JPH11163596A - Apparatus for mounting components - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance a mounting work efficiency whereas chucking or mounting failure or lack of components happens during a sequence of components mounting works using a head unit having heads for repetitively chucking and mounting specified no. of components on a printed board. SOLUTION: An apparatus comprises means 22 for storing data of components to be mounted, and operating means 23 for determining work procedure for following mounting works of the components so as to enhance mounting efficiency, whereby extraction and storage of the data of the components to be mounted and process for determining the work procedure are repeated until specified no. of components have been mounted after starting the mounting on the board.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises a head unit having a plurality of heads for picking up components, and the head unit moves to a component mounting portion after all or some of the heads pick up components from a component supply portion. The present invention relates to a component mounting apparatus that mounts a predetermined number of components on a printed circuit board by repeating a component mounting operation for mounting components on a printed circuit board a plurality of times.

[0002]

2. Description of the Related Art Conventionally, an electronic component such as an IC is sucked from a component supply unit by a head having a suction nozzle, and is transferred onto a printed circuit board installed in a component mounting unit. A mounting machine (component mounting apparatus) to be mounted is generally known.

In recent years, in this type of mounting machine,
A head unit movable between a component supply unit and a component mounting unit, which is provided with a plurality of heads, has been proposed so as to be advantageous in improving the mounting work efficiency. According to this mounting machine, after all or some of the head units have simultaneously or continuously sucked components from the component supply unit, the head unit moves to the component mounting unit, and components are transferred from each head to the printed circuit board. A predetermined number of components are mounted on the printed circuit board by being mounted and such component mounting work is repeated a plurality of times.

In this type of mounting machine, the working time from the start of mounting on a printed circuit board to the completion of mounting a predetermined number of components to be mounted is shortened as much as possible.
Work procedures such as a combination of components to be attracted to each head and a component mounting order are set in advance by an optimization method based on computer analysis or the like, and the mounting operation is performed according to the preset data. .

[0005]

The work procedure set in advance as described above functions effectively when there is no special situation such as sucking, mounting error or running out of parts, and can improve the working efficiency. In the case where the above-mentioned special situation occurs during mounting, the work efficiency may not be sufficiently improved.

That is, when a part of the component to be mounted has a suction, a mounting error, a component breakage, or the like, the component is left unmounted, and the other components are set in advance. Continue the mounting work according to the work procedure, complete all the mounting work according to the original work procedure, and then mount the parts with suction and mounting errors using only some of the corresponding heads. The technique of going is taken. For this reason, in the case where there is a suction error, a mounting error, or the like, all the heads of the head unit are not always effectively used, and there is a possibility that the working efficiency is reduced.

The present invention has been made in consideration of the above circumstances, and has been described in connection with the foregoing description.
It is an object of the present invention to provide a component mounting apparatus that can be adjusted so as to increase the efficiency of the mounting operation.

[0008]

To achieve the above object, the present invention provides a component supply unit, a component mounting unit on which a printed circuit board is mounted, and a head movable between the component supply unit and the component mounting unit. The head unit is provided with a plurality of heads for picking up components, and the head unit moves to the component mounting unit after sucking components from the component supply unit with all or some of the head units. In a component mounting apparatus that mounts a predetermined number of components on a printed circuit board by repeating a mounting operation of mounting components on a printed circuit board a plurality of times, data for storing a data list of components to be mounted on the board. List storage means, unmounted component data storage means for extracting and storing data of unmounted components from the data list, and A printing unit comprising: an operation unit that determines an execution sequence in a subsequent mounting operation and a work procedure including a feeder to be used so as to enhance mounting efficiency; and a control unit that executes the mounting operation in accordance with the operation procedure determined by the operation unit. From the start of mounting of components on the board to the completion of mounting of a predetermined number of components, extraction and storage of data of unmounted components by the unmounted component data storage means and determination of work procedures by the arithmetic means Are repeatedly performed.

According to this configuration, the process of extracting the data of the unmounted components and determining the work procedure in accordance therewith is repeated from the start of the mounting on the target board to the completion of the mounting of all the mounted components. If suction, mounting errors, parts shortage, etc. occur during the operation, the work procedure is changed accordingly, and adjustments are made to increase the efficiency of the mounting work according to the situation.

In the present invention, the processing of extracting and storing data of an unmounted component by the unmounted component data storage means and determining a work procedure by the arithmetic means are performed each time the component mounting operation is performed. In this case, the operation procedure is immediately changed in the event that suction, mounting error, component shortage, or the like occurs during the component mounting operation.

[0011]

Embodiments of the present invention will be described with reference to the drawings.

FIGS. 1 and 2 schematically show an example of a mounting machine (component mounting apparatus) to which the present invention is applied. In these figures, a conveyor 2 for transporting a printed board is arranged on a base 1 of a mounting machine main body, and a printed board P is transported on the conveyor 2 and stopped at a predetermined mounting work position. It has become.

On the front and rear sides of the conveyor 2, component supply units 3 are provided. This component supply unit 3 includes:
A large number of feeders for supplying various electronic components are provided, and in the illustrated example, a large number of tape feeders 4 are arranged in parallel. Each tape feeder 4 has I
C, transistors, capacitors, etc. are stored at predetermined intervals, and the tape held and held is taken out from the reel. A tape feeding end is provided with a ratchet type feeding mechanism. As parts are picked up, the tape is fed out intermittently.

Above the base 1, a head unit 5 for mounting components is provided, and the head unit 5 is orthogonal to the X axis in the X-axis direction (the direction of the conveyor 2) and the Y-axis direction (on a horizontal plane). Direction). That is, the head unit supporting member 6 is movably disposed on the fixed rail 7 in the Y-axis direction on the base 1, and the head unit 5 is placed on the supporting member 6 along the guide member 8 in the X-axis direction. It is movably supported. The support member 6 is moved in the Y-axis direction via the ball screw 10 by the Y-axis servo motor 9, and
The X-axis servomotor 11 moves the head unit 5 in the X-axis direction via the ball screw 12.

The head unit 5 includes a plurality of heads 1.
3 are arranged in the X-axis direction. Each of the heads 13 can move up and down and rotate, and is driven by a lifting drive unit and a rotation drive unit (not shown). A suction nozzle 14 is provided at a lower end of each of the heads 13, and a negative pressure is supplied to the suction nozzle 14 from a negative pressure supply unit (not shown) during component suction.
The components are attracted by the suction force of the negative pressure.

A camera 15 for component recognition is provided at a predetermined position on the base 1 within the movable area of the head unit 5, and the camera 15 picks up an image of the component adsorbed on the head 13. Then, component recognition is performed based on the image, that is, it is checked whether or not the component is normally sucked, and if the component is normally sucked, the deviation of the component center from the nozzle center of the head 13 is checked, A mounting position correction amount corresponding to this is obtained.

FIG. 3 shows a control system of the mounting machine. In this figure, reference numeral 20 denotes a control unit provided in the mounting machine. The control unit 20 includes driving means (elevation drive) for the Y-axis servomotor 9, the X-axis servomotor 11, and each head 13 of the head unit 5. Means, rotation driving means, etc.), and the camera 15 is connected via an image processing device 16.

The control unit 20 has a data list storage unit 21, an unmounted component data storage unit 22, an arithmetic unit 23, a work procedure storage unit 24, and a control unit 25. The data list storage means 21 stores a data list of components to be mounted on the board, and the unmounted component data storage means 22 extracts and stores data of unmounted components from the data list.

The operation means 23 determines the execution sequence and the work procedure including the feeder to be used in the subsequent mounting work so as to increase the mounting efficiency of the unmounted components, and the work procedure storage means 24 stores the work procedure. It is. Further, the control means 25 controls the driving means for the servomotors 9 and 11 and the heads 13 of the head unit 5 so as to execute the mounting operation according to the operation procedure.

The extraction and storage of the data of the unmounted components by the unmounted component data storage means 22 and the determination and storage of the work procedure by the arithmetic means 23 and the work procedure storage means 24 are performed by mounting the components on a printed circuit board. The process is repeated from the start until the mounting of a predetermined number of components is completed.

The processing performed by the arithmetic means 23 of the control unit 20 will be described with reference to the flowcharts of FIGS.

FIG. 4 shows the entire processing performed on one printed circuit board. When the process is started, first, in step S1, a board on which components are mounted is unloaded and a board on which components are not mounted (substrate to be processed). Is loaded, and the mounted list is initialized in step S2.

At step S3, the presence or absence of unmounted data is determined. If there is unmounted data, data of all the unmounted components is searched (step S4). Then, in step S5, an optimization routine according to the unmounted data, which will be described in detail later, is executed.

At step S6, a message indicating "currently executing" is displayed in the list of mounted data for the components of the mounting group to be mounted next. Then, in step S7, the head 13 of the head unit 5 is operated to suck components of the mounting group.

Here, the mounting group is a group of components that are simultaneously or continuously sucked by each head 13 of the head unit 5. In other words, a required number of components are mounted on one substrate by repeating a mounting operation including a series of operations of sucking, recognizing, and mounting components by each head 13 of the head unit 5 a plurality of times. A group of components processed in the batch mounting operation is called a mounting group. The mounting group sucked in step S7 has been determined in the optimization processing of step S5 performed before that.

If the head 13 has failed to pick up the component, the mounted data list is rewritten to "not mounted" (step S8).

Next, component recognition is performed for each component of the mounting group that is attracted to the head 13 of the head unit 5 (step S9). In this component recognition, the suction component is imaged by the camera 15, a component center position is obtained from the component image by predetermined image processing or the like, and a positional shift with respect to the nozzle center is checked. The corrected mounting position is corrected. The component recognition is not limited to this example, and may be performed by another method.For example, the head unit is provided with an optical detection unit that irradiates a parallel ray to the suction component and detects the projection of the component, and based on the detection of the projection. Alternatively, the center position of the component may be determined.

If the recognition fails, the mounted data list is rewritten to "not mounted" (step S10).

Next, the components of the mounting group are mounted (step S11), that is, the components adsorbed on the respective heads 13 of the head unit 5 are sequentially mounted at the mounting locations on the printed circuit board. With respect to the data for which the mounting has failed, the mounted data list is rewritten to “not mounted” (step S12).

The processes of steps S3 to S12 are performed each time of the component mounting operation, and are repeated until there is no unmounted data. Although FIG. 4 illustrates the processing of steps S1 to S12 continuously, it is desirable that the processing of steps S4 and S5 and the processing of step S6 and subsequent steps be partially or entirely performed in parallel. .

FIG. 5 shows an example of an optimization routine performed in step S5 in the flowchart of FIG.
In this example, when the mounting group to be performed is extracted from the non-mounted data, the head that has not picked up the component is not moved to the subsequent work (recognition and mounting) while leaving the head that has not picked up component. If there is, data of unmounted components that can be picked up by the head is searched for and added to the mounting group, and the processing order in the mounting group is determined so that the execution time of the mounting group is minimized.

That is, first, provisional extraction of a mounting group is performed based on a work procedure or the like that has already been set (step S401). Subsequently, it is determined whether there is an empty head other than the head corresponding to each component of the provisionally extracted mounting group (step S402).

If there is an empty head, data of a component that can be mounted with the empty head is extracted from the unmounted data (step S40).
3), the component is added to the mounting group (step S404). Thus, the work procedure indicating the components of the mounting group and the correspondence between the components and the head is changed.
If there is no empty head, the data is not changed.

According to the apparatus of the present embodiment as described above,
Even if parts are cut out, sucked, or misplaced while mounting work is being repeated on one board, the work procedure is changed so that empty heads are not generated as much as possible. Procedures are adjusted to increase work efficiency.

Such an operation will be described with reference to simplified specific examples shown in FIGS. Using three heads H1, H2, and H3 of the head unit 5 as shown in FIG. 6, three types of parts supplied from the feeders F1, F2, and F3 of the component supply unit are printed three by three. It shall be mounted on a substrate.

In this case, the first operation procedure is set as shown in the upper table of FIG.
The operation procedure is such that the component at the position 1 is mounted on the component at the position F2 by the second head H2, the component at the position F3 is mounted on the third head H3, and this mounting operation is repeated three times. Determined. If there is no component shortage, the mounting work is performed according to this data.

Under such a premise, if a situation occurs in which the feeder at the position F3 cannot be suctioned due to a lack of parts or the like, conventionally, as shown in the lower table of FIG. Then, the operation of mounting the components at the positions F1 and F2 on the first and second heads H1 and H2 is repeated, and the situation where the suction cannot be performed by replenishing the components to the feeder at the position F3 is resolved. First, the first and second heads H1 and H2 are set as empty heads, and the operation of mounting the component at the position F3 by only the third head H3 is repeated.

Therefore, in the conventional device, the number of mounting operations increases to six.

On the other hand, according to the method of this embodiment,
As shown in the middle table of FIG. 7, when a situation occurs in which the feeder at the position of F3 cannot be sucked, the procedure is changed so that no empty head is generated. For example, the position of the position of F1 at the first head H1 is changed. And suck the parts
The second head H2 and the third head H3 continuously pick up components from the position F2, and the second time, the first head H1 and the second head H2 continuously pick up components from the position F1. The data is changed so that the components are continuously sucked and the components are sucked from the position of F2 by the third head H3. Further, when the situation in which the suction cannot be performed is resolved, the procedure is changed so that the components at the position of F3 are sequentially suctioned by the three heads H1 to H3 and then the operation such as recognition is performed. Only three times, and the mounting efficiency can be kept high even if there is a trouble such as running out of parts.

FIG. 8 shows another example of the optimization routine performed in step S5 in the flowchart of FIG. In this example, when extracting the mounting group to be performed from the unmounted data, it is assumed that the execution of the mounting group has been started from the position of each axis at that time and the state of the head unit at that time. , The implementation group is organized so that the value obtained by dividing the "execution time of the implementation group" by the "number of mounted data belonging to the group" is minimized, and the implementation group is arranged so that the implementation group execution time is minimized. The order of processing within is determined.

That is, when there are n pieces of unmounted data, when the work of one mounting group is allocated to m heads, the combination is a maximum of (n + 1) including the case where some heads do not perform mounting. × n × (n-1) × ...
× (n−m + 2), and some or all of the combinations are extracted (step S411).

Next, processing for evaluating the extracted mounting group is performed based on the execution time required for mounting the mounting group or a parameter substituted for the time (step S412). Further, the situation such as the position of each axis of the mounting machine and the moving direction of the head unit at the time of starting the execution of the mounting group is added (step S413), and the “execution time of the mounting group” is changed to “group”. The mounting group having the minimum value obtained by dividing by the “number of mounted data units” is determined (step S414).

FIG. 9 shows still another example of the optimization routine performed in step S5 in the flowchart of FIG. In this example, from the combination of all the sequences that execute the mounting of unmounted data, select the sequence that minimizes the time required to complete the mounting of the target board and, if appropriate, selects the sequence that is appropriate for the mounting group that belongs to the sequence. Assuming that the execution of the mounting group was started from the position of each axis at that time and the status of the head unit at that time, the execution time of the mounting group was changed to the number of mounted data belonging to the group. The mounting group is selected so that the value obtained by dividing by the minimum is obtained, and the processing order within the mounting group is determined such that the execution time of the mounting group is minimized. Note that it takes too much processing time to search for a sequence that requires the least amount of time to complete the mounting, so a technique that simplifies this is employed.

In other words, a sequence in which the time required to complete the mounting of the substrate is shortened from among combinations of sequences for executing the non-mounted data, while simultaneously performing as much simultaneous suction as possible on the non-mounted data. Is obtained (step S421).

Next, a process of evaluating the extracted mounting group based on an execution time required for mounting the mounting group or a parameter substituted for the time is performed (step S422). Further, the situation such as the position of each axis of the mounting machine and the moving direction of the head unit at the time of starting the execution of the mounting group is added (step S423), and the “execution time of the mounting group” is changed to “group”. The mounting group having the minimum value obtained by dividing by the "number of mounted data units to which the data belongs" is determined (step S424).

In the example shown in FIG. 8 and the example shown in FIG.
The optimization process is repeated for each component mounting operation from the start of component mounting on the printed circuit board to the completion of the mounting of a predetermined component.
When there is a mounting error or the like, the work procedure is changed accordingly, so that the mounting efficiency is kept high.

[0047]

As described above, according to the apparatus of the present invention, a series of mounting operations from adsorption of components to mounting thereof can be performed on a printed circuit board on which a predetermined number of components are to be mounted, by a head unit having a plurality of heads. During the repetition, each process of extracting and storing the data of the unmounted component by the unmounted component data storage unit and determining the work procedure by the arithmetic unit is repeated, so that the component mounting on the target board is performed. Even if a special situation such as sucking, mounting error or running out of parts occurs during the work, the work procedure can be changed accordingly, and adjustment can be made to increase the efficiency of the mounting work according to the situation.

[Brief description of the drawings]

FIG. 1 is a plan view showing an example of the entire structure of a mounting machine to which the present invention is applied.

FIG. 2 is a front view of a portion where the head unit of the mounting machine is supported.

FIG. 3 is a block diagram showing a control system of the mounting machine.

FIG. 4 is a flowchart showing a process performed by an arithmetic unit or the like of the control unit.

FIG. 5 is a flowchart illustrating an example of an optimization routine according to unloaded data performed in the flowchart of FIG. 4;

FIG. 6 is a schematic diagram of a main part structure for describing an operation of the device of the present invention with a simplified specific example.

FIG. 7 is a table showing an outline of a work procedure using the structure shown in FIG. 6;

FIG. 8 is a flowchart showing another example of an optimization routine according to unloaded data.

FIG. 9 is a flowchart showing still another example of an optimization routine according to unloaded data.

[Explanation of symbols]

 P Printed circuit board 3 Component supply unit 5 Head unit 13 Head 20 Control unit 21 Data list storage unit 22 Unmounted data storage unit 23 Arithmetic unit 25 Control unit

Claims (2)

[Claims] 1. A component supply section, a component mounting section on which a printed circuit board is mounted, and a head unit movable across the component supply section and the component mounting section, wherein the head unit has a plurality of components for suctioning components. By mounting the head, the head unit moves to the component mounting unit after all or a part of the head unit sucks the component from the component supply unit, and the mounting operation of mounting the component on the printed circuit board is repeated a plurality of times. In a component mounting apparatus configured to mount a predetermined number of components on a printed board, a data list storage unit that stores a data list of components to be mounted on the board, An unmounted component data storage unit for extracting and storing data, and an actual mounting process for the unmounted components to improve the mounting efficiency in the subsequent mounting operation. Computing means for determining a work procedure including a line order and a feeder to be used, and control means for performing a mounting operation in accordance with the work procedure determined by the computing means, and after the mounting of components on a printed circuit board is started. Until the mounting of a predetermined number of components is completed, the processing of extracting and storing data of the unmounted components by the unmounted component data storage means and determining the work procedure by the arithmetic means is repeated. A component mounting apparatus characterized by the above-mentioned. 2. The processing of extracting and storing data of an unmounted component by the unmounted component data storage means and determining a work procedure by the arithmetic means is performed each time the component mounting work is performed. The component mounting apparatus according to claim 1, wherein: