JP4637403B2 - Electrical component mounting system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention mounts electrical components (including electronic components) on a circuit board to assemble an electrical circuit. Electrical component mounting system In particular, electrical components including a component main body and leads, positioning pins and other inserts extending from the component main body are mounted on the circuit board by inserting the insert into the insertion hole of the circuit board. Do Electrical component mounting system It is about.
[0002]
[Prior art]
In a conventional electrical component mounting system, an electrical component with an insert is held by a mounting head, the mounting head and a circuit board holding device are positioned according to a control program, and then the mounting head and the substrate holding device are determined in advance. The insertion body has been inserted into the insertion hole by bringing them close to each other. At this time, there is no problem as long as the insertion body and the insertion hole are properly positioned. However, if the insertion body and the insertion hole are misaligned for some reason, the insertion body is strongly pressed against the circuit board. As a result, electrical components, circuit boards, mounting heads, etc. may be damaged.
[0003]
[Problems to be solved by the invention, means for solving problems and effects]
The present invention, against the background of the above circumstances, prevents damage to electrical components, circuit boards, mounting heads, etc. even if the relative positioning of the insertion body and the insertion hole is not properly performed. Thus, an electrical component mounting method and apparatus according to each aspect described below can be obtained. As with the claims, each aspect is divided into sections, each section is numbered, and is described in a form that cites the numbers of other sections as necessary. This is for the purpose of facilitating understanding of the present invention, and should not be construed as limiting the technical features described in the present specification and the combinations thereof to those described in the following sections. . In addition, when a plurality of items are described in one section, it is not always necessary to employ the plurality of items together. It is also possible to select and employ only some items.
[0004]
In each of the following paragraphs, some of the matters described in paragraph (4) in paragraph (3) and paragraph (6) And (7) To which the matter described in 1 is added corresponds to claim 1, and claim 1 (8) Claims to which the matter described in is added 2 It corresponds to. And Claim 1 or 2 Claims to which the matters described in paragraphs (4) and (5) are added 3 It corresponds to.
[0005]
(1) A method of mounting an electrical component including a component main body and an insert such as a lead and a positioning pin extending from the component main body on a circuit board,
A positioning step of positioning the electrical component and the circuit board at a relative position in which the insertion body faces an insertion hole formed in the circuit board;
An insertion step of controlling the drive force of the drive source so as not to exceed a predetermined upper limit drive force, bringing the electrical component and the circuit board closer based on the drive force of the drive source, and inserting the insert into the insertion hole;
An electrical component mounting method comprising:
As described above, if the insert is inserted into the insertion hole by bringing the electrical component and the circuit board close together while controlling the drive source so that the drive force does not exceed the upper limit drive force, the insert and insert When the relative positioning with respect to the hole is not properly performed and the insert comes into contact with the surface of the circuit board, the electrical component and the circuit board can be prevented from approaching further. The magnitude of the upper limit driving force may be set as such. For example, when the insert is a lead, the upper limit drive is set to a size that does not cause one lead to buckle, and when it is a positioning pin, the size is such that the circuit board or mounting head is not damaged. The power is set.
(2) In the insertion step, when the relative position of the electrical component and the circuit board in a direction perpendicular to the surface of the circuit board does not reach a predetermined target position, the insertion hole of the insert is inserted into the insertion hole. The electrical component mounting method according to (1), further including a non-insertion information generation step for generating non-insertion information indicating that the insertion of the non-insertion is impossible.
If the insertion body abuts on the circuit board as described above, the electrical component and the circuit board cannot be brought closer to each other, so that the electrical component and the circuit board do not reach a predetermined target position. This is because, for example, an operation amount detector such as an encoder provided in the drive source, a non-contact type detector such as a photoelectric switch or a proximity switch operated by a dog that moves integrally with the mounting head, or a micro switch It can be detected by a contact detector or the like.
(3) An apparatus for mounting an electrical component including a component main body and an insert such as a lead and a positioning pin extending from the component main body on a circuit board,
A substrate holding device for holding the circuit board;
A mounting head for holding the electrical component and mounting it on a circuit board held by the board holding device;
A relative movement device that relatively moves the substrate holding device and the mounting head to an arbitrary relative position in a plane substantially parallel to the surface of the circuit board held by the substrate holding device;
An approach and separation device for approaching and separating the mounting head from and to the substrate holding device;
A control device for controlling the relative movement device based on predetermined position data, and for controlling the approaching / separating device based on predetermined force data;
An electrical component mounting system comprising:
This electrical component mounting system is suitable for carrying out the method described in item (1).
(4) The approaching / separating device uses an electric motor as a drive source, and the control device controls the electric motor so that the driving force of the electric motor does not exceed a predetermined upper limit driving force. The electric component mounting system according to (3), further including a motor control unit that operates the mounting head in a direction to approach the substrate holding device, wherein the force data includes upper limit driving force data representing the upper limit driving force. .
A servomotor is suitable as the electric motor.
(5) The upper limit driving force data is read out from a manual input device that inputs the upper limit driving force data according to an operation of an operator, and mounting control data including data on relative positions of the mounting head and the substrate holding device. The electrical component mounting system according to item (4), including at least one of a reading unit and a receiving unit that receives the upper limit driving force data transmitted from a host computer connected to the electrical component mounting system.
If the upper limit driving force data can be input by any one of the above means, an appropriate upper limit driving force can be easily set according to the type of electrical component, particularly the shape and dimensions of the insert. If a plurality of the above means are provided (particularly if three are provided), the setting of the upper limit driving force becomes easier.
(6) When the mounting head is moved closer to the substrate holding device by the approach / separation device, the mounting body cannot be inserted into the insertion hole based on the fact that the mounting head does not move to a predetermined position. The electrical component mounting system according to any one of (3) to (5), further including an uninsertable information generating unit that generates uninsertable information indicating that
(7) The non-insertable information generating means is
Time measuring means for measuring an elapsed time since the start of operation in a direction in which the mounting head of the approaching / separating device approaches the substrate holding device;
A planned position arrival detecting means for detecting that the mounting head has reached a predetermined position, and the planned position arrival detecting means is configured to detect the mounting head in spite of the measurement time by the time measuring means reaching a set time. The electrical component mounting system according to item (6), wherein when the arrival at the scheduled position is not detected, the unreachable information is generated.
According to the non-insertable information generating means of this section, the non-insertable information can be generated quickly and reliably.
(8) Automatic stop means for automatically stopping the operation of the electrical component mounting system based on the non-insertable information, and a notification for notifying the operator that the insert cannot be inserted into the insertion hole. The electrical component mounting system according to (6) or (7), including at least one of means.
If an automatic stop means is provided, the electrical component mounting system is automatically stopped when the insert cannot be inserted into the insertion hole, thus reliably preventing damage to electrical components, circuit boards, mounting heads, etc. be able to. In addition, if an informing means is provided, the operator can surely recognize that an uninsertable state has occurred, and can take appropriate measures.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment in which the present invention is applied to the following electrical component mounting system will be described as an example.
In FIG. 1, 10 is a base. The electrical component mounting system includes a wiring board conveyor 14 that conveys a printed wiring board 12 as a circuit board. Furthermore, a component supply device 16 that supplies electrical components and a component mounting device 18 that receives electrical components from the component supply device 16 and mounts them on the printed wiring board 12 are provided.
[0007]
The component supply device 16 includes a tray-type component supply device 20 and a feeder-type component supply device 30. The feeder-type component supply device 30 includes a plurality of feeders 32 and is supported on the table 34 so that the component supply units of the feeders 32 are aligned along a straight line in a horizontal plane. The table 34 is movable along a pair of guide rails 36 extending in the Y-axis direction. The table 34 is located near the wiring board conveyor 14 and supplies an electric component to the component mounting device 18. It is moved to a replacement position where the feeder 32 is replaced at a position away from the conveyor 14. Although not shown, the feeder 32 holds the electrical component in the state of a taped electrical component held on a carrier tape. Storage recesses are formed at equal intervals on the carrier tape, and electrical components are respectively stored in the storage recesses, and a cover tape is attached so as to close the opening of the storage recess, thereby preventing the electrical components from popping out. . The feeder 32 feeds the taped electrical components one pitch at a time while peeling the cover tape, and positions the electrical components in the component supply unit. The electrical parts supplied by the feeder 32 are shaped without leads.
[0008]
The tray-type electronic component supply device 20 is provided on the upstream side of the feeder-type electronic component supply device 30, and relatively large electrical components such as a connector 42 having leads 40 (see FIG. 7) are provided in the component tray 44. Accommodate and supply. One component tray 44 is accommodated in each of a large number of tray accommodating boxes 46 arranged in the vertical direction. Each of the tray storage boxes 46 is supported by a support member (not shown) and is sequentially raised to the component supply position by an elevating device provided in the column 48. The component mounting device 18 is connected to the connector above the component supply position. It is necessary to secure a space for taking out 42.
[0009]
Therefore, the tray storage box 46 that has finished supplying the connector 42 is raised by the above-mentioned space at the same time that the next tray storage box 46 is raised to the component supply position, and is retreated to the upper retreat area. This tray type electronic component supply device 20 is the same as the electronic component supply device described in Japanese Patent Publication No. 2-57719, except that the component trays 44 are stored one by one in the tray storage box 46. Description is omitted.
[0010]
As shown in FIGS. 7 to 9, the connector 42 is mounted on the printed wiring board 12 with its main body 50 forming a square container shape with the opening 52 facing upward. A plurality of pins 54 are erected in the main body 50. These pins 54 have a length that does not protrude outside the main body 50 in the illustrated example.
[0011]
Further, when the connector 42 is attached to the printed wiring board 12 on the outer surface of the bottom portion of the main body 50, a plurality of leads 40 are perpendicular to the bottom surface 55 of the main body 50 on the bottom surface 55 on the printed wiring board 12 side. Are extended in a straight line and parallel to each other. These leads 40 have a square cross-sectional shape in the illustrated example, and are provided in a plurality of rows in parallel in the longitudinal direction of the main body, and in two rows in the illustrated example, and from the free end side in the longitudinal direction. When viewed in parallel, both appear to overlap the main body 50. At the mounting position where the connector 42 of the printed wiring board 12 is mounted, the same number of insertion holes 56 as the leads 40 are formed as shown in FIG.
[0012]
In this embodiment, the connector 42 is housed in the housing recess of the component tray 44 so that the opening 52 of the main body 50 faces upward and the lead 40 is vertical, is positioned in the main body 50, and is positioned in the lead 40 from below. It is housed in a supported state. The connector 42 may be positioned in the main body 50 and housed in the housing recess while being supported.
[0013]
The wiring board conveyor 14 includes a pair of side frames 60. An endless conveyor belt (not shown) is wound around the side frames 60, and the printed wiring board 12 is conveyed by being moved by a driving device. To do. An inner surface of the side frame 60 constitutes a guide surface that guides the movement of the printed wiring board 12. The wiring board conveyor 14 also serves as a positioning support device for the printed wiring board 12.
[0014]
The component mounting device 18 includes a moving device that can move in the horizontal direction. The moving device includes a pair of ball screws 70 extending in the Y-axis direction and a pair of guide rails 72 extending in a direction parallel to the ball screws 70. The Y-axis slide 74 is screwed to the ball screw 70 via a nut, and is slidably fitted to the guide rail 72 via a guide block, so that it can move in the Y-axis direction. The Y-axis slide 74 is formed to have a length exceeding both ends of the tray-type electrical component supply device 20 and the feeder-type electrical component supply device 30, and a guide rail 72 and a ball screw 70 are arranged in the vicinity of both ends thereof. It is installed. Each ball screw 70 is connected to a servo motor 76 as a drive source, and these two servo motors 76 are rotated in synchronization with each other.
[0015]
A ball screw 80 extending in the X-axis direction is disposed in the Y-axis slide 74, and a pair of guide rails 82 are provided on the side surfaces (see FIG. 2). The X-axis slide 84 is screwed to the ball screw 80 via a nut and is fitted to the guide rail 82 via a guide block so that it can move in the X-axis direction with respect to the Y-axis slide 74. ing. The ball screw 80 is connected to a servo motor 86 as a driving source, and the X-axis slide 84 is moved in the X-axis direction by rotating the ball screw 80.
[0016]
A plurality of component holding heads (hereinafter simply referred to as holding heads) for receiving electrical components such as connectors 42 from the component supply device 16 and mounting them on the printed wiring board 12 are fixed to the X-axis slide 84. One of the plurality of holding heads is a chuck-type holding head 102 that holds a component by the chuck 100 shown in FIG. 2, and the other component holding heads are not shown in the figure, but are equipped with a suction nozzle to hold the component. Adsorbed and held.
[0017]
Hereinafter, the chuck-type holding head 102 will be described.
A pair of guide rails 104 (only one guide rail is shown in the figure) are provided on the side surface of the X-axis slide 84 in a vertical direction, and although not shown, they are parallel to the guide rails 104. A ball screw is provided, and the elevating member 106 that can move relative to the X-axis slide 84 in the vertical direction is guided. If the ball screw is rotated by a Z-axis motor 108 (see FIG. 11) as a driving source, the elevating member 106 is raised and lowered along the guide rail 104.
[0018]
The chuck 100 is rotatably held by the elevating member 106. Specifically, a θ-axis motor 110 is provided fixed to the elevating member 106, and the mounting member 112 is rotated via a pinion, a gear, or the like. A cylindrical chuck main body 114 is detachably attached to the lower side of the attachment member 112, and is rotatable about the vertical axis along with the attachment member 112 and can be raised and lowered. As shown in FIG. 3, an inner sleeve 116 is slidably fitted to the outer periphery of the chuck body 114, and an outer sleeve 118 is slidably fitted to the outer periphery of the inner sleeve 116. Slots 120 and 121 extending in the axial direction through the peripheral walls of the inner and outer sleeves 116 and 118 are formed, the phases of the slots 120 and 121 are matched, and a common pin 122 is inserted and chucked. By being fixedly inserted into the holding hole 124 formed in the horizontal direction in the main body 114, the rotation of the sleeves 116 and 118 relative to the chuck main body 114 is prevented, and the relative movement in the axial direction is limited.
[0019]
Compression coil springs (hereinafter simply referred to as springs) 126 and 128 are disposed between the inner sleeve 116 and the outer sleeve 118 and the mounting member 112, and the sleeves 116 and 118 are attached so as to move downward. It is energized. A flange portion 130 is formed radially outward from the outer periphery of the upper end portion of the outer sleeve 118. Engaging convex portions 132 projecting inward are formed at two positions facing each other at the lower end portion of the outer sleeve 118. The end faces of the engaging projections 132 that are opposed to each other are inclined surfaces 136 that are inclined so as to approach each other upward. An engagement notch 134 for engaging with the engagement protrusion 132 is formed in the same phase as the engagement protrusion 132 of the inner sleeve 116. The engagement notch 134 is formed so as to have a gap with the engagement convex portion 132 in a state where the sleeves 116 and 118 are located at the lower end position. When the outer sleeve 118 is raised and the engaging protrusion 132 engages with the engaging notch 134 of the inner sleeve 116, the outer sleeve 118 is raised integrally. The portion of the inner sleeve 116 where the engagement notch 134 is not formed is formed to have substantially the same length as the portion of the outer sleeve 118 where the engagement convex portion 132 is formed. A tapered inner peripheral surface 138 having the same inclination as the surface 136 is formed.
[0020]
Two pairs of holding members 140 and 142 are rotatably held at the lower end of the chuck body 114 (however, only one pair is shown in FIG. 3). The holding members 140 and 142 have a plate shape and are arranged in pairs along vertical planes orthogonal to each other, and within the vertical plane by pins 144 erected in a direction orthogonal to each vertical plane. It is rotatably supported. Holding projections 146 and 148 are provided at the lower ends of the two pairs of holding members 140 and 142, respectively, and the first holding provided at the lower end of the first holding member 140 that is the first pair of holding members. The interval between the projections 146 is wide, and the interval between the second holding projections 148 of the second holding member 142 that is the second pair of holding members is narrowed. Further, inclined surfaces 150 are formed on the lower portions of the outer side surfaces of the holding members 140 and 142 so as to be inclined closer to each other upward. The inclination of the inclined surface 150 is parallel to the inclined surface 136 formed on the mutually opposing portions of the outer sleeve 118 and the tapered inner peripheral surface 138 formed on the inner periphery of the lower end of the inner sleeve 116.
[0021]
The holding members 140 and 142 are engaged with compression coil springs (hereinafter simply referred to as springs) 170 on the outer surface in the vicinity of the upper end, so that the portions above the pins 144 approach each other. In other words, the holding protrusions 146 and 148 facing each other are biased so as to rotate in directions away from each other. In the state where the inner and outer sleeves 116 and 118 are positioned at the lower end position with respect to the chuck main body 114, the holding members 140 and 142 have a pair of holding protrusions 146 and 148 that resist the biasing force of the spring 170. Although they are brought close to each other and closed, if the sleeves 116 and 118 are lifted with respect to the chuck body 114, the holding projections 146 and 148 are rotated away from each other by the biasing force of the spring 170. Open state.
[0022]
Further, as shown in FIG. 2, a release member 180 for opening and closing the chuck 100 is attached to the attachment member 112 so as to be movable up and down. A solenoid 182 as a lifting device is attached to the attachment member 112 vertically downward, and an output rod 186 (see FIG. 5) of the solenoid 182 is coupled to the release member 180. As shown in FIG. 5, the release member 180 is formed in a plate shape extending in the horizontal direction, and a substantially semicircular engagement notch 188 is formed so as to avoid interference with the outer peripheral surface of the outer sleeve 118. It can be engaged with the portion 130. The release member 180 is vertically provided with a pair of guide bushes 190 on both sides of the rod 186, while the mounting member 112 is provided with a pair of guide bars 191 that are slidably fitted. This constitutes a guide device that raises and lowers the release member 180 while maintaining a horizontal posture.
[0023]
When the release member 180 is raised with respect to the chuck 100, the outer sleeve 118 is first raised with respect to the chuck body 114 against the biasing force of the spring 128, and then the inner sleeve 116 is raised, so that the chuck 100 Is opened. On the other hand, when the release member 180 is lowered, the sleeves 116 and 118 are lowered by the urging force of the springs 126 and 128, and the second holding member 142 is first closed, and then the first holding member 140. Is closed. Therefore, the connector 42 is first pinched by the second holding projection 148 and positioned in the width direction, and then is pinched by the first holding projection 146 and positioned in the longitudinal direction. The second holding projection 148 is preferably wider than the first holding projection 146 so that the rotational position error around the vertical axis of the connector 42 can be corrected (see FIG. 6).
[0024]
An imaging device 194 including a line sensor 192 is provided between the wiring board conveyor 14 and the component supply device 16. The imaging device 194 is connected to a control device 200 to be described later. In this embodiment, the imaging device 194 mainly captures an electrical component held by the suction nozzle, and an electrical component holding position error (center position). Error and rotational position error).
[0025]
This electrical component mounting system is controlled by the control device 200 shown in FIG.
The control device 200 is mainly composed of a computer 204 including an internal storage device 202. The control device 200 is connected to an operation panel 206 operated by an operator. The operation panel 206 includes a display device 208, a keyboard 210, and the like. The control device 200 is further connected to the servo system 214. The servo system 214 includes a plurality of drive circuits 216, and is connected to the X-axis, Y-axis, Z-axis, and θ-axis servomotors 76, 86, 108, and 110 via these drive circuits 216. Each servo motor 76, 86, 108, 110 includes an encoder 218 that monitors the amount of rotation, and is connected so that information from the encoder 218 is transmitted to the servo system 214. The control device 200 is also connected to the solenoid 182 and the line sensor 192. The control device 200 is further connected to a host computer 220, and information including a production program is transmitted. Information including these production programs is temporarily stored in the external storage device 222, recalled as necessary, and stored in the internal storage device 202. Information such as a production program can be read by a reading device 224 from information stored in a storage medium such as a floppy disk.
[0026]
A mounting operation for mounting an electrical component on the printed wiring board 12 by the electrical component mounting system configured as described above will be described. Since the main part of the mounting operation is already well known, it will be briefly described, and the part related to the present invention, that is, the part where the connector 42 is mounted on the printed wiring board 12 by the chuck type holding head 102 will be described in detail. explain. Hereinafter, the chuck-type holding head 102 is simply referred to as the holding head 102.
[0027]
When the control device 200 instructs that the electrical component should be mounted on the printed wiring board 12, the printed wiring board 12 is transported to the mounting position by the wiring board conveyor 14, and is positioned and supported. Subsequently, various electric components are taken out from the feeder-type component supply device 30 by the holding head provided with the suction nozzle and mounted on the printed wiring board 12. After the mounting is completed, the holding head 102 is replaced with the tray-type component supply device. 20 is positioned directly above the connector 42 accommodated in the connector 20. In parallel with the chuck 100 being lowered toward the connector 42, the release member 180 is relatively raised by the solenoid 182 to push up the outer sleeve 118. When the outer sleeve 118 reaches a certain relative height, the engaging protrusion 132 engages with the lower end surface 134 of the inner sleeve 116, the inner sleeve 116 is raised integrally with the outer sleeve 118, and the chuck 100 is moved. Opened. After the chuck 100 reaches the lowered end position, that is, the height at which the connector 42 can be received while maintaining the open state, the release member 180 is relatively lowered, the chuck 100 is closed, and the connector 42 is It is held by the chuck 100. As shown in FIG. 6, the connector 42 is held such that the longitudinal direction of the connector 42 coincides with the opening / closing direction of the first holding member 140 including the first holding protrusion 146.
[0028]
As described above, the connector 42 is positioned and held on the component tray 44. However, since the upper portion protrudes upward from the upper end surface of the component tray 44, the two pairs of holding projections 146 and 148 are provided on the component tray 44. It is possible to hold the connector 42 without interfering with. The holding members 140 and 142 of the chuck 100 are urged in the opening direction by the spring 170, and the sleeves 116 and 118 are rotated in the closing direction against the urging force. Since both the holding members 140 and 142 and the sleeves 116 and 118 are configured to be axially symmetric, the pair of holding members 140 and 142 are opened and closed while maintaining an axially symmetric state, and the connector 42 is mechanically connected to the chuck 100. Hold while positioning at the center.
[0029]
The holding head 102 is positioned above the connector mounting position as a kind of electrical component mounting position set on the printed wiring board 12 while holding the connector 42, and is driven vertically by driving the θ-axis motor 110. The connector 42 is rotated around the axis to determine the orientation of the connector 42 around the axis. When the Z-axis motor 108 is driven, the holding head 102 is lowered, and the lead 40 of the connector 42 is inserted into the insertion hole 56 of the printed wiring board 12. When the holding head 102 is further lowered, the connector 42 is temporarily fixed by the adhesive previously applied onto the printed wiring board 12. In this system, the lower end position of the holding head 102 is set in advance according to the type of the electrical component such as the connector 42, and when the lower end position is reached, the release member 180 is raised again and the chuck 100 is moved. The connector 42 is released by being opened. After the connector 42 is temporarily fixed to the printed wiring board 12, the holding head 102 is raised to the original position, the chuck 100 is closed, and the mounting operation of one connector 42 is completed.
[0030]
In the electrical component mounting system, when the connector 42 is held by the holding head 102, the mounting operation is executed by mechanically positioning the connector 42 to omit the operation of checking the holding posture such as imaging. For this reason, even if an abnormality occurs in the shape of the lead 40 of the connector 42 or the positioning of the connector 42 with respect to the chuck 100 is inappropriate, such an abnormality is not detected, and the mounting operation is executed as it is. However, if the mounting operation is performed in a state where the lead 40 is in contact with the printed wiring board 12, not only a good printed circuit board is manufactured but also the printed wiring board 12, the connector 42, and in some cases, the chuck 100, Z The shaft motor 108 or the like may be damaged. In the present embodiment, in order to avoid such a situation, an elevation control program for controlling the elevation operation of the holding head 102 is stored in the internal storage device 202 of the computer 204.
[0031]
First, a brief description will be given.
In the electrical component mounting system, component related information related to a plurality of types of electrical components to be mounted is stored in the host computer 220. The component-related information is selected in advance, transmitted from the host computer 220 to the control device 200, stored in the external storage device 222, and further read from the external storage device 222 to the control device 200 as necessary. It is stored in the storage device 202. The component-related information of the connector 42 includes data on the upper limit value of the lowering driving force of the Z-axis motor 108 when lowering the holding head 102, the lower end position, and set time described later. The control device 200 drives the Z-axis motor 108 with a driving force that does not exceed the upper limit value, and lowers the holding head 102 toward the lowered end position. Further, it is detected whether or not the connector 42 has been normally mounted based on at least the vertical position of the holding head 102 after a fixed time has elapsed since the holding head 102 started to descend. Hereinafter, a detailed description will be given based on the flowchart shown in FIG.
[0032]
If an electrical component mounting operation is instructed, first, component related information related to a plurality of types of electrical components to be mounted this time is read from the external storage device 222 and stored in the internal storage device 202. The component-related information includes a supply position where each electric component is to be supplied, a shape, a mounting position on the printed wiring board, and the like. The component-related information related to these electrical components is transmitted from the host computer 220 in advance and stored in the external storage device 222, and information corresponding to the type of electrical component to be mounted this time is called by the operator's key operation. Be acquired. Of the component-related information of the connector 42, the upper limit value of the driving force of the Z-axis motor 108, the descending end position, and the set time data are stored (S2). In S3, the flag F1 is set to 1, and thereafter S2 and S3 are skipped in the execution of this program. In S4, it is determined whether or not the flag F2 is 0. Next, in S5, it is awaited that the holding head 102 reaches the component mounting position by the movement of the X-axis and Y-axis slides 74 and 84 and starts to descend. If the descent is started, the determination in S5 is YES, and the process proceeds to S6, and the elapsed time t is set to 0 when the descent starts. In S7, the flag F2 is set to 1, and thereafter S5 and S6 are skipped in the execution of this program. In S8, it is determined whether or not the elapsed time t has exceeded a predetermined set time T. The set time T is set to a length sufficient for the holding head 102 to reach the position where the connector 42 is attached, that is, the lowered end position. The lowering speed of the holding head 102 is determined in advance, and the lowering end position of the holding head 102 is set based on the type of the connector 42. Based on these, the lowering speed is lowered after the holding head 102 starts to lower. The time sufficiently long to reach the end position is set as the set time T.
[0033]
If the elapsed time t is shorter than the set time T, the determination in S8 is NO, and one execution of this program ends. On the other hand, if the length of the elapsed time t is equal to or longer than the set time T, the determination in S8 is YES, and the process proceeds to S9 to determine whether or not the holding head 102 has reached the lower end position. The control device 200 detects the vertical position of the holding head 102 based on the information transmitted from the encoder 218, and the vertical position corresponds to the mounting position of the connector 42 to be mounted this time (the lower end position of the holding head 102). If YES in step S9, the determination in S9 is YES, and it is determined that the connector 42 is pressed against the printed wiring board 12 and temporarily fixed by the adhesive applied in advance, and the holding head 102 is opened according to a normal mounting program. And raised. In S13, the flags F1 and F2 are returned to the initial values to prepare for the next connector 42 mounting operation.
[0034]
On the other hand, if the holding head 102 has not reached the descending end position even after the set time T has elapsed, the determination in S9 is NO, and the process proceeds to S10 where unreachable information is created. In S <b> 11, the lowering of the holding head 102 is stopped, and the holding head 102 is raised while holding the connector 42. In S12, a display indicating that the connector 42 is not attached is output to the display device 202 to notify the operator. This completes one execution of the program. Thereafter, the connector 42 not attached to the printed wiring board 12 is discharged out of the system by a discharge device (not shown).
[0035]
It is not indispensable to notify the worker of unreachable information every time it is detected that the holding head 102 does not reach the lower end position. For example, the holding head 102 does not reach the lower end position for the first time. If detected, the connector 42 held at the holding head 102 at that time is discharged out of the system by a discharge device (not shown), and a new connector 42 is mounted on the same printed wiring board 12 again. If the second mounting operation is performed satisfactorily, it is estimated that the mounting failure is simply caused by the connector 42, and the mounting operation is continued. On the other hand, if the holding head 102 does not reach the lowered end position even in the second mounting operation, there is a high possibility that an abnormality has occurred in the printed wiring board 12 or the electrical component mounting system. It is desirable that the operation is stopped and the worker is notified, and further, the holding posture of the connector 42 is imaged so that the cause of the mounting failure is pursued.
[0036]
As is apparent from the above description, in the present embodiment, the wiring board conveyor 14 constitutes a substrate holding device, and the X-axis slide 84 and the Y-axis slide 74 together constitute a relative movement device, and are moved up and down. The member 106 and the Z-axis motor 108 jointly constitute an approach / separation device, the keyboard 210 constitutes a manual input device, and the portion of the control device 200 that executes S2 of the elevation control program is a reading means or a receiving device. The part which performs a means and performs S10 comprises the insertion impossibility information generation means.
[0037]
In this electrical component mounting system, the holding posture of the connector 42 is not imaged and the mounting operation is simplified. However, when the positioning of the connector 42 with respect to the holding head 102 is poor, the position and shape of the lead 40 are Even if it is abnormal, the mounting operation is not performed forcibly, and the printed wiring board 12, the connector 42, the holding head 102, and the like can be prevented from being damaged.
[0038]
In this embodiment, the descending end position of the holding head 102 is detected based on the signal of the encoder 218 of the Z-axis motor 108. The photoelectric switch and proximity switch operated by a dog that moves integrally with the holding head 120 For example, a non-contact detector such as a non-contact detector or a contact detector such as a microswitch may be provided for detection.
[0039]
In this electrical component mounting system, the connector 42 is mechanically positioned with respect to the holding head 102 by the chuck 100 and mounted on the printed wiring board 12, but the holding posture and component shape of the connector 42 are changed by the imaging device 194. The position of the connector 42 relative to the holding head 102 is detected based on the detected position, and positioning may be performed. In this case, the reliability of the positioning of the connector 42 is increased, and the possibility that the lead 40 is displaced with respect to the insertion hole 56 is reduced. However, when the printed wiring board 12 is incomplete, the mounting operation may be forced when a control error occurs in the movement of the X-axis and Y-axis slides 74 and 84. It is desirable that the present invention is applied as fail-safe for avoiding the occurrence.
[0040]
In this electrical component mounting system, the chuck 100 includes two sets of holding members 140 and 142 and can be positioned in two directions orthogonal to each other in the horizontal direction. As shown in FIG. An aspect provided with only one set of holding members 252 may be used. However, in that case, the connector 42 is only positioned in one direction (in the illustrated example, the direction orthogonal to the paper surface), and therefore orthogonal to the holding direction of the chuck 250 of the connector 42 by the imaging device 194 or the like. It is desirable that the position in the direction to be detected is detected and the holding position error is acquired.
[0041]
This electrical component mounting system can be generally used when mounting not only the connector 42 having the lead 40 but also an electrical component having an insert such as a positioning pin.
[0042]
The holding head that holds the electric component having the insert is not limited to the mechanical chuck that is mechanically opened and closed as described above, but may be an electric chuck in which the holding member is moved by an electric motor. An example of this is a linear motor chuck, but its configuration is substantially the same as that described in the specification of Japanese Patent Application No. 2000-4637 and is not directly related to the present invention.
[0043]
As shown in FIGS. 14 and 15, the holding head is configured in substantially the same manner as the holding head 102 described above, and a linear motor chuck 300 as a component holder is rotatably attached to the elevating member 106. The stator 304 of the linear motor 302 which is the main part of the chuck 300 is detachably attached to the attachment member 112. The linear motor 302 is a linear DC brushless motor, and includes a stator 304, a pair of movers 306 and 308, and two guides 310 that guide the movers 306 and 308 in a direction parallel to the longitudinal direction of the stator 304. ing.
[0044]
In this embodiment, as shown in FIG. 16, the linear motor chuck 300 includes two stators 304 extending in directions orthogonal to each other, and a pair of movers 306 and 308 are provided in each stator so as to be movable in the longitudinal direction. It is also possible that In this way, the connector 42 can be positioned in both the X and Y directions.
[0045]
The stator 304 is obtained by fixing a large number of permanent magnets 314 to a main body 312 made of an aluminum alloy that is a nonmagnetic material. Each permanent magnet 314 has a square shape, and one of two opposite side surfaces is magnetized as an N pole and the other is an S pole, and the N pole and the S pole are alternately arranged. Each permanent magnet 314 is fixed so that both sides of the N pole and the S pole protrude a small amount from the side surface of the main body 312, and the arrangement of the N pole and the S pole is shifted in a staggered manner on the front side and the back side of the main body 312. It becomes.
[0046]
As shown in FIG. 15, each of the pair of movers 306 and 308 includes two iron cores 316 facing the front side and the back side of the stator 304, and these iron cores 316 are connected to each other by a table 318 at the lower end. As a whole, it has a U shape. Each iron core 316 is wound with a U-phase, V-phase, and W-phase coil to constitute a coil unit. Each coil unit is controlled by armature current so that the movable elements 306 and 308 move linearly along the stator 304 by the interaction between the magnetic force generated by each coil and the magnetic force of the permanent magnet 314 of the stator 304. Is configured to generate.
[0047]
The movement of the movers 306 and 308 is guided by guides 310 fixed to both the front and back surfaces of the stator 304. Sliders 320 are respectively fixed to the inner surfaces of the movable elements 306 and 308 that form a U-shape and face the stator 304. The sliders 320 are engaged with the guides 310 via balls, thereby moving the sliders 320. The children 306 and 308 can move easily along the guide 310.
[0048]
The origin positions of each of the pair of movers 306 and 308 are the positions at both ends in the longitudinal direction of the stator 304, and these origin positions are detected by the origin detector and the distance from the origin position is the mover 306. , 308 are respectively detected by a position detector. In this embodiment, the origin detector is a transmissive photoelectric sensor using an LED as a projector, and when light projected from the projector toward the receiver is blocked by a shielding member, the movable element 306, It is assumed that 308 has reached the origin position. However, various sensors such as a reflective photoelectric sensor, a contact detector such as a limit switch, and a proximity switch can be used as the origin detector. In the present embodiment, the position detector is a magnetic linear scale (magnet scale) that detects displacement based on an electric signal obtained by moving the magnetic detection head over the magnetic scale provided with the magnetic scale. ). However, the position detector can also be various position detectors including an optical linear scale. In addition, the position detector may share a single magnetic scale.
[0049]
Holding claws 330 and 332 are fixed to the tables 318 of the movers 306 and 308 so as to be detachable in cooperation with each other to hold the electric parts from both sides. Plural types of holding claws 330 and 332 are prepared, and are automatically exchanged according to the type of electrical component to be held.
[0050]
According to this aspect, the connector 42 is automatically positioned with respect to the holding head 102 by the linear motor chuck 300, and the position of the connector 42 can be detected as it is based on the position of the holding head 102. Similar to the aspect, the imaging operation of the holding posture of the connector 42 can be omitted. Further, unlike the mechanical chuck 100, it is not essential to align the center of the connector 42 with the center of the chuck 300, and the connector 42 having an asymmetric shape can be satisfactorily held. Also in this case, when the holding head 102 is lowered as in the above-described embodiment, the connector 42 is forcibly pressed against the printed wiring board 12 by controlling so as not to exceed a predetermined lowering driving force. Damage can be avoided.
[0051]
In this embodiment, the connector 42 is imaged in preparation for a case where a holding position error of the connector 42 by the holding claws 330, 332, a position detection error of the movers 306, 308 of the linear motor chuck 300 occurs, and the holding position error It is desirable that be detected. The imaging device includes a line sensor that captures a front image or a silhouette image of the main body. However, the imaging device may include a surface imaging device such as a CCD camera or the like, as will be described below. The contour image may be captured.
[0052]
A mode in which the present invention is applied to still another electrical component mounting system will be described. Since the configuration of the electrical component mounting system has many elements in common with the above-described system, the description of the common elements is omitted by using the common reference numerals. As shown in FIGS. 17 to 19, in this electrical component mounting system, the holding head includes a suction nozzle, and the connector 42 is suction-held and mounted on the printed wiring board 12. The system also includes an imaging device that captures a contour image of the lead 40 of the connector 42.
[0053]
In the figure, reference numeral 400 denotes a base. From the wiring board conveyor 402 that conveys and supports the printed wiring board 12 on the base 400, the tray-type component supply device 20 and the feeder-type component supply device 30 as component supply devices, and the component supply devices 20 and 30 A component mounting device 408 that receives electrical components and mounts them on the printed wiring board 12 is provided.
[0054]
The feeder-type component supply device 20 includes a plurality of feeders 32, and is fixedly supported so that the component supply units of the feeders 32 are aligned. The direction of the straight line is parallel to the feeding direction of the printed wiring board 12 by the wiring board conveyor 402, and is hereinafter referred to as the X-axis direction. A tray-type component supply device 30 is disposed on the opposite side of the feeder-type component supply device 20 across the wiring board conveyor 402.
[0055]
The component mounting apparatus 408 includes an X-axis slide 410 that is movable in the X-axis direction, and a Y-axis slide 412 that is attached so as to be relatively movable with respect to the X-axis slide 410. The X-axis slide 410 is screwed into a pair of ball screws 414 extending in the X-axis direction, and is slidably fitted to a guide rail 416 extending in the X-axis direction so as to be movable in the X-axis direction. ing. Each of the pair of ball screws 414 is rotated in synchronization with the pair of ball screws 414 by the X-axis drive motor 418, whereby the X-axis slide 410 is moved in the X-axis direction. The X-axis slide 410 is formed in a length from the feeder-type component supply device 20 to the tray-type component supply device 30, and the Y-axis slide 412 is held on the side surface 420 so as to be relatively movable. The Y-axis slide 412 is screwed onto a side surface of the X-axis slide 410 with a ball screw 422 extending along the Y-axis direction, and is slidably fitted to a pair of guide rails 424 extending along the Y-axis direction. Thus, the relative movement is held.
[0056]
A holding head 430 that holds electric parts by suction is held on the Y-axis slide 412.
The holding head 430 includes a support portion 442 that extends in the vertical direction from the side surface 440 of the Y-axis slide 412, and the suction nozzle 444 is supported by the support portion 442 so as to be movable up and down and rotatable. The suction nozzle 444 includes a suction pipe 446 to which negative pressure is supplied, and a cover 452 is attached to the lower end portion of the suction pipe 446. The cover 452 has a square shape that is larger than the electrical components that are planned to be sucked by the suction nozzle 444, such as the connector 42, and is made of a hard synthetic resin in the illustrated example. Further, a reference mark camera 432 and an illuminating device 434 for imaging a reference mark provided on the printed wiring board 12 are attached to the Y-axis slide 412.
[0057]
As shown in FIG. 19, an image pickup device 460 provided at a position corresponding to the ball screw 414 between the tray-type component supply device 30 of the X-axis slide 410 and the wiring board conveyor 402 includes a component camera 462 as an image pickup device, and A local lighting device 464 is included. A bracket 466 projects from a vertical side surface of the X-axis slide 410, and a local illumination device 464 is attached to a holding plate 468 that is a holding member attached to the bracket 466. The local illumination device 464 has a plurality of, for example, four projectors (only two projectors are shown in the figure) 470, and below the movement locus of the holding head 430 on the X-axis slide 410 in the Y-axis direction. Is provided. The structure of these projectors 470 is almost the same as that described in Japanese Patent Application No. 2001-80554 by the applicant of the present application, and since it is not directly related to the present invention, it will be briefly described. The light projector 470 irradiates light with a certain thickness horizontally in directions facing each other. As a result, only a portion of a certain length between the free end and the base end of the lead 40 or only the free end of the lead 40 is illuminated, and that portion is imaged by the component camera 462 so that the lead 40 is bright. A contour image is acquired.
[0058]
Furthermore, the electrical component mounting system includes a control device 480, and controls the component mounting device 408, the wiring board conveyor 402, and the like to mount the connector 42 on the printed wiring board 12. The imaging device 460 is connected to the control device 480.
[0059]
In the component mounting device 408, the holding head 430 is moved to an arbitrary position in the horizontal plane by the X-axis slide 410 and the Y-axis slide 412, the connector 42 is taken out from the tray-type component supply device 404, and the connector of the printed wiring board 12. Attach to the attachment site.
[0060]
Prior to mounting the connector 42 taken out from the tray-type component supply device 404 to the printed wiring board 12, the holding head 430 holding the connector 42 is stopped above the imaging device 460 or passed above the imaging device 460. At that time, the lead 40 of the connector 42 is imaged. After the imaging, the holding head 430 is moved onto the connector mounting portion and lowered, and the connector 42 is mounted on the printed wiring board 12. Here, in the case where the arrangement position or shape of the leads 40 is inappropriate, such a connector 42 is eliminated based on the image acquired by the imaging device 460 before mounting.
[0061]
In this electrical component mounting system, the lead 42 of the connector 42 is imaged by the imaging device 460 and the reference mark of the printed wiring board 12 is imaged to detect the positioning position of the printed wiring board 12, so that the connector 42 is a printed wiring board. 12 is mounted (inserted) well.
[0062]
However, for example, when the position of the insertion hole 56 formed in the printed wiring board 12 is deviated from the reference mark, or when the positioning position by the X-axis and Y-axis slides 410 and 412 is inappropriate, the imaging device If the result of the image processing by 460 is different from the actual shape and position of the connector 42, or if the connector 42 is displaced with respect to the suction nozzle 444 after imaging the holding posture of the connector 42, an abnormality is detected. It cannot be detected, and it is conceivable that a mounting / insertion failure of the connector 42 with respect to the printed wiring board 12 occurs. As described above, when the lead 40 comes into contact with the surface of the printed wiring board 12 for some reason, the elevation control program performs a fail-safe function.
[0063]
As mentioned above, although some embodiment of this invention was described in detail, these are only illustrations and this invention was described in the above-mentioned section of [the subject which invention intends to solve, a problem-solving means, and an effect]. The present invention can be implemented in various forms including various modifications and improvements based on the knowledge of those skilled in the art.
[Brief description of the drawings]
FIG. 1 is a plan view showing an electrical component mounting system according to an embodiment of the present invention.
2 is an enlarged side view (partial cross section) showing a main part in FIG. 1. FIG.
FIG. 3 is a side sectional view showing the chuck shown in FIG. 2 in an enlarged manner;
FIG. 4 is a side sectional view of the chuck as seen from another direction.
FIG. 5 is an enlarged plan view (partial cross section) showing another main part in FIG. 2;
FIG. 6 is a bottom view of the chuck.
FIG. 7 is a perspective view showing one mode of a connector mounted by the electrical component mounting system.
FIG. 8 is a front view of the connector.
FIG. 9 is a bottom view of the connector.
FIG. 10 is a plan view showing a state in which the lead of the connector is inserted into an insertion hole formed in the printed wiring board.
FIG. 11 is a block diagram showing a control device of the electrical component mounting system.
FIG. 12 is a flowchart showing an elevation control program.
FIG. 13 is a front view showing another aspect of the chuck in the electrical component mounting system.
FIG. 14 is a front view (partially in section) showing a linear motor chuck which is another embodiment of the chuck of the electric component mounting system.
FIG. 15 is a side sectional view of the linear motor chuck.
FIG. 16 is a bottom view of another embodiment of a linear motor chuck.
FIG. 17 is a plan view showing an electric component mounting system according to still another embodiment.
FIG. 18 is a front view of the electrical component mounting system.
FIG. 19 is a side view (partially cross-sectional view) showing the electric component mounting system partially enlarged.
[Explanation of symbols]
10: Base 18: Component mounting device 40: Lead 42: Connector 56: Insertion hole 74: Y-axis slide 84: X-axis slide 100: Chuck 108: Z-axis motor 110: θ-axis motor 206: Operation panel 218: Encoder 220: Host computer 222: External storage device 224: Reading device 250: Chuck 300: Linear motor chuck 444: Suction nozzle 460: Imaging device 462: Component camera 464: Local illumination device

Claims (3)

An apparatus for mounting an electrical component including a component body and an insertion body such as a lead extending from the component body and a positioning pin on a circuit board having an insertion hole,
A substrate holding device for holding the circuit board;
A mounting head for holding the electrical component and mounting it on a circuit board held by the board holding device;
A relative movement device that relatively moves the substrate holding device and the mounting head to an arbitrary relative position in a plane substantially parallel to the surface of the circuit board held by the substrate holding device;
An approach and separation device for approaching and separating the mounting head from and to the substrate holding device;
The relative movement device is controlled based on predetermined position data, while the approaching / separating device is controlled in advance so that the driving force of the driving source of the approaching / separating device does not exceed a predetermined upper limit driving force. A control device for controlling based on predetermined force data;
When the mounting head is moved closer to the substrate holding device by the approaching / separating device, the mounting head cannot be inserted to the insertion hole based on the fact that the mounting head does not move to a predetermined position. see contains an insertion failure information generating means for generating a non-insertability information representing, said insertion failure information generating means,
Time measuring means for measuring an elapsed time since the start of operation in a direction in which the mounting head of the approaching / separating device approaches the substrate holding device;
A planned position arrival detecting means for detecting that the mounting head has reached a planned position;
And the non-insertable information is generated when the planned position arrival detecting means does not detect the arrival of the mounting head at the planned position even though the measurement time by the time measuring means has reached a set time. electric-component mounting system, characterized in that it. further,
Automatic stop means for automatically stopping the operation of the electrical component mounting system based on the occurrence of the non-insertable information;
The electrical component mounting system according to claim 1 , further comprising notification means for notifying an operator that the insertion body cannot be inserted into the insertion hole. The drive source of the approaching / separating device is an electric motor, and the control device holds the mounting head on the substrate while controlling the electric motor so that the driving force of the electric motor does not exceed the upper limit driving force. A motor control unit that operates in a direction to approach the apparatus, and the electrical component mounting system includes: (a) a manual input device that inputs data on the upper limit driving force according to an operation of an operator; and (b). Read means for reading the upper limit driving force data from mounting control data including data on the relative position between the mounting head and the substrate holding device, and (c) transmitted from a host computer connected to the electrical component mounting system. EC mounting system according to claim 1 or 2 comprising at least one of the receiving means for receiving data of the upper driving force.

Images