JP2010093041A - Electronic component mounting equipment - Google Patents

Abstract

Highly accurate nozzle position control is possible with a simple configuration.
In an electronic component mounting apparatus 10 for mounting an electronic component 6 picked up using a nozzle 22 held by a head 16 movable in XY directions on a substrate 8, a common provided on a frame 42 is provided. A pair of bases 60 and 80 guided in a first direction (X direction) by the guide rails 58, and a parallel link mechanism (68, 70, 88, 90) connecting the pair of bases and the head, A pair of drive mechanisms (64, 66) (84, 86) for driving the pair of bases independently of each other, and moving the pair of bases in the first direction together to position in the first direction And the position in the second direction (Y direction) orthogonal to the first direction is controlled by changing the distance between the pair of bases.
[Selection] Figure 2

Description

  The present invention relates to an electronic component mounting apparatus, and in particular, drives a head of an electronic component mounting apparatus for mounting an electronic component picked up using a nozzle held by a head movable in XY directions. Regarding the mechanism.

  As illustrated in FIG. 1, an electronic component is picked up from an electronic component supply device 14 such as a tape feeder provided in front of a pair of substrate transport rails 12 for transporting the substrate 8 in the X direction of the drawing, and the substrate 8 There is known an electronic component mounting apparatus (also referred to as a mounter) 10 to be mounted on the board. In the figure, 16 is a head for transferring components from the electronic component supply device 14 onto the substrate 8, 18 is an X drive unit for moving and positioning the head 16 in the X-axis coordinate direction, and 20 is Y drive unit for moving and positioning the head 16 together with the X drive unit 18 in the Y-axis coordinate direction, 22 is a nozzle attached to the head 16 for picking up and picking up electronic components, and 24 A board recognition camera 26, which is also mounted on the head 16, for photographing the mark or the like of the board 8 from above, is a part recognition camera for photographing an electronic part or the like adsorbed by the nozzle 22 from below.

  As shown in FIG. 1 of Patent Document 1, a mechanism for driving such a mounter head 16 has a head unit support member disposed on a pair of fixed rails extending in the Y-axis direction. The X-axis guide member, the X-axis servo motor, and the X-axis ball screw shaft provided on the support member control the position of the head unit in the X direction, and are provided on the pair of fixed rails and one fixed rail. The position of the head unit in the Y-axis direction is controlled for each head unit support member by one Y-axis servo motor and one Y-axis ball screw.

  In Patent Document 2, as shown in FIG. 3, a Y-axis servomotor and a Y-axis ball screw shaft are provided on each of a pair of fixed rails extending in the Y-axis direction, and a head unit support member constituting the X-axis. Both end portions are driven by the pair of Y-axis servomotors.

JP-A-9-298394 (FIG. 1) Japanese Patent No. 3883674 (FIG. 3)

  However, in the configuration of the conventional mounter shown in Patent Document 1, in order for the Y-axis servomotor to control the position of the head unit in the Y-axis direction, a head unit support member, an X-axis guide member, an X-axis servomotor, The X-axis control mechanism composed of the X-axis ball screw shaft and the head unit are driven together. Therefore, one Y-axis motor provided on the Y-axis fixed rail on one side needs to have the ability to simultaneously control the positioning of the mass of the X-axis control mechanism in addition to the mass of the head unit. Further, the head unit support member in the X-axis direction is disposed on a pair of fixed rails in the Y-axis direction, but the Y-axis servo motor and the Y-axis ball screw shaft are provided only on one fixed rail, When the position of the head unit on the head unit support member in the X-axis direction is on the opposite side of the Y-axis ball screw shaft, there is a problem that the position accuracy is lowered.

  On the other hand, in Patent Document 2, since Y-axis servo motors are provided at both ends of the X-axis, the Y-axis motor can be controlled with half the capacity compared to the structure of Patent Document 1. Furthermore, since the positions of both ends of the head unit support member constituting the X axis are controlled, a decrease in positional accuracy is suppressed compared to the configuration of Patent Document 1 regardless of which side of the head unit is on the X axis. It is done. However, the number of control axes is one X axis and two Y axes, and it is necessary to control a total of three axes, which has a problem of complicated control.

  The present invention has been made to solve the above-described conventional problems, and an object of the present invention is to make it possible to control the position of the head with high accuracy with a simple configuration.

  The present invention provides an electronic component mounting apparatus for mounting an electronic component picked up using a nozzle held by a head movable in the X and Y directions on a substrate by means of a common guide rail provided on the frame. A pair of bases guided in one direction, a parallel link mechanism connecting the pair of bases and the head, and a pair of drive mechanisms for driving the pair of bases independently of each other, The position of the first direction is controlled by moving the base together in the first direction, and the position of the second direction orthogonal to the first direction is controlled by changing the distance between the pair of bases. Thus, the above-mentioned problem is solved.

  According to the present invention, by independently controlling the coordinates of the first direction (for example, the X direction) of the pair of bases, the first direction of the nozzle and the second direction (for example, the Y direction) perpendicular thereto are controlled. ) Position control is possible, so position control in both the X and Y directions is possible with two drive motors. Further, since the pair of bases are guided in the first direction by a common guide rail provided on the frame in the first direction, the pair of bases move in the second direction regardless of the position in the first direction. This error does not occur. Furthermore, since the position of the nozzle in the first direction and the second direction can be controlled by independently controlling the coordinates of the pair of bases in the first direction, the frame in the first direction is fixed to the base frame. Therefore, a highly accurate guide mechanism can be realized as a highly rigid frame. Further, when the head is moved in the first direction, it can be driven by two motors, so that it can be constituted by a motor having a small output. Further, even in a configuration in which the pair of bases are guided by the same guide rail, the position of the nozzle in the first direction and the second direction can be controlled, so that a highly accurate guide mechanism can be configured with a simple structure.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  The configuration of the first embodiment of the present invention is shown in FIG. 2A (a plan view in a state where the link mechanism is extended), FIG. 2B (a plan view in a state in which the link mechanism is contracted), and FIG. It is shown in FIG. 4 (side view seen from the right direction of FIG. 2) and FIG. 5 (main part enlarged plan view).

  In the figure, 6 is an electronic component supplied to the suction position of the electronic component supply device 14, 22a is a first nozzle, 22b is a second nozzle, 22c is a third nozzle, 30 is a pickup unit, and 32 is a nozzle. Elevating screw, 34 is a nozzle elevating motor, 36 is a nozzle stock part for storing nozzles 22 that are not used, 40 is a base frame of the mounter 10, 42 is an X-axis frame, 44 is an X-axis frame column, and 50 is Head right axis (see FIG. 5), 52 head left axis (see FIG. 5), 58 a pair of upper and lower guide rails, 60 a right base, 62 a right base guide, 64 a right base drive motor, 66 a right base Drive screw 68 is a pair of upper and lower first head right arms, 69 is a first head right arm shaft, 70 is a pair of upper and lower second head right arms, and 71 is a second head right arm , 72 is a right base drive screw nut, 80 is a left base, 82 is a left base guide, 84 is a left base drive motor, 86 is a left base drive screw, 88 is a pair of upper and lower first head left arms, and 89 is a first 90 is a pair of upper and lower second head left arms, 91 is a second head left arm axis, X1 is the distance in the X direction between the right base 60 and the left base 80, and X2 is the head right The distance in the X direction from the center of the shaft 50 to the first nozzle 22a, Y1 is the distance in the Y direction from the first head right arm shaft 69 to the head right shaft 50, and Y2 is the first distance from the head right axis 50 to the first nozzle 22a. The distance in the Y direction to the nozzle 22a, K is the distance in the X direction between the nozzles 22a, 22b, and 22c, and X2, Y2, and K are fixed values.

  As described above, in the mounter 10 including the substrate transport rail 12, the electronic component supply device 14, and the nozzle stock unit 22 on the base frame 40, the head 16 extends along the X-axis frame 42 fixed to the base frame 40. Is controlled in the X and Y directions so that the head 16 can move between the substrate 8, the electronic component suction position and the nozzle stock portion 36. The nozzle 22 can be sucked and mounted by a nozzle lifting / lowering motor 34.

  The guide 62 of the right base 60 and the guide 82 of the left base 80 are guided by one upper and lower guide rails 58. The right base 60 is driven by a right base drive motor 64, a right base drive screw 66, and a right base drive. The position of the X-axis frame 42 is controlled in the X direction by the screw nut 72. The position of the left base 80 is controlled in the X direction on the X-axis frame 42 by a left base drive motor 84, a left base drive screw 86, and a left base drive screw nut 92.

  The head 16 and the right base 60 are connected by a parallel link including first and second head right arms 68 and 70, and the head 16 and the left base 80 are first and second head left arms 88 and 90. Are connected by parallel links.

The right base 60 and the left base 80 are guided in the X direction on the same guide rail 58, and are moved only in the X direction by the drive motors 64 and 84. As shown in FIG. 5, the relationship between the head 16, the right base 60, and the left base 80 is such that the Y-direction coordinate Y ₁ of the head 16 is constrained according to the distance X ₁ between the right base 60 and the left base 80. It has a structure. Y ₁ and X ₁ are determined by the relationship of the following equation (1).
^{_{Y 1 2 + (X 1/}} 2) 2 = L 2 ... (1)
Here, L is the length of the head arms 68, 70, 88, 90 constituting the parallel link mechanism.

Further, the coordinates (X _a , Y _a ) of the first nozzle 22a and the coordinates (X ₆₉ , Y ₆₉ ) of the first head right arm shaft 69 are in the following relationship.
_{X a = X 69 - (X} 1/2) -X 2 ... (2)
Y _a = Y ₆₉ −Y ₁ −Y ₂ (3)
Here, X ₁ is an X-coordinate X ₆₉ of the first head right arm shaft 69 is determined by the X-coordinate X ₈₉ of the first head left arm shaft 89, the relationship of the following equation.
X ₁ = X ₆₉ −X ₈₉ (4)

Therefore, X _a and Y _a are expressed by the following equations.
_{X a = X 69 - (X} 69 -X 89) / 2-X 2
_{= (X 69 + X 89)} / 2-X 2 ... (5)
Y _a = Y ₆₉ −√ [L ² − {(X ₆₉ −X ₈₉ ) / 2} ² ] −Y ₂ (6)

Also, the coordinates of the second nozzle _{22b (X b, Y a)} , the coordinates of the third nozzle 22c (X _c, Y _a)
The X _b and X _c in becomes "X _b = X _a -K", "X _c = X _a -2K".
As described above, the position of the nozzle 22 can be determined by controlling the positions of the right base 60 and the left base 80 in the X direction (X ₆₉ , X ₈₉ ).

  In the present embodiment, since the parallel link mechanism is composed of the upper and lower eight arms 68, 70, 88, 90, the rigidity is high.

  The configuration of the parallel link mechanism is not limited to this. For example, the first head left arm 88 of the left base 80 is omitted and the left base 80 and the head 16 are moved up and down as in the second embodiment shown in FIG. The pair of second head left arms 90 can also be used for connection.

  According to the present embodiment, the configuration is simple.

  In the drawing, the right base drive motor 64 and the left base drive motor 84 are provided on both sides of the X axis for the sake of clarity. However, it is preferable to provide them on the same side in order to align the thermal expansion of the ball screw. .

  In the above embodiment, the left and right bases are driven by ball screws, but may be driven by other means such as a belt or a linear motor.

  In the above-described embodiment, the X-axis frame 42 is set in the X direction and the head 16 is moved in the Y direction by the parallel link mechanism. However, the X direction and the Y direction can be reversed. The present invention can also be applied to driving the X axis and Z axis, or the Y axis and Z axis.

The perspective view which switches and shows the whole structure of the electronic component mounting apparatus with which this invention is applied, and shows a part The top view which shows the state which extended the (A) link mechanism and (B) the link mechanism in 1st Embodiment of this invention. Front view seen from below in FIG. Side view from the right side of FIG. The enlarged plan view which shows the principal part of the link mechanism of 1st Embodiment The enlarged plan view which shows the principal part of the link mechanism of 2nd Embodiment

Explanation of symbols

6 ... Electronic component 8 ... Board 10 ... Electronic component mounting device (mounter)
DESCRIPTION OF SYMBOLS 12 ... Board | substrate conveyance rail 14 ... Electronic component supply apparatus 16 ... Head 22, 22a, 22b, 22c ... Nozzle 36 ... Nozzle stock part 40 ... Base frame 42 ... X-axis frame 58 ... Guide rail 60 ... Right base 62 ... Right base guide 64 ... Right base drive motor 66 ... Right base drive screw 68, 70 ... Head right arm 72 ... Right base drive screw nut 80 ... Left base 82 ... Left base guide 84 ... Left base drive motor 86 ... Left base drive screw 88, 90 ... Head left arm 92 ... Left base drive screw nut

Claims (1)

In an electronic component mounting apparatus for mounting an electronic component picked up using a nozzle held by a head movable in an XY direction on a substrate,
A pair of bases guided in a first direction by a common guide rail provided on the frame;
A parallel link mechanism connecting the pair of bases and the head;
A pair of drive mechanisms for driving the pair of bases independently of each other;
The position in the first direction is controlled by moving the pair of bases together in the first direction, and the position in the second direction orthogonal to the first direction is changed by changing the distance between the pair of bases. An electronic component mounting apparatus characterized by being controlled.

Images