Related Art As a conventional electronic component mounting machine, as shown in FIG. 7, an XY robot 11 positions a mounting head 12, and mounts an electronic component on a substrate positioned and fixed at a predetermined position on a table 13. Known implementations are known. 14a and 14b are Y-axis moving means of the XY robot 11, 15 is a Y-axis motor as its driving means, 1
5a is a position detection encoder, 16 is an X-axis moving means, 1
Reference numeral 7 denotes an X-axis motor as driving means, and reference numeral 17a denotes a position detection encoder.

As shown in FIG. 8, the positioning of the mounting head 12 is performed by driving motors 15 and 17 via a driver 19 based on position data from a controller 18 and further detecting positions by encoders 15a and 17a. The deviation is detected, and the motors 15 and 17 are driven again by the deviation to perform positioning. That is, conventionally, the encoder 1
The current position of the mounting head 12 is detected by 5a and 17a.

[0004]

However, the position detection by the encoder converts the rotation angle of the motor into a pulse,
Since the number of pulses is converted to a position, it does not detect the absolute position of the movable part. When the accuracy is deteriorated, there is a problem that it is not possible to easily cope with the problem and secure the position accuracy, particularly when the positional deviation is not regular due to mechanical rattling or distortion of the XY robot.

The present invention has been made in view of the above-mentioned conventional problems, and has as its object to provide a mounting machine capable of positioning a movable portion with high accuracy without being affected by mechanical factors, and an object thereof. .

[0006]

According to the mounting machine of the present invention, a movable section (for example, a mounting head) is driven by a motor and the position of the movable section (for example, the respective positions in the X and Y2 directions orthogonal to each other on a horizontal plane). ) With a laser length measuring device that detects the position of the movable part in a mounting machine configured to detect and control the position by the encoder. By measuring the position and correcting the deviation, high-accuracy positioning can be easily achieved, and a means for detecting and correcting the deviation between the position measured by the encoder and the position measured by the laser length measuring device is provided. When it is provided, high-precision positioning can be automatically performed.

[0007] A positioning method for a mounting machine according to the present invention comprises:
The position of the movable portion after returning to the origin is measured by a laser length measuring device to correct the origin position. Since the origin position as a reference for positioning can be set as an absolute position, highly accurate positioning can be performed.

Further, after the movable portion is positioned at an arbitrary position, the position of the movable portion is measured by a laser length measuring device, and the position of the movable portion is corrected according to a deviation between the positioned position and the measured position. Yes, each mounting position can be determined with high accuracy.

In a state where the movable section is positioned at a plurality of predetermined positions, the position of the movable section at that time is measured by a laser length measuring device, and a position correction amount of the movable section at each predetermined position is obtained in advance. When positioning the unit at an arbitrary position, a position correction amount at that position is calculated from a plurality of position correction amounts at predetermined positions, and the position of the movable unit is corrected according to the position correction amount. By determining the position correction amount at the appropriate time, high-speed and high-accuracy positioning can be performed without measuring each mounting part at the time of mounting.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of a mounting machine and a positioning method thereof according to the present invention will be described below with reference to FIGS.

In FIG. 1, reference numeral 1 denotes an XY robot,
An X-axis moving table 3 is provided on the Y-axis moving tables 2a and 2b so as to be movable and positioned in the Y-axis direction. A mounting head 4 is provided on the X-axis moving table 3 so as to be movable and positioned in the X direction. I have. Each of the Y-axis moving tables 2a and 2b and the X-axis moving table 3 is a motor 5 for driving movement.
And an encoder 6 for position detection. As shown in FIG. 2, each motor 5 is driven via a driver 8 based on the position data from the controller 7.
, A deviation is detected based on the detected position, and the motor 5 is driven again by the deviation to perform positioning.

Further, X in the Y-axis moving table 2a
A first laser measuring device 9a for measuring the position of the axis moving table 3 in the Y-axis direction and a second laser measuring device 9 for measuring the position of the mounting head 4 in the X-axis moving table 3 in the X-axis direction.
b. Then, after the positioning by the encoder 6, the measured values from the first and second laser length measuring devices 9a and 9b are fetched, the deviation between the position to be positioned and the measured value is detected, and the motor 5 is again controlled by the deviation. It is configured to be driven and positioned.

FIG. 3 shows a processing flow at the time of Y-axis movement and positioning operation by the Y-axis movement tables 2a and 2b. In step # 1, Y-axis movement is started. At this time, a movement command is issued from the controller 7 to the motor 5 via the driver 8. Next, when moving in the Y-axis direction to the position instructed in step # 2, the position is counted by a signal from the encoder 6, and the Y-axis movement is performed so that the value is used as a deviation to further approach the positioning position. Next, when the deviation becomes equal to or less than the specified value in step # 3, the positioning of the Y axis by the encoder 6 is completed. Up to this point, it is the same as the conventional example. Next, at step # 4, Y is measured by the laser length measuring device 9a.
The deviation is obtained by actually measuring the position of the axis movement, and the Y axis movement is performed so as to approach the positioning position. Then, when the deviation becomes equal to or less than the specified value in step # 5, finally Y
The axis positioning is completed. Thus, in the present embodiment, after positioning by the encoder 6, the laser length measuring device 9a
To perform highly accurate positioning. The same processing is performed for the X-axis movement and the positioning operation.

When the XY robot 1 returns to the home position, the Y-axis moving tables 2a and 2b are positioned at the home position based on the deviation from the signal from the encoder 6, and then are determined based on the deviation from the laser length measuring device 9a. Perform positioning. Similarly, the X-axis moving table 3 is also positioned at the origin position based on a deviation from a signal from the encoder 6, and then is positioned based on a deviation from the laser length measuring device 9b. By positioning the origin position at the absolute position measured by the laser length measuring devices 9a and 9b in this manner, a positioning error due to a displacement of the origin position can be eliminated, and highly accurate positioning can be performed.

Next, another embodiment of the positioning method of the present invention will be described with reference to FIGS. In the above-described embodiment, an example has been described in which each time the mounting head 4 is moved to an arbitrary position and positioned, the position is corrected based on the measurement results by the laser length measuring devices 9a and 9b after positioning by the encoder 6. In the embodiment, the deviation of the positioning by the encoder 6 is obtained in advance by the laser length measuring devices 9a and 9b, and after the positioning by the encoder 6, the laser length measuring device 9 is determined.
The positioning error is eliminated by calculating the correction amount due to the deviation and correcting the position without performing the position detection by a and 9b.

First, as shown in FIG. 4, predetermined positions (X1, Y1) on a table 10 for positioning and fixing a substrate.
After the mounting head 4 is moved, its position is measured by the laser length measuring devices 9a and 9b, and the measured values (RX1, RY1)
Ask for. This measurement is performed for various predetermined positions set on the table 10. That is, (X1, Y1), (X
(X2, Y2), (X3, Y3) (Xn, Yn) and the corresponding (RX1, RY1), (RX2, RY)
2), (RX3, RY3)... (RXn, RYn) are obtained. Then, a difference between the moved position (Xn, Yn) and the actually measured value (RXn, RYn) is registered as an offset of each position. Any predetermined position (Xn, Y
As shown in FIG. 5, the offset amount of (n) is (RXn−
Xn, RYn-Yn) = (ΔXN, ΔYN).

In FIG. 6, (X2, Y2)
When the offset amounts at the positions (X5, Y5) are previously measured and registered as (ΔX2, ΔY2) to (ΔX5, ΔY5), for example,
When positioning at the center position of, the offset amount (ΔX1, ΔY1) is not obtained by measurement, but (ΔX1, ΔY1) = ((ΔX2 + ΔX3 + ΔX)
4 + ΔX5) / 4, (ΔY2 + ΔY3 + ΔY4 + ΔY
Determined in 5) / 4). Then, when the mounting head 4 is positioned at the position, by correcting this offset amount, the mounting head 4 can be positioned at a correct position with high accuracy.

[0018]

According to the mounting machine of the present invention, as is apparent from the above description, a laser length measuring device for detecting the position of the movable part is provided in addition to the position control means by the encoder. By measuring the position with a laser length measuring device while positioning it, and correcting the deviation, high-precision positioning can be easily realized, and it can be used for changes such as expansion and contraction of the moving mechanism due to temperature change. Also, high-precision positioning can be performed without being affected by mechanical play or deterioration of parts. Further, if a means for detecting a deviation between the position measured by the encoder and the position actually measured by the laser length measuring device and correcting the position is provided, highly accurate positioning can be automatically performed.

Further, according to the positioning method of the mounting machine of the present invention, the position of the movable portion after returning to the origin is measured by the laser length measuring device to correct the origin position, so that the origin position as a reference for positioning can be determined. It can be set in absolute position and high precision positioning is possible.

Further, by positioning the movable portion at an arbitrary position, measuring the position of the movable portion with a laser length measuring instrument, and correcting the position of the movable portion according to a deviation between the positioned position and the measured position. In addition, each mounting position can be positioned with high accuracy.

In a state where the movable part is positioned at a plurality of predetermined positions, the position of the movable part at that time is measured by a laser length measuring device, and the position correction amount of the movable part at each predetermined position is obtained in advance. When positioning the unit at an arbitrary position, the position correction amount at that position is calculated from the position correction amounts at a plurality of predetermined positions, and the position of the movable unit is corrected according to the position correction amount, so that individual High-speed, high-accuracy positioning can be performed without measuring for each mounting location.

[Brief description of the drawings]

FIG. 1 is a plan view showing an arrangement state of a laser length measuring device in a mounting machine according to an embodiment of the present invention.

FIG. 2 is a configuration diagram of means for moving and positioning a mounting head according to the embodiment.

FIG. 3 is a flowchart of a movement / positioning operation process in the embodiment.

FIG. 4 is an explanatory diagram of a positioning position and a measurement position in another embodiment of the present invention.

FIG. 5 is an explanatory diagram of an offset amount in the embodiment.

FIG. 6 is an explanatory diagram of an offset amount at a non-measurement position in the embodiment.

FIG. 7 is a perspective view showing a schematic configuration of a mounting machine in a conventional example.

FIG. 8 is a configuration diagram of a mounting head moving / positioning unit in a conventional example.

[Explanation of symbols]

 4 Mounting head (movable part) 5 Motor 6 Encoder 7 Controller 9a, 9b Laser length measuring device

Claims (6)

[Claims] 1. A mounting machine configured to drive a movable part by a motor and detect the position of the movable part by an encoder to control the position, and further comprises a laser length measuring device for detecting the position of the movable part. Mounting machine characterized in that: 2. The mounting machine according to claim 1, further comprising means for detecting a deviation between a position measured by the encoder and a position measured by the laser length measuring device and correcting the position. 3. The mounting device according to claim 1, wherein the movable portion is a mounting head, and each position of the mounting head in X and Y2 directions orthogonal to each other on a horizontal plane is detected by an encoder and a laser length measuring device. Mounting machine. 4. The method according to claim 1, wherein the position of the movable portion after returning to the origin is measured by a laser length measuring device to correct the origin position. . 5. The mounting machine according to claim 1, wherein the movable portion is positioned at an arbitrary position, and then the position of the movable portion is measured by a laser measuring device. A positioning method for a mounting machine, wherein the position of a movable part is corrected according to a deviation. 6. The mounting machine according to claim 1, wherein the movable part is positioned at a plurality of predetermined positions, and the position of the movable part at that time is measured by a laser length measuring device. The position correction amount of the movable part is obtained in advance, and when the movable part is positioned at an arbitrary position, the position correction amount at that position is proportionally calculated from the position correction amounts at a plurality of predetermined positions, and according to the position correction amount. A method for positioning a mounting machine, wherein the position of a movable part is corrected by using the same.