JPS63202096A - Parts mounter - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to an apparatus for mounting small components such as chip capacitors and chip resistors on a board.

(B) Prior Art In the above-mentioned apparatus, it is common to pick and place parts using a vacuum suction device. By the way, when picking up parts with a vacuum suction device, sometimes
The side of the part other than the normal side may be sucked. If a component that has been suctioned in an abnormal position is mounted on a board, the board will become a defective product, and there is also a risk that the vacuum suction device or the board will be damaged during mounting, so please check the position of the component before mounting. must be checked, and those determined to be abnormal must be excluded from the installation target. As an example of a device equipped with such a component suction M posture device,
There is one described in JP-A-59-155199. In the configuration described as an example in this publication, an optical sensor is placed at a specific work station, and parts do not cross the light beam (lower edge of the component is above a predetermined level □normal), and parts cross (lower edge of the component is above a predetermined level □normal). By determining the □ Abnormality below the ``L'', it is possible to determine whether the suction position of the component is normal or abnormal. However, in such a conventional device, setting the support height of the light cell poses a problem. In the case of extremely small chip components, the difference between the component dimensions in the direction that should be normal and the component dimensions in the direction that should be abnormal is extremely small in terms of absolute value, so the positioning of the optical sensor must also be set strictly. . However, even if the positional accuracy of the optical sensor is improved in this way, there are problems with the manufacturing accuracy of the vacuum suction device and the dimensional accuracy of the parts, and even parts in normal posture may be affected by the light beam of the optical sensor. arise. Judgment is also complicated when the lower end of the component completely blocks the light beam. Components that have leads or protrusions protruding downward also reduce the accuracy of determination by this method.

(c) Problems to be Solved by the Invention The present invention aims to improve the operational reliability of the dexken stem in which the posture of the suctioned parts is checked before installation.

(D) Means for Solving Problems In the present invention, in order to distinguish between normal and abnormal postures of parts, a visual sensor is used to measure the silhouette of the part, and the peripheral direction of the part is determined based on the measurement data of this visual sensor. A control device is provided to calculate the length quantity.

(E) In the case of working chip parts, there are no cube-shaped parts, and they have long and short directions without exception, and there is a clear difference between the circumference length in a normal posture and the circumference length in an abnormal posture. exist.

Therefore, the control device calculates the circumferential direction goodness of the part based on part silhouette measurement data from the visual sensor, and if a calculation result that should be considered as posture abnormality is obtained, that part is excluded from the mounting target.

(f) Example An example will be described below with reference to the drawings. (10) is a moving device, the structure of which will be better understood from FIGS. 2 and 4. The moving device rIt (10) is a type of rotary index table, and rotates intermittently in a fixed direction. The moving device f (10) has an upper rotating body (11) and a lower rotating body (12), both of which have a circular planar shape and are fixed to a vertical indexing foot (13). A> The index shaft (13) rises from the indexing device (not shown), and the bearing portion (15) of the support jack (14) is placed on the moving device (10).
) is supported at the upper end. Index shaft (1
3) has an air intake passage (not shown) that communicates with a vacuum source (not shown).
16) is formed.

The moving device (10) rotates in steps of one-eighth rotation, that is, 45 degrees, and there are a total of eight work stations (I) around it, as shown in Figure 2. ) are arranged. A total of eight wooden arms (17) protrude radially from the lower rotating body (12) at equal intervals, corresponding to the number of work stations. The arm (17) is a slider (18) attached perpendicularly to the circumferential surface of the lower rotating body (12).
supported and movable vertically. slider <1
8> is pulled up by a tension coil spring (19) stretched between it and the upper rotating body (11) until it hits a stopper bolt (20) (shown in Figure 1) screwed into the upper rotating body (11). ing. The slide 1B) has a roller (21) protruding outward, and at a predetermined work station, the elevating body pushes the roller rough 21), and the slider <18
) to descend. The elevating body and its operating mechanism will be described later.

A-L, the member supported by R17), and A-1-(17).
) is collectively referred to as a vacuum suction device 30). The detailed structure of the vacuum suction device <30) is as follows. <31) is a turret supported at the tip of the arm 17). The turret <31) has a cylindrical shape, fits onto the tip of the arm (17) from the outside, and is rotatable around the axis of the arm (17), that is, around the horizontal axis. A driven carrier (32) is fixed to the outward end face of the turret (31). Four types of nozzles <33) (34) <35) <36) with different standards mainly in terms of thickness protrude radially from the circumferential surface of the turret (31) at 90° intervals. Each of the 7 slots is a turret (31
) can be retracted toward the center of the compressed fill spring (37
) is pushed out to the protruding position. Arm (17)
The center is the intake path 38). This intake path (3
8) is the nozzle (33) (34) (35036),
It communicates only with what is directly below it through the communication hole (39). (40) is a screw plug located at the end of the intake passage (38), which also serves as a stopper to prevent removal of the cutter (31).

The upper rotating body (11) supports the valve (50). The valves (50) are provided in the same number as the arms (17), and are connected to the intake path (38) by a hose (51). Valve (5
0) is connected to the intake path (16) by a hose (52), and controls the suction of the intake path 38) ON-OFF. The valve (50) is opened and closed by a lever-type actuator (53) having a roller at its tip.

That is, when the actuator (53) is pushed down, the pulp is open, and when it is not, the valve is closed. The actuator (53) is controlled by a presser (55) that is moved up and down by an air cylinder (54) at the work station (I).
The presser (57) is moved up and down by the air cylinder (56) at the work stations (V) and (VI).
Accordingly, the work stations (II) (III) between
) and (IV) are carried out by a pressing plate (58) fixed to the bearing part (15). The suppressor plate (58) also serves as a support member for the air cylinders (54) and (56), and when the suppressor (5!l;) (57) is lowered, its lower surface is almost continuous with the lower surface of the suppressor plate (58). It is designed to form a plane. Each valve (50) is connected to the arm (
17), so the pusher (5)
5) (57) also does not belong to this category and is located at a position offset from its own work station.

A component supply device (60) is arranged at the work station (I) (hereinafter referred to as component supply station). Parts supply bag fW (60) is a rear tape for parts supply (61)
is fed one pitch at a time, and the parts (62) are fed one by one to the vacuum suction means (30). The carrier tape (61) is
A plastic sheet is embossed to create recesses for storing each part (62), and the recesses are covered with a Plus Book cover film (63). The carrier tape (61), which has been pulled by the sprocket (64) (claws not shown) and passes between the pair of upper and lower guide plates (65) and (66), passes through the cover film (63) just before the parts suction position. ) is stripped off. Parts supply bag ff (
60) shows a large number of such carrier tapes (61) lined up in a direction perpendicular to the plane of the paper in FIG. > can be selected.

As shown in FIG. 1, a substrate support device (70) on which a substrate (71) is placed is arranged in a work station (V) (hereinafter referred to as a component mounting station). Substrate support device (70)
C is commonly called the XY table, and the X-axis heavy machine (
72) and Y@electric motor (73), it is caused to move two-dimensionally within a horizontal plane via a ball screw mechanism (not shown). Adhesive for temporarily holding the component (62) is applied to predetermined portions of the board (71).

The work station (hereinafter referred to as nozzle selection stage 9) is equipped with a nozzle selection device (80) shown in FIGS. 6 and 8.
> is placed. The nozzle selection device (80) is connected to the support deck (
The main component is an elevator (81) supported by 14). The elevator (81) is attached to a slider (82) that slides in the vertical direction, and is given ascending and descending motion by a lever (83) that transmits the movement of a cam (not shown). A selector gear (84) is horizontally supported at the bottom of the elevator (81) so as to face the rotation center of the moving device (10). The selector gear (84) is connected to an electric motor (85) supported by the elevator (81) via bevel gears (86) and (87).
When lowered, it engages with the driven gear (32) of the turret (31) and transmits the rotation of the electric motor (85) to the driven gear (32). (88) is a stopper that determines the lower limit of descent of the elevator truck 81).

A lock pin (90) is attached to the upper surface of the arm (17). The lock pin (90) is held by a boulder (91) fixed to the arm (17) so that it can slide parallel to the axis of the arm (17), and is pushed toward the turret 31) by a compressed fill spring (92). There is. The end face of the turret (31) has a groove (
93) are formed behind the nozzles (33), (34), (35), and (36), one each, for a total of four. Lock pin (90
) is fixed to the rear end with a U-shaped lever holder (94). The lever receiver (94) receives one end of a bell crank type lever (95) supported by the support deck (14). The other end of the lever (95>) is connected to the elevator (81>) with a connecting rod (96>).

Parts supply station (I), parts mounting station (
An elevating body (100) as shown in FIG. 4 is placed at work stations (n), (IV) and (■). Elevating body (
100) is a rod-shaped member supported by the bearing part (101) of the support deck (14), and a pressing head (102) facing the roller (21) of the slider (18) is fixed to the lower end, as shown in the figure. It is raised and lowered by a cam that does not move.

The work station (IF> (hereinafter referred to as the component orientation adjustment station) is equipped with a component orientation adjustment device (110) (Fig. 1). , 1 supported point-symmetrically on this
The main component is a pair of direction adjustment claws (112). The rotating table <111> has a triangular cross section around it (113)
It is engaged with a plurality of support rollers (114) attached to a support structure (not shown) and is supported so as to be rotatable around a vertical axis. (115) is an electric motor for rotating the rotary table <111>, and is connected to the rotary table <111) by a belt (not shown) (timing belt). The direction adjustment claw (112) is a rotary table (llll')
It is slidable in the centripetal direction and the centrifugal direction, and is normally drawn in the centripetal direction by a tension coil spring (116). A leg (117) having a roller (118) at its tip hangs down from the direction adjustment claw (112). (119) is a frusto-conical cam inserted between two rollers (IHI), which is moved up and down by a cam (not shown), and when raised, expands the gap between the direction adjustment claws (112).

A component recognition device (120) (FIG. 1) is arranged at the work station <II/) (hereinafter referred to as component recognition station). The component recognition device (120) includes a visual sensor (1
The main components are 21) and a visual sensor support device <122). The visual sensor support device (122) is a rotating table (
It is based on a turntable (123) of the same construction as 111), and an elevator (124) is attached to it. The rotary table (123) is rotated by an electric motor (125) via a belt (timing belt) not shown. The elevator (124) is a rotating platform (123)
The electric In (126) attached to the screw shaft (,,127)
By rotating it, it moves up and down with the action of a screw. The visual sensor <121> is constructed as follows. That is, as shown in FIG. 10, two line sensors (128
) (129) are placed so that their arrangement directions are orthogonal, and the irradiation units (130>(131) are placed facing these two sensors (128) and (129) to form a square. Create a framework. Line sensor (128) < 1
29) has a large number of light receiving elements arranged in parallel in the horizontal direction inside the light receiving windows (132) and (133). The irradiation units (130) (131) have light receiving windows (132) (133).
) emits wide parallel light. Such parallel light is generated by a semiconductor laser (1
34), a concave lens <135) and a convex lens 1. (136
).

The work station (■) (hereinafter referred to as the vacuum suction storage height measurement station) includes the tip of the vacuum suction device (30),
That is, a measuring device (140) (FIG. 1) is arranged to measure the height of the tip of the nozzle (33), (34), (35), and (36) facing toward the dot. In this method, a line sensor (141) similar to the line sensor (128) is placed so that the light-receiving elements are lined up vertically, and an irradiation unit <130) and a similar irradiation unit <142) are placed facing each other at a distance. It is something.

(XSO><Figure 1) is a control device that controls the entire device, including arithmetic processing of various data, (160)<1st
Figure 5) shows a parts collection box placed at the work station (Vl).

parts supply device (60>, parts direction adjustment device (110),
The planar arrangement relationship of the component recognition device <120), the board support bag [(70), and the measuring device (140) is as shown in the third factor. However, this figure is merely for explaining the arrangement relationship, and the mutual dimensional ratios of the illustrated elements have no particular meaning.

The above device operates as follows. Figure 1 shows a component supply station (■), a component orientation adjustment station (n), a component recognition station (IV), and a component mounting station (
V), as well as the vacuum suction device height measurement station (■
) shows the status of the operation applied to the vacuum suction device (30〉).The vacuum suction device (30) that has arrived at the parts supply station (■) has its nozzle (33) facing downward in the case shown in the figure. stop in the state. At the time of arrival, the presser (55) is in the raised position, and the vacuum suction device (30) is not generating suction force. Here, the elevating body (100) descends and pushes down the slider (18), and the nozzle (33)
is pressed against the part (62). At this time, the air cylinder (5
4) lowers the presser (55) in response to a control signal from the control device (150), the valve (50) is opened, and the nozzle (33) sucks the component (62). Parts (62)
The vacuum suction device (30) that has adsorbed the parts rises as the elevating body (100) rises, and is carried from the parts supply station (r) to the parts orientation adjustment station (If) by the intermittent rotation of the moving device (10). go.

During the movement, the actuator (53) of the valve (50) continues to be pushed by the suppression plate (58), and the suction of the component (62) is not interrupted.

Part direction H14v! At station (II), a pair of direction-adjusting winds (112) are waiting with the distance between them being pushed apart by a cam (119). The vacuum suction device (30) arrives at this station, and the elevating body (10
0), when the part (62) is lowered to the point where it enters between the force direction adjusting claws (112), the cam (119
> is lowered, the direction adjustment winds (112) approach each other, and sandwich two predetermined sides of the part (62). Carrier tape (
Since there is ample space in the recess for storing components (61), the angle of the component (62) when it is picked up by the vacuum suction device (30) can accommodate a certain range of variation; It will be corrected in time. However, what is being corrected is the angle, and no consideration is given to correcting the misalignment between the center of the nozzle (33) and the center of the component (62). After correcting the variation in the suction angle in this way, the control device (1
Based on the control signal from 50), the electric motor <115) rotates (or does not rotate) the rotary table (111),
The part (
62). In this case, as a matter of course, the direction is adjusted so that the angle of the component (62) when it arrives at the component mounting station (V) matches the designated placement angle.After the direction adjustment is completed, the cams (1, 19 > rises to separate the directional adjustment air (112) from the component (62), and the vacuum suction device (30) rises.The component (62) escapes from between the directional adjustment air (112). After that, the cam (119) descends and leaves the roller (118), the electric motor (115) returns the rotary table (111) to the standby position angle, and the cam (119) is placed on top again to move the next part. (6
Direction 8 to prepare for 2)! ! 4Push open the trimming claw (112>).

The vacuum suction device 30) that has left the j-direction adjustment station controller (I) arrives at the component recognition station (IV) via the work station (I[), and then lifts the elevator (100)
This allows the robot to descend to a certain height. In this case, it is said that the vertical stroke of the elevating body (100) is constant because it is fixed, but it does not mean that the height is constant at the nozzle end which is the tip of the vacuum suction device (30). The parts (
62) rushes into the part recognition area of the visual sensor (121). Part recognition area, i.e. irradiation unit (1
The parts (62) that have entered the area where parallel light is irradiated by the irradiation unit 30) and the line sensor (128) and the irradiation unit (131) and the line sensor (129), respectively, are exposed as shown in FIG. , line sensor (128) (129
), cast your silhouette (indicated by parallel diagonal lines). For the visual sensor (121), that is, for the line sensor (
Since the planar positional relationship of the nozzle with respect to (128) and (129) remains constant, the line senna (12
8) If the position of the silhouette is measured in (129), the amount of positional deviation of the component (62) with respect to the nozzle (33) can be measured. The measurement data is transmitted to the control device (150). In addition, in order to accurately know the amount of positional deviation of the component (62) in the
) should match, or in other words, be parallel to, the visual sensor (121
) is waiting with its orientation aligned with the orientation of the component (62) in advance. i.e. part orientation station (
Depending on whether the angle of the component (62) is set in U), a corresponding direction control command is given from the control device (150) to the electric motor (125), and the electric motor (125) 122) by a predetermined angle. It is sufficient that the direction change range of the visual sensor (121) is 90 degrees, and there is no need to make it larger than that. In this way, the line sensor (128) (129>) is connected to the part (62).
The results of 5 measurements taken with the device placed parallel to the side of
calculates how to correct the amount of movement of the substrate support device (70). After completing the measurement, vacuum suction device 3
0) rises and the visual sensor (121) orients accordingly in preparation for the next arriving part (62).

By the time the vacuum suction device (30) arrives at the component mounting station (V), the substrate support device 70) is already attached to the substrate (
71>, and place the part (62) to be installed using the nozzle (3).
3) Position it directly below and wait. Of course, in this case, the positional deviation data of the component (62) has already been incorporated into the commands given from the control device (150) to the XM motor (72) and Y motor (73), and
The elevating body (100) is stopped at a position that has been corrected by the amount corresponding to the positional deviation.
0) and press the component (62) onto a predetermined position on the board (71) at a predetermined angle. When the vacuum suction device 30) arrives at the component mounting station (V), the presser (57) is in the lowered position and is maintaining suction of the component (62), but the component <62> is 71) When pressed against the adhesive above, it rises as shown in Figure 1 and cuts off suction from the nozzle (33). Therefore, when the vacuum suction device (30) is raised thereafter, the component (62) remains on the surface of the substrate (71) due to the adhesive strength of the adhesive.

Vacuum suction device (3) leaving the component mounting station (V)
0) passes through the work station (VI) and reaches the nozzle selection station (■). Nozzle selection station (■)
When the vacuum suction device (30) arrives, the selector gear (84) is above the driven gear (32) as shown in FIG.
It's getting inside. The roto-kubink 90) is engaged with the groove (93) as shown in Fig. 7, and the turret (31)
is firmly fixed. Here, when it becomes necessary to change the nozzle (33) to another one, the elevator (81) descends as shown in Fig. 8 and engages the selector gear (84) with the driven gear (32). As the elevator (81) descends, the lever (95) also rotates, causing the lock bin (90) to slide against the compression coil spring (92). This allows the lock bin (90) to move into the groove (93).
), and the turret (31) becomes rotatable.

In this state, the electric motor 85) is driven and the turret <31>
Rotate the owned angle. When the elevator (81) is raised after changing the angle of the turret (31), the lever (
95) returns to the old position, the lock pin (90) engages with the groove (93) again, and locks the turret (31).

Vacuum suction device () leaving the nozzle selection station (■)
30) arrives at the final work station, the measurement station (■) with a vacuum suction device. Here, the vacuum suction device (30) is lowered by a certain stroke by the elevating body (100). The nozzle facing downwards thereby enters between the irradiation unit (142> and the line sensor (141), and the line sensor (141)
The height of the tip is measured by The measurement data is transmitted to the control device (150), and based on this, the control device (150)
), when the visual sensor (121) receives this nozzle at the component recognition station (■), the visual sensor (
Adjust the support level of the part (121) to the height of the tip of the nozzle, and then move the main part (the part that has the most important meaning regarding measurement) of the part (62) that has been sucked by this nozzle to the line sensor (128). )<129) is adjusted so that it is monitored from the horizontal direction. In this case, the shape data of the component (62) is also taken into consideration. This is an electric motor (126
) to move the elevator (124) up and down. To do this, use the turret (
31) Keeping the distance from the center to the nozzle tip within a certain small tolerance is used when replacing the nozzle with a new one due to the nozzle tip being crushed, or when replacing with a different type of nozzle to handle a different type of part. , because it is extremely difficult.

Now, the vacuum suction device (30) sucks up the component (62) from the component supply device (60), but sometimes the component (62) is thrown up due to the feeding movement of the carrier Dave (61). Sometimes the side of the part (62) that should not be suctioned (or suctioned) may be suctioned.The part (62) that is suctioned in an abnormal position in this way must be removed without allowing it to be attached. .parts(
Whether the posture of 62) is normal or abnormal is determined from the measurement data of the visual sensor (121). When the silhouette of the component (62) is projected onto the line sensors (128) (129) as shown in FIG. 12, the position and length of the silhouette can be obtained as measurement data. Based on this length data, the control device (150) can determine the circumferential length (1 x horizontal length) of the component (62). 13th
Since there is a significant difference in the results obtained between the normal posture shown in the figure and the abnormal posture shown in FIG. 14, it is possible to determine whether the object is normal or abnormal based on this. This determination method is effective because there are almost no examples of parts in which the difference between the circumferential length in a normal posture and the circumferential length in an abnormal posture is small, that is, a part having a shape close to a cube.

When a calculation result indicating that the component orientation is abnormal is obtained, the control device (150) excludes the component (62) from the mounting target. In other words, a drive mechanism for an elevating body (100) disposed on a component mounting station and an air cylinder (5) are used.
6), and even if the vacuum suction device 30) arrives at the component mounting station (V>), do not lower it.
Also, the suction of the component (62) is not finished. As shown in FIG. 1S, the presser (57) remains in the lowered state until the vacuum suction device U (30) is moved to the commercial station (VI). Parts mounting station (V
), the normal mounting operation is performed on the vacuum suction device (30), and the presser (57) rises to attach the substrate (7).
1), the work station (VI) also releases the attachment of the component, and the abnormally oriented component (62) is placed in the component collection box (16).
0). For the part (62) that failed to be installed, the installation program is immediately changed and the part (62)
), or by another vacuum suction device R (30), recovery measures are taken to reinstall the same type of component (62) at the designated location.

(G) Effects of the Invention In the present invention, normal and abnormal parts postures are distinguished using the length of the parts in the circumferential direction as a determination criterion.
Compared to the conventional method, which relies on the height of the bottom edge of the component, there is less room for gray zones that are difficult to judge, and the reliability of judgment can be increased.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; Fig. 1 is an explanatory developed view showing the process progress at the main work stations; Fig. 2 is a plan view of the moving device; and Fig. 3 is a plan view of the main components. 4 and 5 are vertical sectional views partially left unsectioned at different work stations, FIG. 6 is a side view of the nozzle selection device, and FIG. 7 is an explanatory diagram showing the arrangement relationship. FIG. 6 is a plan view of the vacuum suction device related to FIG. A plan view, Fig. 10 is a perspective view of the visual sensor, Fig. 11 is a schematic explanatory diagram of the irradiation unit of the visual sensor, Figs. 12 and 13.
14 is an explanatory diagram of the measurement situation of the visual sensor, and FIG. 15 is an explanatory developed diagram showing the operation under special circumstances at the component mounting station and its subsequent station. (I)...Parts supply stage〉, ri60)...Parts supply device, (V)...Parts mounting station, (7
0)...Substrate support device, (62)...Parts, (7d)...Substrate, (3(1>--Vacuum suction device, (10)
...Mobile device, (121>...Visual sensor, (15
0)...control device.

Claims (1)

[Claims] 1) A component mounting device comprising the following components. (a) A component supply device disposed at a component supply station; (b) A board support device disposed at a component mounting station; (c) A device for picking and placing components from the component supply device to the board on the board support device. A prepared vacuum suction device (d) A moving device for moving the vacuum suction device from work station to work station (e) A visual sensor that measures the silhouette of the parts suctioned by the vacuum suction device (f) The visual sensor A control device that calculates the circumferential length of a component based on measurement data, and excludes the component from being mounted when a calculation result that should be considered as an abnormal component posture is obtained.