JP7075498B2 - Working machine - Google Patents

Description

The present invention relates to a working machine for mounting a component constituting an electric circuit.

The following patent document describes an example of a working machine for mounting a component constituting an electric circuit.

Japanese Unexamined Patent Publication No. 8-236984 Japanese Unexamined Patent Publication No. 11-298137

In the working machine, not only the parts constituting the electric circuit but also the mounting work of the parts not constituting the electric circuit may be executed. The present invention has been made in view of such circumstances, and an object of the present invention is to preferably perform mounting work of parts constituting an electric circuit and mounting work of parts not constituting an electric circuit. Is.

In order to solve the above-mentioned problems, in the present specification, a carrier or a circuit board is carried into the machine, and the carried-in carrier or the circuit board is fixedly held at a predetermined working position and fixedly held at a predetermined working position. From a carrier or circuit board on which a carry- in device for carrying out the held carrier or circuit board to the outside of the machine and a component not constituting an electric circuit carried in by the carry-in device and fixedly held at a predetermined work position are placed. A carrier or circuit board to which a component constituting an electric circuit is mounted on a carrier or a circuit board to which a component not constituting the electric circuit is detached and a component not constituting the electric circuit is detached, and a component constituting the electric circuit is mounted. Disclosed is a working machine provided with a working head for mounting a component that does not constitute the electric circuit, which is attached to and detached from a carrier or a circuit board .

According to the present disclosure, the work head executes a mounting operation of selectively mounting a component constituting an electric circuit and a component not constituting the electric circuit. Thereby, the mounting work of the parts constituting the electric circuit and the mounting work of the parts not constituting the electric circuit can be suitably executed.

It is a perspective view which shows the electronic component mounting machine. It is a perspective view which shows a carrier. It is sectional drawing which shows the suction nozzle. It is a block diagram which shows the control device. It is a perspective view which shows the carrier in the state which the component cover is placed. It is a perspective view which shows the carrier in the state which the electric component is placed. It is a perspective view which shows the carrier in the state which the electric component and the component cover are placed.

Hereinafter, examples of the present invention will be described in detail as embodiments for carrying out the present invention with reference to the drawings.

FIG. 1 shows an electronic component mounting machine 10 according to an embodiment of the present invention. The electronic component mounting machine 10 is a device for performing mounting work of electrical components on a carrier. The electronic component mounting machine 10 includes a transport device 20, a moving device (see FIG. 4) 22, a mounting head 24, a supply device 26, a parts camera 28, a mark camera (see FIG. 4) 30, and a nozzle station 32. And a cover mounting table 34, and a control device (see FIG. 4) 36.

The conveyor belt 20 has a pair of conveyor belts 50 and an electromagnetic motor (see FIG. 4) 52 that orbits the conveyor belts 50. The pair of conveyor belts 50 are arranged so as to extend in the X-axis direction at a substantially central portion of the base 53 in the Y-axis direction. Then, the carrier 54 is supported by the pair of conveyor belts 50, and is conveyed in the X-axis direction by the drive of the electromagnetic motor 52. Further, the transport device 20 has a clamp device (see FIG. 4) 56. The clamp device 56 fixedly holds the carrier 54 supported by the conveyor belt 50 at a predetermined working position (the position in which the carrier 54 is shown in FIG. 1). Further, the transport device 20 has a suction device (see FIG. 4) 57. The suction device 57 is arranged between the pair of conveyor belts 50, and sucks the electric components mounted on the carrier 54 from the lower surface side of the carrier 54 held by the clamp device 56.

Specifically, as shown in FIG. 2, the carrier 54 has a generally rectangular flat plate shape, and the carrier 54 has a plurality of component mounting portions 60 for mounting electrical components (see FIG. 5) 58. Individuals are formed. Further, a plurality of through holes 62 penetrating in the vertical direction are formed in each of the plurality of component mounting portions 60. Then, at the position where the carrier 54 is held by the clamp device 56, the suction device 57 communicates with each of the plurality of through holes 62 from the lower surface side of the carrier 54. As a result, the electric component 58 mounted on the carrier 54 is sucked by the suction device 57 from the lower surface side of the carrier 54. Further, in the carrier 54, a plurality of magnets 66 are embedded in the upper surface of the carrier 54 so as to sandwich each of the plurality of component mounting portions 60. As a result, the component cover (see FIG. 1) 67, which will be described in detail later, is fixed to the carrier 54 by the magnet 66.

The moving device 22 has a slider (not shown) to which the mounting head 24 is attached, an X-axis direction slide mechanism (not shown), and a Y-axis direction slide mechanism (not shown). The X-axis direction slide mechanism moves the slider in the X-axis direction by the operation of the electromagnetic motor (see FIG. 4) 68, and the Y-axis direction slide mechanism moves the slider in the Y-axis direction by the operation of the electromagnetic motor (see FIG. 4) 69. Move to. As a result, the mounting head 24 is moved to an arbitrary position on the base 53 by the moving device 22.

The mounting head 24 mounts the electric component 58 and has a suction nozzle 70 provided on the lower end surface. The suction nozzle 70 is described in Japanese Patent Application No. 2016-552779 filed by the present applicant prior to the present application. Therefore, as shown in FIG. 3, the suction nozzle 70 is generally sucked at the lower end portion of the cylindrical housing 72. The pad 74 is held so as to be movable in the vertical direction. The suction pad 74 is made of an elastically deformable material, and the lower end of the suction pad 74 has a trumpet shape. Further, the inside of the suction pad 74 is a cavity, and the inside of the suction pad 74, which is a cavity, leads to a positive / negative pressure supply device (see FIG. 4) 78 via an air passage 76. Then, the negative pressure is supplied to the air passage 76 by the positive / negative pressure supply device 78, so that the electric component 58 is sucked and held by the suction pad 74. Further, the suction pad 74 moves upward due to the supply of negative pressure to the air passage 76. At this time, the outer edge portion of the suction pad 74 is supported by the housing 72 at the lower end portion. As a result, the elastic deformation of the suction pad 74 when the suction and holding of the electric component 58 is suppressed is suppressed, and the suction and holding of the electric component 58 by the suction pad 74 is ensured. Then, when a slight positive pressure is supplied to the air passage 76 by the positive / negative pressure supply device 78, the holding by the suction pad 74 is released, and the electric component 58 is separated. Further, the mounting head 24 has a nozzle raising / lowering device (see FIG. 4) 80 for raising and lowering the suction nozzle 70, and the nozzle raising / lowering device 80 allows the mounting head 24 to position the electrical component 58 to be held in the vertical direction. change. The suction nozzle 70 can be attached to and detached from the mounting head 24 with one touch, and can be replaced with a different type of suction nozzle.

Further, as shown in FIG. 1, the supply device 26 is a device arranged at an end portion in the Y-axis direction and supplies an electric component 58 mounted on a tray 82. The supply device 26 has a tray storage (not shown) and a tray moving device 84. A plurality of trays 82 are stored in the tray storage. Then, the tray 82 stored in the tray storage is pulled out to the component supply position (the position in which the tray 82 is shown in FIG. 1) by the operation of the tray moving device 84, and the tray 82 is pulled out from the tray 82 at the component supply position. Parts are supplied to the mounting head 24.

The parts camera 28 is arranged next to the supply device 26 in a state of facing upward with respect to the base 53. As a result, by moving the mounting head 24 above the parts camera 28, the parts camera 28 can take an image of the electric component 58 held by the suction nozzle 70. Further, the mark camera 30 is fixed to the slider to which the mounting head 24 of the moving device 22 is attached while facing downward, and moves to an arbitrary position by the operation of the moving device 22. As a result, the mark camera 30 can capture an arbitrary position on the base 53.

The nozzle station 32 is arranged next to the parts camera 28 of the supply device 26 on the opposite side, and has a nozzle tray 88. The nozzle tray 88 accommodates a plurality of types of suction nozzles having different nozzle diameters. Then, in the nozzle station 32, the suction nozzle mounted on the mounting head 24 and the suction nozzle housed in the nozzle tray 88 are automatically replaced with each other.

The cover mounting table 34 is arranged so as to face the supply device 26 with the transport device 20 interposed therebetween. The cover mounting table 34 has a flat plate shape, and the upper surface thereof is a space on which three component covers 67 can be mounted without overlapping.

Further, as shown in FIG. 4, the control device 36 includes a controller 100 and a plurality of drive circuits 102. The plurality of drive circuits 102 are connected to the electromagnetic motors 52, 68, 69, the clamp device 56, the suction device 57, the positive / negative pressure supply device 78, the nozzle elevating device 80, and the tray moving device 84. The controller 100 includes a CPU, ROM, RAM, etc., and is mainly a computer, and is connected to a plurality of drive circuits 102. As a result, the operation of the transport device 20, the moving device 22, and the like is controlled by the controller 100. The controller 100 is also connected to the image processing device 108. The image processing device 108 is a device for processing the image pickup data captured by the parts camera 28 and the mark camera 30. As a result, the controller 100 acquires various information from the imaging data.

In the electronic component mounting machine 10, the carrier 54 to which the electrical component 58 is not mounted is carried in with the component cover 67 mounted, according to the above-described configuration. Then, in the electronic component mounting machine 10, the component cover 67 is removed, and the electrical component 58 is mounted on the carrier 54 from which the component cover 67 has been removed. After that, when the mounting work of the electric component 58 is completed, the component cover 67 is placed on the carrier 54 on which the electrical component 58 is mounted, and the carrier 54 is carried out.

Specifically, as shown in FIG. 1, the component cover 67 is generally a square flat plate, and the length dimension of one side of the component cover 67 is slightly smaller than the length dimension of the short side of the carrier 54. It has been shortened. Further, the length dimension of the long side of the carrier 54 is slightly longer than three times the length dimension of one side of the component cover 67. As a result, three component covers 67 can be placed on the upper surface of the carrier 54 in line with each other in the longitudinal direction of the carrier 54. Further, four square exposed holes 110 are formed in the component cover 67 in a 2 × 2 arrangement. The exposed hole 110 is slightly smaller than the electric component 58 to be mounted on the carrier 54. Then, three component covers 67 are mounted on the carrier 54 on which the electrical component 58 is not mounted so that the component mounting portion 60 is exposed via the exposed hole 110. The component cover 67 is formed of a magnetic material such as iron, and is fixed by a magnet 66 embedded in the upper surface of the carrier 54.

In this way, the three component covers 67 are placed on the carrier 54 on which the electric component 58 is not mounted, and the carrier 54 in that state is carried into the electronic component mounting machine 10. The carrier 54 shown in FIG. 1 is formed with 12 component mounting portions 60, and three component covers 67 can be mounted on the carrier 54. The carrier 54 shown in FIG. 2 has components. Eight mounting portions 60 are formed, and it is possible to mount two component covers 67. Therefore, FIG. 5 shows a carrier 54 in which two component covers 67 are mounted on the carrier 54 in which the eight component mounting portions 60 are formed. Then, when the carrier 54 is carried into the electronic component mounting machine 10, the carrier 54 is conveyed to a working position by a command of the controller 100, and the carrier 54 is fixedly held by the clamp device 56 at that position. At this time, the through hole 62 formed in the carrier 54 and the suction device 57 communicate with each other, and air is sucked from the through hole 62 by the operation of the suction device 57. Further, the mounting head 24 moves above the carrier 54 according to the command of the controller 100, and the component cover 67 mounted on the carrier 54 is sucked and held by the suction nozzle 70. Subsequently, the component cover 67 held by the suction nozzle 70 is transferred from above the carrier 54 onto the cover mounting table 34 by the operation of the moving device 22.

Then, when the three parts covers 67 from the top of the carrier 54 are transferred onto the cover mounting table 34, the mark camera 30 is placed above the carrier 54 from which the parts cover 67 has been removed by the command of the controller 100. Move and image the carrier 54. As a result, the imaging data is analyzed by the controller 100, and information regarding the holding position of the carrier 54 and the like can be obtained. Further, in the supply device 26, the tray on which the electric component 58 is placed is pulled out to the component supply position by the operation of the tray moving device 84 according to the command of the controller 100.

Then, the mounting head 24 moves above the tray 82 according to the command of the controller 100, and the electric component 58 is sucked and held by the suction nozzle 70. After the component cover 67 is held by the suction nozzle 70 and transferred from the carrier 54 onto the cover mounting table 34, the suction nozzle 70 mounted on the mounting head 24 is not replaced and is electrically operated. Holds component 58. That is, each of the electric component 58 and the component cover 67 is held by the same suction nozzle 70 mounted on the mounting head 24.

Subsequently, the mounting head 24 moves above the parts camera 28 according to the command of the controller 100, and the parts camera 28 takes an image of the electric component 58 held by the suction nozzle 70. As a result, the imaging data is analyzed by the controller 100, and information regarding the holding posture, holding position, and the like of the component is obtained. Then, the mounting head 24 moves above the carrier 54 according to the command of the controller 100, corrects the holding position of the carrier 54, the holding posture of the electric component 58, and the like of the electric component 58 held by the carrier 54. As shown, it is attached to the component mounting portion 60 of the carrier 54. At this time, since the air is sucked from the through hole 62 in the component mounting portion 60, the electric component 58 mounted on the component mounting portion 60 is fixed by the suction of the air, and the positional deviation is prevented.

Then, when the work of mounting the electric component 58 on the carrier 54 is completed, the component cover 67 transferred onto the cover mounting table 34 is returned onto the carrier 54. That is, the mounting head 24 is moved above the cover mounting table 34 by the command of the controller 100, and the component cover 67 mounted on the cover mounting table 34 is sucked and held by the suction nozzle 70. Subsequently, the component cover 67 held by the suction nozzle 70 is transferred from the top of the cover mounting table 34 onto the carrier by the operation of the moving device 22. At this time, the component cover 67 is placed on the carrier 54 on which the electrical component 58 is mounted so that the electrical component 58 is exposed through the exposed hole 110, although a part of the outer circumference is covered (FIG. 7). reference). As a result, the component cover 67 is fixed to the carrier 54 by the magnet 66, and the outer edge portion of the electric component 58 mounted on the carrier 54 is pressed by the edge portion that partitions the exposed hole 110 of the component cover 67. As described above, in the one electronic component mounting machine 10, the component cover 67 is once removed from the top of the carrier 54, then the electric component 58 is mounted on the carrier 54, and the electric component 58 is mounted on the carrier 54 again. The component cover 67 is attached to the. That is, the component cover 67 is attached to and detached from the carrier 54, and the electric component 58 is attached to the carrier 54.

Then, when the three component covers 67 are returned from the top of the cover mounting table 34 onto the carrier 54, the operation of the suction device 57 is stopped and the suction of the electric component 58 is released. Subsequently, the clamp of the carrier 54 by the clamping device 56 is released, and the carrier 54 is carried out from the electronic component mounting machine 10. At this time, since the electric component 58 mounted on the carrier 54 is pressed by the component cover 67, the position of the electric component 58 at the time of carrying out the carrier 54 even when the suction at the time of carrying out the carrier 54 is released. Misalignment is prevented.

The carrier 54 carried out from the electronic component mounting machine 10 is carried into, for example, a different electronic component mounting machine on the downstream side of the electronic component mounting machine 10, and the component cover 67 mounted on the carrier 54 is exposed. Through the hole 110, as shown in FIG. 7, some other electric component 120 is mounted on the electric component 58. As a result, a product including the electric component 58 is manufactured. Incidentally, the component cover 67 prevents the positional displacement of the electric component 58 during transportation of the carrier 54, or the mounting displacement caused by the force applied to the electrical component 58 when another electrical component 120 is mounted on the electrical component 58. Although it may be conductive with the carrier, it does not constitute an electric circuit. Therefore, the component cover 67 is removed from above the carrier 54 after the production of the product constituting the electric circuit including the electrical component 58 is completed. Further, the carrier 54 is used for transporting an electric component 58 in manufacturing a product constituting an electric circuit, and when a product including the electric component 58 is manufactured, the product is transferred from the carrier 54. Will be removed. Therefore, the electric component 58 constitutes an electric circuit together with a single electric component or another electric component 120 mounted on the electric component 58.

As described above, in the electronic component mounting machine 10, the mounting work of the electric component 58 and the attachment / detachment work of the component cover 67 are selectively executed by the mounting head 24 of one electronic component mounting machine 10. As a result, it is not necessary to provide a dedicated mounting head for each of the electric component 58 and the component cover 67, and it is possible to reduce the cost and space. Furthermore, in the maintenance work, it is only necessary to perform maintenance on one mounting head 24 instead of the dedicated mounting heads of the electric component 58 and the component cover 67, and the maintenance work can be reduced. ..

The electric component 58 is a component that constitutes an electric circuit, and the component cover 67 is a component that does not constitute an electric circuit. Therefore, the above description is a case where the mounting head 24 of one electronic component mounting machine 10 selectively executes the mounting work of the parts constituting the electric circuit and the attachment / detachment work of the parts not constituting the electric circuit. This is an example. Further, the electric component 58 is a component that conducts electrically, and the component cover 67 is a component that does not electrically conduct with the electric component 58 in forming an electric circuit. Therefore, in the above description, the mounting work of the parts that are electrically conductive and the attachment / detachment work of the parts that are not electrically conductive to the electric component 58 are selectively performed by the mounting head 24 of one electronic component mounting machine 10. It can be said that this is an example of the case where it is executed. Further, the electric component 58 is a component constituting a product manufactured by one or more working machines including the electronic component mounting machine 10, and the component cover 67 is one or more working machines including the electronic component mounting machine 10. It is a part that does not constitute a product manufactured by. Therefore, in the above description, the mounting work of the parts constituting the manufactured product and the attachment / detachment work of the parts not constituting the manufactured product are selectively performed by the mounting head 24 of one electronic component mounting machine 10. It can be said that it is an example when it is executed.

Further, in the electronic component mounting machine 10, the suction nozzle can be automatically attached to and detached from the mounting head 24, and for example, it is possible to replace the suction nozzle with a suction nozzle having a different nozzle diameter, but they are the same. The suction nozzle 70 selectively holds the electric component 58 and the component cover 67. As a result, the time required for the replacement work of the suction nozzle can be omitted, and the cycle time can be shortened.

Incidentally, in the above embodiment, the electronic component mounting machine 10 is an example of a working machine. The mounting head 24 is an example of a working head. The electric component 58 is an example of a component constituting an electric circuit. The component cover 67 is an example of a component that does not constitute an electric circuit. The suction nozzle 70 is an example of a component holder.

The present invention is not limited to the above embodiment, and can be carried out in various embodiments with various changes and improvements based on the knowledge of those skilled in the art. Specifically, for example, in the above embodiment, the component cover 67 is placed on the carrier 54 so as to cover a part of the electrical component 58, whereby the positional displacement of the electrical component 58 is prevented. If a member such as the cover 67 is placed so as to overlap the electric component 58, it is possible to prevent the electrical component 58 from being displaced. For example, a plate-shaped member may be placed so as to cover the entire electric component 58, or a lump-shaped member may be placed on a part of the upper surface of the electric component 58. Further, the fixing of the component cover 67 to the carrier 54 is not limited to a magnetic material or a magnet, and may be, for example, one using a viscous substance or one using a soft material such as rubber for the component cover 67. Further, the component cover 67 may be formed with respect to the electric component 58 by using a material having a heavy specific gravity. Further, the carrier 54 may be adopted as a component constituting the electric circuit without finally removing the carrier 54 from the electric component 58.

Further, in the above embodiment, the mounting work of the electric component 58 and the attachment / detachment work of the component cover 67 are selectively executed by the same suction nozzle 70 mounted on the mounting head 24, but different types of suction nozzles are executed. Therefore, the installation work of the electric component 58 and the attachment / detachment work of the component cover 67 may be selectively executed. That is, for example, the component cover 67 is held by a suction nozzle having a large nozzle diameter, and the electric component 58 is held by a suction nozzle having a small nozzle diameter that is automatically replaced from among a plurality of types of holders provided in the nozzle station. May be good.

Further, in the above embodiment, one electronic component mounting machine 10 includes one mounting head 24, and the one mounting head 24 holds the electric component 58 and the component cover 67. One electronic component mounting machine may include two or more mounting heads, and the mounting head of one of the two or more mounting heads may hold the electrical component 58 and the component cover 67. Further, the electric component 58 and the component cover 67 may be individually held by two or more mounting heads. When the electric component 58 and the component cover 67 are held by each of the two or more mounting heads, the same type of suction nozzles are mounted on the two or more mounting heads, and the same type of suction nozzles are mounted. May hold the electrical component 58 and the component cover 67. On the other hand, different types of suction nozzles may be mounted on two or more mounting heads, and the electric component 58 and the component cover 67 may be held by the different types of suction nozzles. Further, the electric component 58 and the component cover 67 may be simultaneously held by two or more mounting heads to perform the work. By using a plurality of mounting heads, it is possible to hold various types of electric parts and component covers for work, which in turn leads to a reduction in cycle time. Further, each of the two or more mounting heads may be mounted on one moving device and move at the same time, or a plurality of moving devices may be provided in one electronic component mounting machine and the respective mounting heads may be provided. May be moved individually. Further, the mounting head provided in one electronic component mounting machine may perform mounting work of parts constituting the electric circuit and removal work of parts not constituting the electric circuit.

Further, in the above embodiment, the electric component 58 is mounted on the carrier 54, but the electric component 58 may be mounted on a circuit board or the like. In this way, when the electric component 58 is mounted on the circuit board or the like and the circuit board and the electric component 58 are electrically conductive, the circuit board and the electric component 58 form an electric circuit.

Further, for example, in the above embodiment, the suction nozzle 70 selectively executes the mounting work of the electric component 58 and the mounting work of the component cover 67, but the holder that grips the component by two or more claw members. The so-called chuck may selectively execute the mounting work of the electric component 58 and the mounting work of the component cover 67. In such a case, it is easy to hold the component cover 67 or the like by forming a protrusion or the like gripped by the chuck.

Further, the electric component 58 used in the above embodiment and another electric component 120 may be different types of electric components or may be the same type of electric component.

10: Electronic component mounting machine (working machine) 24: Mounting head (working head) 58: Electrical parts (parts that make up the electric circuit) 67: Parts cover (parts that do not make up the electric circuit) 70: Suction nozzle (holding tool)

Claims (7)

The carrier or circuit board is carried into the machine, the carrier or circuit board carried in is fixedly held at a predetermined work position, and the carrier or circuit board fixedly held at the predetermined work position is carried out of the machine. With the carry-in device
The parts that do not form the electric circuit are removed from the carrier or circuit board on which the parts that do not form the electric circuit that are carried in by the carry-in device and are fixedly held at the predetermined work position are placed, and the parts that do not form the electric circuit are not formed. The parts that make up the electric circuit are attached to the carrier or circuit board from which the parts have been removed, and the parts that do not make up the electric circuit that have been removed from the carrier or circuit board are attached to the carrier or circuit board to which the parts that make up the electric circuit are attached. One work head for mounting work and
A working machine equipped with. The one work head is carried in by the carry-in device and fixedly held at a predetermined work position. The parts that do not form the electric circuit are mounted on the carrier or the circuit board on which the parts that do not form the electric circuit are placed. The working machine according to claim 1, further comprising a mounting table to be placed. The one work head mentioned above
Parts that do not constitute the electric circuit , which are carried in by the carry-in device and are detached from the carrier or circuit board fixedly held at the predetermined work position and placed on the above -mentioned table, are carried in by the carry-in device and specified. The work machine according to claim 2, which is mounted on a carrier or a circuit board that is fixedly held at a work position . The one work head is
It is possible to selectively attach the holder that holds the parts and replace the attached holder. By using the same holder that is selectively attached to the one work head , the carry-in device can be used. Detachment work that holds and attaches / detaches parts that do not constitute the electric circuit mounted on a carrier or circuit board that has been carried in and fixedly held at a predetermined work position, and a predetermined work position that has been carried in by the carry-in device . The method according to any one of claims 1 to 3, wherein the mounting work of mounting the component not constituting the electric circuit detached from the carrier or the circuit board on the carrier or the circuit board fixedly held in the above is performed. Working machine. The one work head is
It is possible to selectively mount the holder that holds the parts and replace the mounted holder , and the electric circuit can be mounted by the same holder that is selectively mounted by the one work head . The work according to any one of claims 1 to 4, wherein the component and the component not constituting the electric circuit are held and mounted on the carrier or the circuit board carried in. Machine. The one work head is
It is possible to selectively mount the holder that holds the parts and replace the mounted holder , and the electric circuit is composed of different holders that are selectively mounted by the one work head. The working machine according to any one of claims 1 to 4, wherein the parts to be mounted and the parts that do not constitute the electric circuit are held and mounted on the carrier or the circuit board carried in. .. The one work head is
One of claims 1 to 6, wherein the parts constituting the electric circuit and the parts not constituting the electric circuit are mounted on the carrier or the circuit board carried in so as to overlap each other. The work machine described.

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