JPH07112120B2 - Mobile control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a moving body, and more specifically, it is a working means for grasping electronic components housed in a pallet and transporting them to a predetermined position on a wiring board for mounting. The present invention relates to a device for controlling a mobile body such as.

[0002]

2. Description of the Related Art In a process of assembling electronic equipment, a so-called pick-and-place apparatus for picking up and carrying one of a plurality of electronic parts stored in a pallet by a working means and mounting it at a desired position on a wiring board. Then, in order to prevent the sensor for detecting the origin position of the moving body, which is the working means, from deviating from the accurate mounting, the prestored set values of the entire mechanism system including the working means are offset. It is configured so that it can be corrected.

[0003]

In such a prior art, even if there is a deviation of the reference due to the origin sensor of the coordinate system,
Although it is possible to perform accurate mounting of electronic components, as a new problem, it is said that no measures are taken when the position of the pallet or the wiring board is displaced or the shape of the pallet is changed. There's a problem.

FIG. 6 is a diagram for explaining the prior art. For example, when the pallet in which the electronic parts are stored is supposed to be the standard coordinate position 21, but is displaced by the displacement amount 23 as indicated by the reference numeral 22, each standard coordinate value 24 is changed by this displacement amount 23. It suffices to change all at once, and such correction of the reference coordinate value 24 is easy. However, as shown in FIG. 6B, for example, the reference coordinate value 24 on which the component of the wiring board is to be mounted does not need to change, and the reference coordinate position of the pallet 25 is shown by a virtual line 26 from the position shown by the solid line. When the pallet is displaced, it is necessary to correct only the partial displacement amount 27 of the pallet, and only the reference coordinate value related to the pallet. Such partial correction calculation of the reference coordinate values of only the pallet cannot be achieved by the above-mentioned prior art. When only the pallet 25 is displaced, it becomes a troublesome situation that the reference coordinate values of all the electronic component storage positions 28 of the pallet 25 need to be input again.

An object of the present invention is to provide a control device for a moving body, which can move the moving body accurately and easily.

[0006]

SUMMARY OF THE INVENTION According to the present invention, a reference coordinate value that is a target of a pallet that houses electronic components, a wiring board that mounts the electronic components, and a deviation amount that is corrected by adding or subtracting the coordinate values are provided. Using a first memory for grouping and storing groups into a plurality of groups, a second memory for setting and storing a shift amount in the first memory, and a shift amount for each group stored in the second memory. A calculation unit that adds or subtracts the coordinate value stored in the first memory to correct the coordinate value and obtains a target coordinate value; and a unit that moves the moving body to the target coordinate value in response to the output of the calculation unit. It is a control device of a mobile body characterized by including.

[0007]

According to the present invention, the first memory has a pallet accommodating an electronic component, a reference coordinate value as a target of a wiring board on which the electronic component is mounted, and a deviation amount for correction for adding or subtracting the coordinate value. And are grouped and stored in a plurality of groups, the deviation amount for each group is set and stored in the second memory, and the reference coordinate values stored in the first memory are stored in the second memory. , The deviation amount of each group stored in the second memory is added / subtracted, for example, to calculate the target coordinate value by correcting the reference coordinate value, and the moving body is moved to this target coordinate value by the moving means. Move and control. In this way, the reference coordinate value of each group is
Since the shift amount corresponding to the group is calculated, the shift amount stored in the second memory may be set for each group, and it is not necessary to reset the shift amounts of all the reference coordinate values. Therefore, it is easy to set the shift amount, and the moving body can be brought to the desired target coordinate value regardless of the shift amount. That is, according to the present invention, the pallet and the wiring board are each divided into a plurality of groups, and the first memory for storing the reference coordinate value and the deviation amount is provided for each group. When mounting, even when the positions of the pallet and the wiring board are displaced or when the shape of the pallet is changed, the mounting can be performed without displacement.

[0008]

FIG. 1 is a simplified plan view of an embodiment of the present invention. The moving body 1 can be moved within the XY plane, which is a horizontal plane, by the X-direction moving means 2 and the Y-direction moving means 3, and the electronic components 1 can be transferred from the plurality of pallets A, B, C.
They are taken out one by one and mounted on the mounting positions a, b and c of the substrate 5 which are conveyed by the conveyor 4 and stopped by the stopper 12. Mobile 1
Includes a working means for grasping the electronic components housed in such pallets A to C and mounting them on the wiring board 5.

FIG. 2 is a block diagram showing the electrical construction of the embodiment shown in FIG. The motor 6 included in the X-direction moving means 2 drives the Y-direction moving means 3 in the X-direction, and the motor 7 included in the Y-direction moving means 3 is
The moving body 1 is driven in the Y direction. These motors 6,7
Are controlled by motor control circuits 9 and 10 responsive to the output from the processing circuit 8 realized by a microcomputer or the like. The processing circuit 8 is provided with input means 11 for manual input, and is also connected to the first memory M1 and the second memory M2.

FIG. 3 (1) is a diagram showing a memory map of the memory M1, and FIG. 3 (2) is a diagram showing a memory map of the memory M2. In the memory M1, a position A11 where each electronic component of the pallet A shown in FIG. 1 is stored,
A21, ..., A22, ..., Aij, ... are stored, the electronic components are grasped and taken out by the moving body 1 from each position, and mounted on the mounting position a of the substrate 5 stopped by the stopper 12.

Next, the moving body 1 takes out parts from the position of the pallet B, for example, B11, and mounts the wiring board 5 at the position b.
Mounted on the pallet C, for example, C11.
From the component and mount it at the mounting position c on the wiring board 5,
After the components have been mounted at the respective positions a, b, c of the wiring board 5 in this way, the wiring board 5 is moved in the direction of the arrow 13 and conveyed to the subsequent process, and the new wiring board 5 is stopped as a stopper. 12 to be stopped. afterwards,
The component is taken out from the position A12 next to the position A11 on the pallet A and mounted on the new wiring board 5 at the mounting position a by the moving body 1. Thereafter, similarly, the components on the pallets B and C are mounted at the mounting positions b and c. To implement.

As described above, the pallet A,
The storage positions of the components in B and C are stored as predetermined target reference coordinate values. This reference coordinate value is, for example, with respect to the positions A11 and A12 of the pallet A, A11
(XA11, yA11) and A12 (xA12, yA
12), ..., and for pallet B, position B1
1 is B11 (xB11, yB11), and similarly, the component storage position C11 of the pallet C is C11.
(XC11, yC11). The reference coordinate value of the component storage position Aij of the pallet A is Aij (xAij, yAi
j). The reference coordinate values of the respective mounting positions a, b, c on the wiring board 5 are a (xa, ya), b (xb, yb), c (x
c, yc). Such reference coordinate values are sequentially stored in the memory M1 according to the moving order of the moving body 1 as shown in FIG.

The pallets A, B, C and the wiring board 5 are
When the pallets A, B, C and the wiring board 5 are deviated from the reference coordinate values, the pallets A, B, C and the wiring board 5 forming each group are grouped. Each reference coordinate value will be similarly displaced. For example, when the pallet A deviates from the target reference coordinate value, each component storage position A11, A12, ..., A
21, A22, ..., Aij ,.

FIG. 3B shows the contents stored in the other memory M2. When the wiring board 5 deviates from the target reference coordinate value, the deviation amount in the X and Y planes is Δ.
xp1 and Δyp1 are set, and these shift amounts are collectively referred to as a shift amount represented by reference numeral OF1. Similarly, the shift amounts of the pallets A and B are OF4 (ΔxA, ΔyA) and OF5.
(ΔxB, ΔyB), and the shift amount of the pallet C is OF6 (ΔxC, ΔyC). Each of these deviation amounts may be detected by the detection means and stored in the memory M2, or may be input by the operation of the input means 11.

Further, in the memory M1, as shown in FIG. 3A, the deviation amounts OF1 to OF6 of the pallets A, B, C and the substrate 5 are stored together with the reference coordinate value for each group. For example, the component storage position A of pallet A
In order to represent the shift amount of 11, the shift amount O in FIG.
F4 is displayed, and the specific shift amount (ΔxA, ΔyA) is stored in the memory M2 as shown in FIG. 3 (2). Therefore, when the pallet A is displaced, the stored contents of the memory M2 shown in FIG.
.., A21, A22, ..., Aij, .. .. can be corrected as described below.

FIG. 4 is a flow chart for explaining the operation of the processing circuit 8. Step r1 to step r
2, when calculating the position to which the moving body 1 should move, for example, to move the moving body 1 to the first component storage position A11 of the pallet A, the target reference coordinate value A11 (xA11, yA11). ) Is read out, and then, in step r3, the identification data OF4 of the shift amount which is the offset of the component storage position A11 is read out. Corresponding to this deviation amount identification data OF4, the data from the memory M2 shown in FIG.
Specific data OF4 (Δx) of the shift amount shown in (2)
A, ΔyA) is read. At step r4, the target coordinate value for the component storage position A11 is set to (xA
11 + ΔxA), and in the Y direction (yA11 +
ΔyA) is calculated. A positive or negative sign is set for each of the deviation amounts OF1 to OF6, as shown in FIG.
(2) shows the case of positive, and when negative, the symbol "-" is added and subtraction is performed.

In step r5, the motor control circuits 9 and 10 are activated in order to move the moving body 1 to the target coordinate values obtained as described above. Thus, even if the pallet A is displaced, the parts can be easily taken out by the moving body 1.

FIG. 5 is a diagram for explaining the principle of another embodiment of the present invention. The pallet A is set at the target reference coordinate position as shown by the reference numeral 14, and the pallet A shown in FIG.
It is assumed that the X and Y reference coordinate values of (1) are set. At this time, it is assumed that the pallet A is actually deviated by + ΔxA in the X direction, deviated by + ΔyA in the Y direction, and tilted by the angle θ, as indicated by reference numeral 15.

Even in such a case, in order to obtain an accurate target coordinate value according to the present invention, an arithmetic expression regarding the angle θ is stored in the memory M2 in advance, and the component storage position depending on the angle θ is stored. An equation for calculating the target coordinate value is stored for each pallet A, B, C and the wiring board 5, and the target coordinate value is calculated and calculated based on the shift amount and the mathematical expression. .

The present invention can be widely implemented not only for mounting electronic components but also for controlling movement of other moving bodies.

[0021]

As described above, according to the present invention, in the first memory, the target reference coordinate value and the coordinate value of the pallet accommodating the electronic component and the wiring board on which the electronic component is mounted are added or The deviation amounts to be corrected by subtraction are grouped and stored, the deviation amounts of the respective groups are set in the second memory, and the reference coordinate values are added by the calculating means by the deviation amounts of the respective groups. Since the target coordinate value is obtained by performing correction such as subtraction and the like, and the moving body is moved to this target coordinate value by the moving means, all the reference coordinate values are input again and stored in the first memory. There is no need to bother, and correction setting of the reference coordinate value can be easily performed, and even if such reference coordinate value is deviated, the moving body can be accurately moved to the target coordinate value. can do In particular, according to the present invention, the pallet and the wiring board are each divided into a plurality of groups, and the first memory for storing the reference coordinate value and the deviation amount is provided for each group. When mounting, even when the positions of the pallet and the wiring board are displaced or when the shape of the pallet is changed, the mounting can be performed without displacement.

[Brief description of drawings]

FIG. 1 is a simplified plan view of an embodiment of the present invention.

FIG. 2 is a block diagram showing an electrical configuration of the embodiment shown in FIG.

FIG. 3 is a diagram showing a memory map of memories M1 and M2.

FIG. 4 is a flowchart for explaining an operation of a processing circuit 8.

FIG. 5 is a simplified diagram of a portion of another embodiment of the present invention.

FIG. 6 is a diagram for explaining the prior art.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Moving body 2 X direction moving means 3 Y direction moving means 4 Belt conveyor 5 Wiring board 6,7 Motor 8 Processing circuit 9,10 Motor control circuit 11 Input means M1 1st memory M2 2nd memory

Claims (1)

[Claims] 1. A pallet accommodating an electronic component, a target reference coordinate value of a wiring board on which the electronic component is mounted, and a deviation amount to be corrected by adding or subtracting the coordinate value are grouped into a plurality of groups. The first memory to be stored, the second memory to set and store the shift amount in the first memory, and the shift amount of each group stored in the second memory are stored in the first memory. A moving means including a calculating means for adding or subtracting to and from the existing coordinate value to obtain a target coordinate value, and a means for moving the moving body to the target coordinate value in response to the output of the calculating means. Body control device.