JPH0828564B2 - Coating device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of Industrial Application The present invention relates to a printed circuit board mounted on a table by discharging adhesive from a plurality of coating nozzles provided at the tip of a rotatable coating head. The coating head rotated to a desired position by a desired rotation angle is relatively moved by XY movement drive means.
The present invention relates to a coating device that moves in XY to apply the adhesive.

(B) Conventional Technology A conventional technology of a coating apparatus in which a plurality of coating nozzles are provided in this type coating head is disclosed in Japanese Patent Publication No. 61-56638.

However, in this conventional technique, when the coating head is rotated by a predetermined angle in the horizontal plane to apply the adhesive, the reference point of the coating (the reference point of the coating which should be the center of rotation of the coating head due to a processing error, an installation error, etc.) When there are two coating nozzles, a deviation occurs at the center point between the centers of the coating nozzles. In addition, because the coating nozzle is not mounted at the angular position where the angular positioning should be performed due to the error in the mounting angle (the processing error of the regulating member when the angular position is regulated), the coating reference point and the rotation center The straight line connecting the lines forms a deviation angle from the reference line on the coating head that determines the coating angle.

Due to these deviations, the coating head cannot be positioned at a precise position, and in the case of a plurality of nozzles, the positions of the coating points are displaced if the angles do not match.

(C) Problem to be Solved by the Invention Accordingly, an object of the present invention is to enable the adhesive to be applied to a desired position on a printed circuit board without being affected by the rotation even when the coating head rotates. .

(D) Means for Solving the Problem Therefore, according to the present invention, the adhesive is discharged from a plurality of coating nozzles provided at the tip of the rotatable coating head, and the desired position of the printed circuit board placed on the table is discharged. The coating head rotated by the head rotation means by a desired rotation angle.
In a coating device for applying the adhesive by relatively moving in XY by an XY movement driving means, a deviation distance between a reference point on a coating head that determines a coating position and a rotation center of the coating head, and the reference point and the reference point A first storage means for storing a deviation angle formed by a straight line connecting the rotation centers and a reference line on the application head for determining the application angle, and a second storage means for storing the XY coordinate position and the application angle data where the adhesive should be originally applied. Storage means and the first and second
And a control means for controlling the head rotation means and the XY movement drive means so that the adhesive can be applied at the original application angle to the original application position of the printed circuit board based on each information stored in the storage means. It is a thing.

(E) Action The control means prints based on the displacement distance and displacement angle stored in the first storage means and the XY coordinate position and application angle data which should originally apply the adhesive stored in the second storage means. The head rotation means and the XY movement drive means are controlled so that the adhesive can be applied to the original application position of the substrate at the original application angle.

(F) Embodiment One embodiment of the present invention will be described below with reference to the drawings.

In FIGS. 1 and 2, (1) is an XY table on which a printed circuit board (2) is mounted, and an X-axis motor (4) rotated by an X-axis motor drive circuit (3) moves the X-axis. Y that moves in the direction and is rotated by the Y-axis motor drive circuit (5)
The axis motor (6) moves in the Y direction. (7) is the XY
A dispenser unit having a coating head (9) for coating an adhesive (8) on a printed circuit board (2) placed on a table (1).

Reference numeral (10) is a supply conveyor that conveys and supplies the printed circuit board (2), and (11) is a discharge conveyor that conveys and discharges the printed circuit board (2). (12) is a transfer unit for the printed circuit board (2), which is on the supply conveyor (10).
Is placed on the XY table (1) and the substrate (2) on the XY table (1) is placed on the discharge conveyor (11).

On the printed circuit board (2), a rectangular chip component (not shown) such as a resistor or a capacitor is mounted on the printed circuit board (2) in accordance with the position of the applied adhesive (8) by a component mounting device (not shown). Become.

Hereinafter, the dispenser unit (7) will be described in detail with reference to FIG.

A syringe (14) filled with an adhesive (8) is provided above the application head (9) and is provided below the head (9) and communicates with the syringe (14).
The adhesive (8) is discharged from the application nozzles (15) (15) of the book. The syringe (14) is provided with an air hose (16) for sending compressed air for discharging the adhesive (8) from the nozzles (15) (15).

Reference numeral (17) is a vertical movement lever pivotally supported by a support member (19) via a support shaft (18), and has a roller (2
0) is fitted between a pair of locking portions (21) (21) provided on the coating head (9), and the roller (22) at the other end is attached to the drive cam (24) by a spring (23). It is urged to press. The cam (24) is rotated by a vertical movement motor (26) which is rotated by a cam drive circuit (25).

The coating head (9) is fitted in the gear (27) and meshed with the gear (30) rotated by the rotary gear motor (29) driven by the rotary gear motor drive circuit (28). The rotary gear motor (29) and the gear (30) are fixed to the printed circuit board (2) without moving up and down.
7) meshes with the gear (30) while moving up and down and rotates.

In FIG. 4, (32) is an XY coordinate position on the printed circuit board (2) to which the adhesive (8) is to be applied, and is seen from above in a horizontal plane by the rotation of the rotary gear motor (29) of the coating head (9). Is a RAM for storing the coating position NC data for storing the θ rotation angle position data, which is the rotation angle, for each coating order, and (33) is the ROM storing the program regarding the coating operation.

The 0 degree of the θ rotation angle position is between the centers (one center is N ₁ and the other center is N ₂ ) of the two nozzles (15) and (15) of the coating head (9). One of the two rotation angle positions where the straight line connecting the two is parallel to the Y axis of the XY table (1). That is, a straight line perpendicular to the straight line connecting N ₁ and N ₂ is parallel to the X axis. This θ rotation angle position data coincides with the rotation angle position data in the θ direction of the chip component mounted by the component mounting device.

Two coating nozzles (1) provided on the coating head (9)
5) The position of the midpoint between the nozzle centers N ₁ and N _{2 of} (15) (hereinafter referred to as the midpoint between the coating nozzles) is located at the XY coordinate position to be coated as described above. It serves as a reference point for application, which determines the application position of the adhesive (8). Application nozzle (15)
(15) is provided so that the midpoint between the coating nozzles and the coating head rotation center, which is the center of rotation of the coating head, are aligned as much as possible, but they cannot be aligned at all. For example, the coating head (9 ), A deviation occurs as shown in FIG.

Therefore, the RAM (32) is further provided with a distance l and a distance which is a deviation between the midpoint O _M between the coating nozzles and the coating head rotation center O _R.
O _R a half line passing from O _M a half-line O _R O _M, a half-straight line drawn at a right angle to the straight line from O _R connecting the center of each nozzle (15) when the half line and O _R X An angle α as shown in FIG. 5 which is an angle from the half line O _R X to the half line O _R O _{M in the} counterclockwise direction is stored.

Half line O _R X is the reference line on the coating head which determines the application angle of the adhesive (8), half line O _R X in the state of FIG. 5 is X
It is parallel to the X-axis of the Y-table (1) and the application head (9) is at the 0 rotation angle position of 0 (zero) degree. The angle α will indicate whether the reference point of the coating O _M are in which direction viewed half-line O _R X than O _R is the center of rotation.

Reference numeral (34) is a CPU, which is based on data and programs stored in the RAM (32) and ROM (34), and is connected to each drive circuit (3) (5) (25) (2) via the interface (35).
The coating operation is controlled by controlling 8).

RAM n-th application position coordinates stored in (32) is (Xn, Yn) is a θ rotation angle position .theta.n, position of the rotation center O _R on the basis of the data (Xn, Yn) in When the XY table (1) is moved and the rotary gear motor (29) is rotated to an angle position of θn degrees to position the coating head (9), the position of O _M is X = Xn + lcos (θn + α), Y = Yn
Since it is expressed as + lsin (θn + α), the CPU (34) calculates lcos (θn + α) in the X direction and Y direction in the Y direction after the above calculation.
LSin (.theta.n + alpha) to move the corrected distance XY table (1), the O _R as FIG. 6 X = Xn-lcos (θn + α), Y
= Yn-lsin (θn + α) and stop O _M at (Xn, Yn).

When the coating head (9) rotates, the CPU (34) operates the rotary gear motor drive circuit (28) so that the rotation origin position detected by the rotation origin detection means (not shown) is rotated to a predetermined rotation angle position. It is controlled by the rotation of the rotary gear motor (29), and it is a shift angle indicating how much the angular position of the half line O _R X on the coating head (9) deviates from the rotation origin position. The amount of RAM (3
The 2) are stored, have been made so as to be corrected even if the angular position of the half line O _R X is Hen' to the rotational home position by the mounting side of the coating head (9).

The operation will be described below with the above configuration.

In the present embodiment, it is assumed that the above l is 0.5 mm and α is 30 degrees.

First, the printed circuit board (2) is conveyed to the supply conveyor (10), transferred by the transfer unit (12) to the XY table (1) and placed on it. At this time, CPU (3
3) controls the rotary gear drive circuit (28) to rotate the rotary gear motor (29) so that the θ rotation angle position of the coating head (9) is 0 (zero) via the gear (27) and the gear (30). ) Rotate to the 4 degree position and stop.

Further, XY table (1) is moved so that the origin of the printed circuit board (2) (0,0) is located at the O _R. The CPU (34) is the first application position X = 200, Y = 250 of the application position NC data stored in the RAM (32) as shown in FIG.
mm. ) And θ rotation angle θ = 0 (zero) degrees are read out, and the position to stop O _R in order to position O _M at the coordinates (200,250) is calculated based on the above calculation formula. Calculated as Y = 250-0.5 × sin30 ° = 249.75. And CP
The U (34) controls the X-axis motor drive circuit (3) and the Y-axis motor drive circuit (5), respectively, and rotates the X-axis motor (4) and the Y-axis motor (6) to move the XY table (1). to position the O _R to the position of the calculation result. Thus between the application nozzle midpoint (O _M) is stopped at the position of coordinates (200, 250) of the printed board placed on the XY table (1) (2).

Then, the CPU (34) controls the cam drive circuit (25) to rotate the vertical movement motor (26). Then drive cam (24)
Is rotated, and the vertical movement lever (17) is moved through the roller (22).
Is rotated around the support shaft (18) counterclockwise in FIG. 3 by the urging force of the spring (23), and the roller (20) and the locking portion (2
1) through the application head (9), the gear (27) through the gear (3
0) Sliding down. At this time, the adhesive (8) in the syringe (11) has already been discharged to the tip of the application nozzle (15) (15) by compressed air through the air hose (16), and the application head (9) descends. Is applied onto the printed circuit board (2).

When the vertical movement motor (26) further rotates, the vertical movement lever (17) rotates clockwise, the coating head (9) rises, and the first coating operation ends.

Then CPU (34) reads the first second application position X = 150, Y = 200 and theta = 30 degrees from the RAM (32), a position to stop the 1st coating as well as O _R X = 150-0.5 × cos 60 ° =
149.75, And calculate. Therefore CPU (34) is, X axis motor so that the moving distance to the stopping position of the second O _R calculated from the stop position of the first O _R XY table (1) moves (4)
And rotate the Y-axis motor (6).

Further, the CPU (34) controls the rotary gear motor drive circuit (28) to rotate the rotary gear motor (29), and the application head (9) is viewed from above via the gear (27) and the gear (30). Rotate 30 degrees clockwise. Thus, O _M stops at the position of the coordinates (150, 200) on the printed circuit board (2).

Then, the CPU (34) controls the drive circuit (25) to rotate the vertical movement motor (26) to apply the adhesive (8) onto the printed circuit board (2) in the same manner as the first applying operation. To do.

Then CPU (34) is, RAM reads the third application position X = 170, Y = 100 and theta = 90 degrees from (32), in the same manner as described above O _R
X = 170-0.5 x cos 120 ° = 170.25, Calculated and, to stop the O _R in the same manner as described above in this position, the coating head is rotated 60 degrees counterclockwise, and θ rotation angle position of 90 °. In this way, the O _M is positioned at the coordinates (170, 100) of the printed board (2), and then the application head (9) is lowered to apply the adhesive (8) to the printed board (2) in the same manner as described above.

Thereafter, the coating operation is continued in the same manner, and when the coating for all the coating positions on the printed circuit board (2) is completed,
The transfer unit (12) transfers the substrate (2) to the discharge conveyor (11). Then, the discharge conveyor (11) conveys the substrate (2) and discharges it to the next step.

It should be noted that the θ rotation angle position of 0 (zero) degree of the coating head (9) is 0 (zero) degree even if it is not the above-mentioned position, and a half line O from the X axis of the XY table (1) The value of the angular position of _R O _M can be stored in the RAM (32) and used in place of α described above.
The deviation angle from the rotation angle data must be stored and corrected so that the angle deviation does not occur.

Further, the θ position of the coating head (9) in which the half line O _R O _M is parallel to the X axis is also used as the 0 (zero) degree position.
If it is expressed as degrees, α will be stored in the RAM (32) and the XY movement will be controlled based on the same formula as described above.

Although expressed using O _R and O distance l and the angle deviation amount of _M alpha in the above embodiment, stores represents deviation as a component parallel component and perpendicular to the straight line connecting the nozzle centers, these A correction amount by θ rotation may be calculated based on the component data and the correction movement may be performed.

Further, in the above embodiment, the midpoint between the coating nozzles is set to the RAM (3
The movement of the XY table was corrected so as to stop at the position of the XY coordinate data stored in 2), but as the second embodiment, two coating nozzles (1
5) It is possible to correct only the deviation in the direction of the straight line connecting the centers of (15).

That is, the data in the RAM (32) is X = Xn, Y = Yn, θ =
a .theta.n, a rotation center O _R As Figure 8 is moved without correction located (Xn, Yn), theta rotational angular position of the coating head (9) will be located in .theta.n In the first embodiment, the center of the coating nozzle (15)
The position of O _M , which is the midpoint between N ₁ and N ₂ , was corrected to the position of O _R , but the perpendicular line drawn from O _R to the straight line connecting the nozzles (15) and (15) centers O _M on the position of the foot (in FIG. 8 O _H)
Is corrected so that the position of the nozzle is positioned, and the deviation amount on the straight line connecting the nozzles is d (d = lsinα in the above embodiment).
Expressed in equation as, stop position of the O _R is X = Xn + dsin
The XY table (1) is moved to the position A where θn, Y = Yn-dcos θn.

The reason why only this direction is corrected is that if there is a deviation in the straight line connecting the application nozzles (15) (15),
When a chip component (not shown) is mounted at the application position of the adhesive (8) in the next process even with a slight deviation, one adhesive (4) of the two-point application is hidden by the component and UV cured. In the case of an adhesive that is flexible, it may not adhere, or the position of one adhesive (8) may be displaced from the part and it may not be possible to adhere, but this may be a little in the direction orthogonal to the horizontal plane. Even if there is a slight misalignment, it does not affect the adhesion of parts, so the application nozzle (15) (1
5) It corrects only the deviation in the direction of the line connecting the two.

Further, in the above-described embodiment, an example in which the XY table (1) moves in XY has been described, but the same control can be performed when the coating head (9) moves in XY.

Furthermore, even when there are three or more coating nozzles, a reference line for coating is determined, and the deviation between the position and the center of rotation of the coating head and the reference line on the coating head that determines the coating angle and the center of rotation of the head of the reference point If the misalignment angle of the direction is stored, the same control can be performed.

(G) Effect of the Invention As described above, according to the present invention, there is a deviation between the center of rotation of the coating head and the reference point of coating due to errors in processing and mounting, and due to the same reason, the head has a rotational angular position shift. Even if the angle formed by the straight line connecting the reference point and the rotation center with the reference line of the application head that determines the application angle is deviated, the adhesive can be applied to a desired position on the printed board.

[Brief description of drawings]

FIG. 1 is a plan view of a coating apparatus to which the present invention is applied, FIG. 2 is a perspective view of a main portion of the apparatus, FIG. 3 is a side view of a dispenser unit, and FIG. 4 is a block diagram of a control system of the present invention. 5 and 6 are diagrams showing the positional relationship as seen from above the midpoint between the coating nozzle and nozzle center on the XY table and the center of rotation of the coating head, and FIG. 7 shows coating position NC data. FIGS. 8A and 8B are diagrams showing the positional relationship seen from above the midpoint between the coating nozzle and the nozzle center on the XY table and the center of rotation of the coating head for the purpose of explaining the second embodiment. (1) …… XY table, (2) …… printed circuit board,
(3) ... X-axis motor drive circuit, (5) ... Y-axis motor drive circuit, (8) ... adhesive, (9) ... coating head,
(27) …… Gear, (28) …… Rotary gear motor drive circuit,
(30) …… Gear, (32) …… RAM, (34) …… CPU.

Claims (1)

[Claims] 1. An adhesive is discharged from a plurality of coating nozzles provided at the tip of a rotatable coating head, and the head is rotated by a desired rotation angle to a desired position of a printed circuit board placed on a table. In a coating device that coats the adhesive by moving the rotated coating head in XY by an XY movement drive means, a deviation between a reference point on the coating head that determines the coating position and the center of rotation of the coating head. First storage means for storing a distance and a deviation angle formed by a straight line connecting the reference point and the rotation center with a reference line on a coating head for determining a coating angle, and an XY coordinate position and a coating angle at which the adhesive should be originally coated. Second storage means for storing data, and the head rotation so that the adhesive can be applied to the original application position of the printed circuit board at the original application angle based on the respective information stored in the first and second storage means. Moving means and Coating apparatus is characterized by providing a control means for controlling the serial XY movement driving means.