JP2013143396A - Suction head unit for surface mounting device, and origin position adjustment method for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rotary suction head unit for a surface mounting device capable of adjusting an origin position without requiring data backup accompanying application of an absolute encoder, and to provide an origin position adjustment method for the same.SOLUTION: In a suction head unit 100 of a surface mounting device, at a zero count position of an encoder of an R servomotor rotating a rotary head 120 in an R-direction, a rotation member 123 is at a position where a sensor 117 reacts, and a No.1 spindle 121-1 to be a reference among respective spindles 122 is immediately under a pressing member 113. At a zero count position of an encoder of a T servomotor 114 rotating each spindle in a T-direction, all positions of the respective spindles in the T-direction are at zero degree to be a reference. At a zero count position of an encoder of a Z servomotor moving the pressing member 113 in a Z-direction, the pressing member is at a position contacted with an upper end of the No.1 spindle.

Description

  The present invention relates to a suction head unit that sucks an electronic component in a surface mounter for mounting an electronic component such as an IC chip on a printed circuit board, and a method for adjusting the origin position thereof. In this specification, an electronic component is also simply referred to as a component.

  The surface mounting machine is configured so that an electronic component is sucked from a component supply unit by a suction head unit having a suction nozzle, transferred onto a printed board, and mounted at a predetermined position on the printed board.

  The suction head unit is generally attached to the head body so that the rotary head can rotate in the R direction around the vertical axis, and a plurality of spindles are attached to the rotary head so as to be rotatable in the T direction around the axis, A suction nozzle that picks up electronic components is mounted at the tip of each spindle, and a pressing member that presses the upper end of the spindle and moves the spindle in the Z direction along the axial direction is disposed at one location on the head body. Have Furthermore, the head body of the suction head unit includes an R servo motor that rotates the rotary head in the R direction, a T servo motor that rotates each spindle in the T direction, and a Z servo motor that moves the pressing member in the Z direction. Installed. A suction head unit is obtained by unitizing the above configuration, and a plurality of types of suction head units are prepared according to the size and type of parts to be sucked. Then, a suction head unit suitable for the size and type of the part to be sucked is selected and mounted on the surface mounter body. Also, if the size or type of parts to be sucked changes, the suction head unit is replaced.

  As described above, since the suction head unit is attached to and detached from the surface mounter body, it is necessary to adjust the origin of the machine position when a new suction head unit is mounted. Specifically, as described above, since the suction head unit includes the R servo motor, the T servo motor, and the Z servo motor, it is necessary to adjust the origin positions in the R direction, the T direction, and the Z direction. If the origin position is not accurate, it goes without saying that the mounting accuracy of the components deteriorates.

  Conventionally, as a method for adjusting the origin position of a mechanical device using a servo motor, a method using the output of an absolute encoder is known (for example, Patent Document 1). Since the absolute encoder outputs the absolute value of the rotation angle and is backed up by a battery so that the operation amount data is not lost at the time of a power failure, there is an advantage that an origin return operation at the time of power-on is unnecessary. However, when the battery is lost, the backup data of the operation amount is also lost, so there is a problem that the origin cannot be restored after the battery is lost.

JP 2006-18524 A

  A problem to be solved by the present invention is to provide a rotary type suction head unit of a surface mounter capable of adjusting an origin position without requiring data backup associated with application of an absolute encoder, and an origin position adjustment method thereof. It is in.

  In the suction head unit of the surface mounter of the present invention, the rotary head is attached to the head body so as to be rotatable in the R direction around the vertical axis, and a plurality of spindles can be rotated in the T direction around the axis line. A suction nozzle that sucks electronic components is attached to the tip of each spindle, and a pressing member that presses the upper end of the spindle and moves the spindle in the Z direction along the axial direction is provided at one position of the head body. A surface mounter having an R servo motor arranged to rotate the rotary head in the R direction, a T servo motor that rotates the spindles in the T direction, and a Z servo motor that moves the pressing member in the Z direction. In the suction head unit, a rotating member that rotates in the R direction together with the rotary head, and a rotating member of the rotating member. A sensor which is arranged on the path and reacts when the rotating member arrives, and at the zero count position of the encoder of the R servo motor, the rotating member is in a position where the sensor reacts, and each spindle No. which is the standard. 1 spindle is directly below the pressing member, and at the zero count position of the encoder of the T servo motor, the position of each spindle in the T direction is at a position of 0 degrees, and the encoder of the Z servo motor In the zero count position, the pressing member is the No. It is the position which contacts the upper end of 1 spindle.

  In the present invention, the sensor may be an optical sensor, and the rotating member may be a light shielding member that shields the optical sensor.

  Moreover, in this invention, the upper limit stopper which prescribes | regulates the upper limit position of the said press member can be provided.

  Furthermore, in the present invention, a torque sensor for detecting the torque value of the Z servo motor is provided, and when the torque value detected by the torque sensor exceeds a predetermined value, it is confirmed that the pressing member has reached the upper limit position. It can be made to detect.

  The method of adjusting the origin position of the suction head unit of the surface mounter of the present invention is a method of adjusting the origin position of the rotary head in the R direction in the suction head unit of the surface mounter of the present invention, together with the rotary head When the rotating member is rotated in the R direction and the sensor reacts upon arrival of the rotating member, the R servo motor is pitch-feeded in the R direction in units of pulses of the encoder, and the R direction origin of the rotary head The position is adjusted.

  Also, the method for adjusting the origin position of the suction head unit of the surface mounter of the present invention is a method of adjusting the origin position in the Z direction of the pressing member in the suction head unit of the surface mounter of the present invention having the upper limit stopper. Then, after the pressing member reaches the upper limit position, the pressing member is lowered, and the position where the count of the encoder of the Z servo motor first becomes zero in the lowering process is defined as the zero count position. The pressing member is No. It is characterized by being in contact with the upper end of one spindle.

  According to the present invention, since the origin position is adjusted based on the zero count position of the encoder of each servo motor, the origin position can be adjusted without requiring data backup by a battery.

It is a whole block diagram which shows a state when mounting | wearing the surface mounting machine main body with the adsorption | suction head unit of the surface mounting machine of this invention. It is a front view of the adsorption head unit of FIG. It is AA sectional drawing of FIG. It is BB sectional drawing of FIG.

  Hereinafter, embodiments of the present invention will be described based on examples shown in the drawings.

  FIG. 1 is an overall configuration diagram showing a state when the suction head unit of the surface mounter of the present invention is mounted on the surface mounter body.

  The suction head unit 100 is detachably attached to the head plate 210 of the surface mounter body 200.

  The suction head unit 100 is configured by attaching a rotary head 120 to a head main body 110 so as to be rotatable in an R direction around a vertical axis.

  A connector 111 in which the power supply lines and signal lines of the suction head unit 100 are aggregated is provided on the upper part of the head main body 110, and the connector 111 is connected to the power supply / signal supply unit 220 of the surface mounter main body 200. Then, power and signals are supplied to the suction head unit 100.

  The head plate 210 is provided with two positioning pins 211 arranged in the horizontal direction, and a plurality of air couplers 230 communicating with an air supply source are arranged on the upper portion of the surface mounter main body 200. By connecting an air pipe (not shown) of the suction head unit 100 to the air coupler 230, air is supplied to the suction head unit 100.

  When attaching the suction head unit 100 to the head plate 210, the suction head unit 100 is slid toward the head plate 210 after the suction head unit 100 is hooked on the two positioning pins 211 and positioned. Then, the connector 111 is automatically connected to the power / signal supply unit 220. Thereafter, the suction head unit 100 is fixed to the head plate 210 with fixing bolts, and the air pipe of the suction head unit 100 is connected to the air coupler 230. It is convenient to use a flexible tube for the connection of the air piping.

  On the other hand, when removing the suction head unit 100 from the head plate 210, the fixing bolt is removed. At this time, the fixing bolt is held by the bolt holder 112 and maintains the state of being attached to the head main body 110 side without dropping. Thereafter, the air pipe of the suction head unit 100 is removed from the air coupler 230, and the suction head unit 100 is slid in a direction away from the head plate 210 in a state where the suction head unit 100 is hooked on the two positioning pins 211. As a result, the connector 111 is disconnected from the power / signal supply unit 220.

  In this manner, the suction head unit 100 is attached to and detached from the head plate 210 of the surface mounter body 200, and the suction head unit 100 is appropriately replaced.

  Next, the configuration of the suction head unit 100 will be described. 2 is a front view of the suction head unit 100, FIG. 3 is an AA sectional view thereof, and FIG. 4 is a BB sectional view thereof.

  A rotary head 120 is attached to the head body 110 so as to be rotatable in the R direction around the vertical axis. A plurality of spindles 121 are mounted on the rotary head 120 so as to be rotatable in the T direction around the axis. Each spindle 121 is arranged at equal intervals in the circumferential direction of the rotary head 120, and a suction nozzle 122 that sucks an electronic component is attached to the tip of each spindle 121. A pressing member 113 that presses the upper end of the spindle 121 and moves the spindle 121 in the Z direction along the axial direction is disposed at one location on the head main body 110. Furthermore, the head body 110 includes an R servo motor 114 that rotates the rotary head 120 in the R direction, a T servo motor 115 that rotates each spindle 121 in the T direction, and a Z servo motor that moves the pressing member 113 in the Z direction. 116 is arranged.

  Referring to FIG. 2, the gear 114 b fixed to the motor shaft 114 a of the R servo motor 114 meshes with the gear 120 b fixed to the hollow vertical shaft 120 a that is the rotation shaft of the rotary head 120. Therefore, the rotary head 120 rotates in the R direction by driving the R servo motor 114. Generally, the gear ratio between the gear 114b on the R servo motor 114 side and the gear 120b on the rotary head 120 side is set so that the rotary head 120 side is decelerated. In this embodiment, the gear ratio is 8.

  A light shielding member 123 is fixed to the upper surface of the gear 120b on the rotary head 120 side so as to protrude upward. That is, the light shielding member 123 rotates with the rotary head 120 at the same rotational speed. An optical sensor 117 is disposed on the rotation path of the light shielding member 123. The optical sensor 117 is fixed to the head body 110. The optical sensor 117 reacts by being shielded from light when the light shielding member 123 arrives.

  On the other hand, the gear 115b fixed to the motor shaft 115a of the T servo motor 115 meshes with all the gears 121a fixed to each spindle 121. Therefore, each spindle 121 rotates in the T direction by driving the T servo motor 115. Generally, the gear ratio between the gear 115b on the T servo motor 115 side and the gear 121a on the spindle 121 side is set so that the speed on the spindle 121 side is increased or constant. In this embodiment, the gear ratio ( The speed increasing ratio) is 4: 1.

  The motor shaft 115a of the T servo motor 115 is inserted into the vertical shaft 120a of the rotary head 120 described above. An air passage 115c for supplying a negative pressure or a slight positive pressure to the suction nozzle 122 is provided in the motor shaft 115a.

  Referring to FIG. 3, a motor shaft 116a of the Z servo motor 116 constitutes a screw shaft of a ball screw mechanism, and a nut 116b is attached to the screw shaft (motor shaft 116a). A pressing member 113 is connected to the nut 116b. Therefore, the driving of the Z servo motor 116 moves the pressing member 113 together with the nut 116b in the Z direction. Further, an upper limit stopper 116c that defines the upper limit position of the nut 116b is provided on the upper portion of the motor shaft 116a. The upper limit position of the pressing member 113 is also defined by the upper limit stopper 116c.

  In addition, a torque sensor for detecting the torque value of the Z servo motor is provided in the Z servo motor 116 or in its control unit. When the torque value detected by the torque sensor becomes a predetermined value or more, the nut 116b is It hits the upper limit stopper 116c and detects that the pressing member 113 has reached the upper limit position.

  In the above configuration, the adjustment of the origin position in the R direction, T direction, and Z direction of the suction head unit 100 is performed as follows.

(1) R-direction origin position adjustment The R-direction origin position adjustment is performed at the zero count position of the encoder of the R servo motor 114 where the light shielding member 123 reacts with the optical sensor 117 (the position where the optical sensor 117 is shielded). ) And the reference No. of each spindle 121. 1 spindle 121-1 (see FIG. 3) is positioned directly below the pressing member 113. In other words, the suction head unit 100 is assembled so as to have the above-described positional relationship.

  In order to adjust the origin position in the R direction more precisely, the light shielding member 123 is rotated in the R direction (clockwise direction) together with the rotary head 120, that is, when the optical sensor 117 reacts due to the arrival of the light shielding member 123, that is, When the light shielding member 123 shields the optical sensor 117, the R servo motor 114 is pitched in the R direction in units of pulses of the encoder, and when the correct origin position in the R direction is reached, the position is changed to the R direction. The origin position of.

  Note that the pitch feed amount of the R servo motor 114 is arbitrarily determined in units of pulses. That is, the R servo motor 114 is pitch-fed in units of one pulse or a plurality of pulses in accordance with the resolution (pulse / rotation) of the encoder of the R servo motor 114.

  As described with reference to FIG. 2, the gear 114b on the R servo motor 114 side and the gear 120b on the rotary head 120 side constitute an integer multiple reduction mechanism based on the gear ratio, so the zero count position of the encoder of the R servo motor 114 Therefore, the light shielding member 123 is not necessarily located at the position where the light sensor 117 is shielded. Therefore, the origin position adjustment method as described above is effective.

(2) T-direction origin position adjustment The R-direction origin position adjustment is such that the position of each spindle 121 in the T direction is at a 0 degree position which is the reference at the zero count position of the encoder of the T servo motor 115. To. In other words, the suction head unit 100 is assembled so as to have such a positional relationship.

  As described with reference to FIG. 2, the gear 115b on the T servo motor 115 side and the gear 121a on each spindle 121 side constitute an integer multiple speed increasing mechanism or constant speed mechanism depending on the gear ratio. The origin position adjustment is sufficient as described above. However, in order to adjust the origin position in the T direction more precisely, as in the origin position adjustment in the R direction described above, the T servo motor 115 is sent in the T direction while pitch-feeding in the T direction in units of pulses of the encoder. The origin position can be adjusted.

(3) Z-direction origin position adjustment In the Z-direction origin position adjustment, the pressing member 113 is set to No. at the zero count position of the encoder of the Z servo motor 116. It is made to be located in the position which contacts the upper end of one spindle 121-1. In other words, the suction head unit 100 is assembled so as to have such a positional relationship.

  Here, in order to ensure a sufficient Z-direction stroke, the Z servo motor 116 often has a plurality of encoder zero count positions (two in the embodiment) within the stroke. The origin position in the Z direction is preferably based on the highest zero count position of the stroke of the Z servo motor 116. That is, once the pressing member 113 reaches the upper limit position defined by the upper limit stopper 116c, the pressing member 113 is lowered, and the position where the encoder count of the Z servo motor 116 first becomes zero in the lowering process is zeroed. As the count position, the pressing member 116 is No. at the zero count position. It is preferable to make contact with the upper end of one spindle 121-1.

  As described above, according to the present invention, the origin position is adjusted with reference to the zero count position of the encoders of the servo motors 114, 115, and 116. Therefore, the origin position can be adjusted without requiring data backup by a battery. .

DESCRIPTION OF SYMBOLS 100 Adsorption head unit 110 Head main body 111 Connector 112 Bolt holder 113 Press member 114 R Servo motor 114a Motor shaft 114b Gear 115 T Servo motor 115a Motor shaft 115b Gear 115c Air passage 116 Z Servo motor 116a Motor shaft (screw shaft)
116b Nut 116c Upper limit stopper 117 Optical sensor 120 Rotary head 120a Vertical shaft 120b Gear 121 Spindle 121-1 No. 1 spindle 121a gear 122 suction nozzle 123 light shielding member (rotating member)
200 surface mounter body 210 head plate 211 positioning pin 220 power supply / signal supply unit 230 air coupler

Claims (6)

A rotary head is attached to the head main body so as to be rotatable in the R direction around the vertical axis, and a plurality of spindles are attached to the rotary head so as to be rotatable in the T direction around the axis, and an electronic component is attached to the tip of each spindle. A suction nozzle for suction is mounted, a pressing member that presses the upper end of the spindle and moves the spindle in the Z direction along the axial direction is disposed at one position of the head body, and rotates the rotary head in the R direction. In a suction head unit of a surface mounter having an R servo motor, a T servo motor that rotates each spindle in the T direction, and a Z servo motor that moves the pressing member in the Z direction.
A rotating member that rotates in the R direction together with the rotary head, and a sensor that is arranged on a rotating path of the rotating member and reacts when the rotating member arrives,
At the zero count position of the encoder of the R servo motor, the rotating member is in a position where the sensor reacts, and the reference No. 1 spindle is directly under the pressing member,
At the zero count position of the encoder of the T servo motor, the positions in the T direction of each spindle are all at the 0 degree position,
At the zero count position of the encoder of the Z servo motor, the pressing member is the No. A suction head unit of a surface mounter, wherein the suction head unit is in a position in contact with the upper end of one spindle.   The suction head unit of the surface mounter according to claim 1, wherein the sensor is an optical sensor, and the rotating member is a light shielding member that shields the optical sensor.   The suction head unit of the surface mounter according to claim 1, further comprising an upper limit stopper that defines an upper limit position of the pressing member.   A torque sensor for detecting a torque value of the Z servo motor is detected, and it is detected that the pressing member has reached an upper limit position when the torque value detected by the torque sensor is equal to or greater than a predetermined value. 4. A suction head unit of a surface mounting machine according to 3. A method of adjusting the origin position in the R direction of the rotary head in the suction head unit of the surface mounter according to claim 1,
The rotary member is rotated in the R direction together with the rotary head, and the R servo motor is pitched in the R direction in units of pulses of the encoder from the time when the sensor reacts upon arrival of the rotary member. An origin position adjustment method for a suction head unit of a surface mounter, wherein the origin position in the R direction is adjusted. A method of adjusting the origin position in the Z direction of the pressing member in the suction head unit of the surface mounter according to claim 3 or 4,
After the pressing member has reached the upper limit position, the pressing member is lowered, and the position where the count of the encoder of the Z servo motor first becomes zero in the lowering process is defined as the zero count position. The pressing member is the No. A method for adjusting the origin position of a suction head unit of a surface mounter, characterized in that the upper end of one spindle is brought into contact with the spindle.

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