WO2018109845A1

WO2018109845A1 - Component mounting device, surface mounter, and method for mounting component

Info

Publication number: WO2018109845A1
Application number: PCT/JP2016/087109
Authority: WO
Inventors: 良隆室内; 公久安間
Original assignee: ヤマハ発動機株式会社
Priority date: 2016-12-13
Filing date: 2016-12-13
Publication date: 2018-06-21
Also published as: JPWO2018109845A1; JP6714103B2

Abstract

A surface mounter 10 disclosed by the specification of the present invention has a component mounting device 20 for pressing and fitting a protective cover 80 onto a shield frame 70 fixed to a printed substrate P, wherein the surface mounter 10 is provided with: a mounting head 42 for holding the protective cover 80 and pressing the protective cover 80 onto the shield frame 70; and a motor control unit 112 for controlling the operation of the mounting head 42. The pressing load value F at which the protective cover 80 is pressed against the shield frame 70 by the mounting head 42 increases when the protective cover 80 is pressed against the shield frame 70 and decreases when the fitting of the protective cover 80 onto the shield frame 70 is complete. The motor control unit 112 performs a fitting determination process of determining that the fitting of the protective cover 80 onto the shield frame 70 is complete when a determination condition is satisfied, the determination condition being the pressing load value F reaching a load target range Fr between a lower limit load value Fd and an upper limit load value Fu and subsequently decreasing.

Description

Component mounting apparatus, surface mounter, and component mounting method

The technology disclosed in this specification relates to a component mounting apparatus and a surface mounting machine.

For example, as a component mounting apparatus for mounting a fitting component such as a shield lid component on a mounted component such as a shield frame component, one disclosed in Japanese Patent Application Laid-Open No. 2014-160788 (Patent Document 1 below) is known. In this component mounting apparatus, first, a fitting component is sucked and held by a suction nozzle, transferred to a mounted component, and then pressed with a first load. Thereafter, the fitting component is pressed with a second load larger than the first load, and the engagement portion provided in the fitting component is engaged with the engagement opening provided in the fitting component. The mounting of the fitting part to the mounting part is completed.

JP 2004-235518 A

By the way, in general, in this type of component mounting apparatus, the completion of mounting is determined when the load applied between the suction nozzle and the fitting component reaches the target load value. For this reason, for example, as shown in FIG. 17, the displacement of the fitting component 2 with respect to the mounted component 1 occurs, so that the load Z is as shown in FIG. When the target load value is reached, there is a possibility that it is determined that the fitting component 2 has been mounted on the mounted component 1. In addition, for example, when there is a variation in the size of the mounting component and the fitting component, it is determined that the fitting component is properly fitted to the mounted component before the load reaches the target load value, Although the fitting component is properly fitted to the mounted component, there is a possibility that the component may be damaged when a load is further applied.

This specification discloses a technique for improving the accuracy of determining completion of mounting between parts.

The technology disclosed in this specification is a component mounting apparatus that presses and mounts a mounting component on a mounted component, the component holding unit holding the mounting component and pressing the mounted component on the mounted component, and the component holding unit And a pressing load value for pressing the mounting component against the mounted component by the component holding unit increases when the mounting component is pressed against the mounted component, and the mounted component When the mounting of the mounting component to the mounting component is completed, the control unit is configured to reduce the pressing load when the maximum load value is set when the mounting component is pressed against the mounted component. The value decreases after reaching the load target range between the lower limit load value set smaller than the maximum load value and the upper limit load value set larger than the maximum load value. As determined condition, and configured to perform the attachment judging process judges that the the mounting of the mounting part with respect to the mounting part has been completed.

The technique disclosed in this specification is a surface mounter, and the component mounting apparatus, a component supply apparatus that supplies the mounting component to the component mounting apparatus, and the mounting of the mounting component by the component mounting apparatus. And a transporting device that transports the mounted part to within the range.

Further, the technology disclosed in this specification is a mounting method of a component that presses and mounts a mounting component against a mounted component, and a pressing load value that presses the mounting component against the mounted component is the mounting component. The load value increases when the mounted component is pressed against the mounted component, and decreases when the mounting of the mounted component to the mounted component is completed, and the maximum load value when the mounted component is pressed against the mounted component. In the case of the maximum load value, the pressing load value that presses the mounting component against the mounted component is lower than the lower limit load value and the maximum load value that are smaller than the maximum load value when the mounting component is pressed against the mounted component. After reaching the load target range between the large upper limit load value, it is determined that the mounting of the mounting component to the mounted component is completed on the condition that the load has fallen That.

According to the component mounting apparatus, the surface mounting machine, and the component mounting method having such a configuration, after the pressing load value exceeds the lower limit load value, the pressing load value is reduced, so that the mounting component is mounted on the mounted component. Can be determined to be completed. Thereby, for example, due to variations in the size of mounting parts and fitting parts, the increase in pressing load value is small, even when the pressing load value does not reach the maximum load value when pressing the mounting part against the mounted part, Not only does the pressing load value exceed the lower limit load value, but it can be determined that the mounting of the mounting component to the mounted component has been completed because the pressing load value has subsequently decreased.

In addition, if the pressing load value exceeds the maximum load value due to variations in the size of the mounted component or mating component, but the mounting of the mating component to the mounted component is not complete, the pressing load value decreases. Therefore, it can be prevented that the mounted component is erroneously determined as being mounted on the mounted component.

Furthermore, for example, when the mounted component is pressed by the component holding portion in a state where the mounted component is displaced with respect to the mounted component, the pressing load value that has reached the load target range does not decrease, but the upper limit load value is reached. By exceeding the above, it is possible to determine that the mounting component is displaced from the mounted component, and that the mounting of the mounted component to the mounted component is not completed.

In other words, compared to the conventional case where it is determined that the mounting of the mounting component to the mounted component is completed based on the determination condition that the pressing load value exceeds the load target value, the determination accuracy of mounting completion between components is improved. Can be improved.

The component mounting apparatus, the surface mounter, and the component mounting method disclosed in this specification may have the following configurations.

The judgment condition is that the pressure load value falls below the lower limit load value after reaching the load target range.

According to such a determination condition, since the determination is that the pressing load value is lower than the lower limit load value, for example, the pressing load value after exceeding the lower limit load value is a measurement error or the size of each component. When it slightly decreases due to variations or the like, it is possible to suppress erroneous determination that the mounting of the mounted component to the mounted component is completed.

The judgment condition is that the pressure load value is increased again after the pressure load value is lowered.

According to such determination conditions, the pressing load value is completely reduced, the mounting of the mounting component to the mounted component is completed, and the mounting component is properly mounted on the mounted component by increasing the pressing load value. For example, even when the mounting of the mounting component to the mounted component is completed, even if the pressing load value does not become smaller than expected, each member is damaged due to excessive pressing of the mounting component. Can be suppressed.

In addition, for example, even when the pressing load value is reduced by mounting a part of the mounting component on the mounting component, the mounting component is pressed by the component holding unit until the pressing load value increases. It is possible to suppress erroneous determination that the mounting of the mounting component on the mounted component is completed when a part of the mounting component is mounted on the mounting component.

The determination condition is that the re-increase of the pressing load value in the component holding part exceeds a predetermined upper limit of re-loading.

According to such a judgment condition, it is determined whether or not the mounting of the mounted component is completed depending on whether or not the re-increase in the pressing load value exceeds the re-load upper limit value. By re-increasing the load value, it is possible to suppress erroneous determination that the mounting of the mounting component to the mounted component is completed.

The component holding unit sucks and holds the mounting component by a negative pressure generated by a negative pressure generating unit, and the control unit holds the mounting component by the component holding unit after the mounting determination process. It moves in a direction away from the mounted component in the held state, and further executes a mounting confirmation process for checking whether or not the mounted component is held in the component holding unit by a change in vacuum pressure in the component holding unit. The configuration.

According to such a configuration, after the mounting of the mounted component to the mounted component is completed and the mounting determination process is performed, the component is confirmed that the mounted component is not held by the component holding unit that sucks and holds the mounted component. By confirming with the change of the vacuum pressure in the holding portion, it can be determined that the mounting component is securely mounted on the mounted component and firmly held.

According to the technology disclosed in this specification, it is possible to improve the accuracy of determining completion of mounting between components.

The top view of the surface mounting machine concerning Embodiment 1 Front view of surface mounter Electrical configuration diagram of surface mounter The perspective view which showed the state before attaching a protective cover to a shield frame Sectional view showing the process of attaching the protective cover to the shield frame The figure which showed transition of the pressing load value of the mounting head in the mounting process of FIG. Flow chart of cover mounting process Flowchart diagram of attachment determination processing FIG. 6 is a diagram illustrating a transition of a pressing load value of the mounting head according to the second embodiment, and a diagram illustrating a transition of a pressing load value corresponding to the mounting process of FIG. 5. The flowchart figure of the mounting | wearing judgment process which concerns on Embodiment 2. FIG. The figure which showed the raising process of the mounting head after mounting the protective cover which concerns on Embodiment 3. The figure which showed transition of the vacuum pressure in the mounting head in the rising process of FIG. Flowchart diagram of installation confirmation processing The figure which showed the raising process of the mounting head after mounting | wearing a protective cover, Comprising: The figure which showed the state from which a protective cover remove | deviates from the shield frame 70 The figure which showed transition of the vacuum pressure in the mounting head in the rising process of FIG. The perspective view which showed the state before attaching a protective cover to the shield frame which concerns on other embodiment. Sectional drawing showing the process of assembling the protective cover with the shield frame displaced FIG. 17 shows the transition of the pressing load value of the mounting head based on the conventional judgment criteria in the assembly process of FIG.

<Embodiment 1>
A first embodiment of the technology disclosed in this specification will be described with reference to FIGS.

In the present embodiment, a protective cover (an example of “mounted component”) 80 is attached to a shield frame (an example of “mounted component”) 70 that is mounted on the printed circuit board P or is fixed on the printed circuit board P. The surface mounting machine 10 to mount is illustrated.

As shown in FIG. 4, the printed circuit board P is a flat printed circuit board, and a metal shield frame 70 is fixed on the printed circuit board P.

As shown in FIG. 4, the shield frame 70 is formed in a box shape that opens downward. Inside the shield frame 70, an electronic component E (not shown) mounted on the printed circuit board P is arranged. Has been. The protective cover 80 includes four substantially rectangular side plates 71 standing on the printed circuit board P and a substantially rectangular ceiling plate 72 connected to the upper end edges of the four side plates 71. Each side plate 71 is provided with a pair of locking holes 73 having a substantially rectangular shape so as to penetrate the side plate 71 in the plate thickness direction along the printed circuit board P.

The protective cover 80 is made of synthetic resin and is formed in a box shape that is slightly larger than the shield frame 70 as shown in FIG. 4, and covers the shield frame 70 so as to cover the shield frame 70 from above. It is to be attached. That is, the protective cover 80 is attached to the shield frame 70 by being pressed against the shield frame 70 from above.

The protective cover 80 has four side walls 81 arranged on the outside of the side plate 71 in the shield frame 70 and a ceiling wall 82 that covers the ceiling plate 72 of the shield frame 70 from above. Each side wall 81 is provided with two pairs of slits 83 extending in the vertical direction from the lower end of the side wall 81, and the side wall 81 between the pair of slits 83 has the upper end position between the pair of slits 83 as a fulcrum. The elastic locking piece 84 is elastically displaced toward the outside. Each elastic locking piece 84 is provided at a position corresponding to the locking hole 73 of the shield frame 70 when the protective cover 80 is attached to the shield frame 70. The upper opening edge 73A of the locking hole 73 is provided with a locking projection 85 that can be locked in the vertical direction.

When the protective cover 80 is attached to the shield frame 70, the locking protrusion 85 is pressed by the side plate 71 of the shield frame 70 and rides on the side plate 71, thereby elastically displacing the elastic locking piece 84 outward. When the protective cover 80 is attached to the shield frame 70 at a proper position, the locking projection 85 is fitted into the locking hole 73, and the upper opening edge 73 </ b> A of the locking hole 73 and the locking projection 85 are The protective cover 80 is held at the normal position of the shield frame 70 by being locked in the vertical direction.

Therefore, in the process of attaching the protective cover 80 to the shield frame 70, the pressing load value F that presses the protective cover 80 against the shield frame 70 is different from that shown when the locking projection 85 of the elastic locking piece 84 rides on the shield frame 70. 6A, the pressure increases when the protective cover 80 is pressed against the shield frame 70, and the pressure load value F remains high (see B in FIG. 6), and the shield frame 70 is attached to the protective cover 80. Covered gradually. Then, when the locking projection 85 is fitted into the locking hole 73, the pressing load value F is lowered as shown in FIG. 6C so that the protective cover 80 reaches the normal position of the shield frame 70. It has become.

As shown in FIG. 1, the surface mounter 10 is configured to supply a base 11, a conveyer 12 disposed on the base 11, a component mounting apparatus 20, and an electronic component E to the component mounting apparatus 20. The component supply device 13 and the tray supply device 14 for supplying the protective cover 80 to the component mounting device 20 are provided. In the following description, the left-right direction refers to the left-right direction in FIG. 1, and the front-rear direction refers to the front side in the figure with respect to the up-down direction in FIG. Further, the vertical direction is described as the vertical direction reference in FIG.

As shown in FIG. 1, the base 11 has a substantially rectangular shape in plan view, and a transport conveyor (an example of a “transport device”) 12 that transports the printed circuit board P is disposed at the center of the base 11. ing. The conveyor 12 includes a pair of conveyor belts 15 that are circulated and driven in the left-right direction, and the printed circuit board P is set on the pair of conveyor belts 15. The printed circuit board P set on the pair of conveyor belts 15 is loaded from the right side of the base 11 into the mounting range S in the substantially central portion in the left-right direction, and after the mounting operation of the protective cover 80 is completed, the pair of conveyor belts 15 Carried out to the left.

As shown in FIG. 1, two component supply devices 13 are arranged side by side in the left-right direction on the front side of the conveyor 12. These component supply devices 13 are feeder-type, and are attached in a state where a plurality of feeders 16 are aligned in the left-right direction. Each feeder 16 includes an unillustrated electric delivery device that pulls out a component supply tape containing a plurality of electronic components E from a reel. The electronic components E are fed from the end of each feeder 16 on the transport conveyor 12 side. Supply one by one.

The tray supply device 14 is disposed on the rear side of the conveyor 12 as shown in FIG. In addition, the tray supply device 14 accommodates a plurality of pallets 14A that accommodate a plurality of protective covers 80, and supplies the pallets 14A one by one onto the base 11 so that the protective covers 80 are mounted on the component mounting device. 20 is supplied.

1 and FIG. 2, the component mounting apparatus 20 includes a head driving device 30 provided on the base 11 and a head unit 40 provided on the head driving device 30.

The head drive device 30 moves the head unit 40 back and forth and right and left on the base 11, and has a vertical axis drive mechanism 31 and a horizontal axis drive mechanism 36 as shown in FIG.

As shown in FIG. 1, the vertical axis drive mechanism 31 includes a pair of vertical frames 32 provided on both sides of the base 11 in the left-right direction and extending in the front-rear direction, and a pair of vertical frames provided along the vertical frames 32. A shaft guide rail 33 and a vertical servo motor 34 provided at the front end of each vertical guide rail 33 are provided. A pair of vertical axis guide rails 33 are attached in such a manner that a horizontal axis drive mechanism 36 is installed. When the vertical axis servo motor 34 is energized, the horizontal axis drive mechanism 36 is moved along the vertical axis guide rail 33. It is designed to move back and forth.

As shown in FIG. 2, the horizontal axis drive mechanism 36 is provided at a right side end portion of the horizontal axis guide rail 37 and a horizontal axis guide rail 37 installed on a pair of vertical axis guide rails 33 in a form extending in the left-right direction. The horizontal axis servo motor 38 is provided. A head unit 40 is attached to the horizontal axis guide rail 37 so as to be movable in the left-right direction. When the horizontal axis servo motor 38 is energized and controlled, the head unit 40 moves in the left-right direction along the horizontal axis guide rail 37. It is supposed to move.
Therefore, the head unit 40 is movable on the base 11 in the horizontal direction, which is the front / rear / left / right direction.

The head unit 40 takes out the electronic component E supplied from the component supply device 13, takes out the protective cover 80 mounted on the printed circuit board P or supplied from the tray supply device 14, and attaches it to the shield frame 70 on the printed circuit board P. As shown in FIG. 2, a box-shaped head unit main body 41 and a plurality of mounting heads ("" An example) 42 of “part holding part”.

As shown in FIG. 2, the plurality of mounting heads 42 are arranged in the left-right direction so as to protrude downward from the head unit main body 41, and each mounting head 42 is centered on the axis of the mounting head 42. The head unit 40 is supported so as to be rotatable around an axis.

Each mounting head 42 can be moved up and down by a plurality of Z-axis servo motors 43 provided in the head unit main body 41, and the R-axis servo motor 44 can be pivoted around the axis of the mounting head 42. It can be rotated around.

Each mounting head 42 is supplied with negative pressure or positive pressure from an air supply device 60 as shown in FIG.
The air supply device 60 includes an air generation unit (an example of a “negative pressure generation unit”) 61 that generates negative and positive pressures, and an air control unit 62 that controls the negative and positive pressures from the air generation unit 61. And a pressure sensor 63 for measuring the pressure. The negative pressure controlled by the air control unit 62 is supplied to each mounting head 42, whereby the electronic component E and the protective cover 80 are sucked and held at the lower end of each mounting head 42, and the air control unit 62. The electronic component E and the protective cover 80 sucked and held by the mounting head 42 are released by supplying the positive pressure controlled by the above.

Further, each mounting head 42 can press the protective cover 80 against the shield frame 70 from above with the protective cover 80 being sucked and held, and the protective cover 80 is in a normal position with respect to the shield frame 70. The protective cover 80 can be attached to the shield frame 70.

Further, as shown in FIG. 2, the head unit 40 is provided with a board recognition camera 45, and the board recognition camera 45 moves the head unit 40 on the base 11 such as the printed board P. It is possible to take an image at any position. On the other hand, as shown in FIG. 1, a pair of front and rear component recognition cameras 17 are provided on the base 11 at the sides of the component supply device 13 and the tray supply device 14. An image of the electronic component E and the protective cover 80 held at the lower end of the mounting head 42 can be taken.

Next, the electrical configuration of the surface mounter 10 will be described with reference to FIG.
The surface mounter 10 is entirely controlled by a control unit 110, and the control unit 110 includes an arithmetic processing unit 111 configured by a CPU or the like. The arithmetic processing unit 111 includes a motor control unit (an example of a “control unit”) 112, a storage unit 113, an image processing unit 114, an external input / output unit 115, a component supply device communication unit 116, a management device communication unit 117, and an operation unit. 118 etc. are connected.

The storage unit 113 stores a mounting program for mounting the electronic component E and the protective cover 80, a mounting determination program for determining the mounting state of the protective cover 80, various data, and the like. The various data includes board information relating to the number and type of printed circuit boards P that are scheduled to be produced, position information relating to the mounting position where the protective cover 80 is attached to the shield frame 70, and the component supply device 13 and the tray supply device 14. Information regarding the number and types of the electronic parts E and the protective covers 80, the upper limit load value Fu when the protective cover 80 is attached to the shield frame 70, the lower limit load value Fd when the protective cover 80 is attached to the shield frame 70, When the protective cover 80 is attached to the shield frame 70, the reload upper limit Fru, the holding vacuum pressure Pu of the mounting head 42 in a state where the protective cover 80 is sucked and held by the mounting head 42, and nothing is held by the mounting head 42. The non-holding vacuum pressure Pd of the mounting head 42 in a state where the mounting head 42 is not included is included.

The image processing unit 114 is configured to capture an image signal output from the board recognition camera 45 or the component recognition camera 17, and generates an image based on the captured image signal.

The external input / output unit 115 is a so-called interface, and is configured to receive detection signals output from various sensors 47 such as the pressure sensor 63 of the air supply device 60 in the surface mounter 10. The external input / output unit 115 outputs a control signal output from the arithmetic processing unit 111 to the air supply device 60 and various actuators 48.

The component supply device communication unit 116 is connected to the component supply device 13 and the tray supply device 14 and controls the

supply devices

13 and 14 in an integrated manner.

The management device communication unit 117 is communicably connected to the management device 90. The management device 90 executes an optimization program based on the type of the printed circuit board P to be produced, and the electronic component E and the protective cover 80 are connected. Decide the order of mounting in advance.

The operation unit 118 includes a display device (not shown) such as a liquid crystal monitor, an input device (not shown) such as a keyboard and a mouse, etc., and receives an input from an operator and outputs it to the operator.

The motor control unit 112 controls the vertical axis servo motor 34, the horizontal axis servo motor 38, the Z axis servo motor 43, the R axis servo motor 44, the transport conveyor 12, and the like based on the mounting program stored in the storage unit 113. Then, the electronic component E and the protective cover 80 are mounted.

Also, the motor control unit 112 executes a mounting determination program stored in the storage unit 113 together with the mounting program, and determines whether or not the protective cover 80 has been mounted on the shield frame 70.

Hereinafter, the cover mounting process in which the surface mounter 10 of the present embodiment mounts the protective cover 80 on the shield frame 70 by the mounting program will be described, and then the mounting of the protective cover 80 will be completed based on the mounting determination program. A mounting determination process for determining whether or not the user is doing will be described.

In the mounting program, first, the mounting head 42 in the head unit 40 is moved onto the pallet 14A of the tray supply device 14 (S11). Then, the Z-axis servo motor 43 is operated to raise and lower the mounting head 42, whereby the protective cover 80 accommodated in the pallet 14A is held by the mounting head 42 (S12).

Next, the mounting head 42 holding the protective cover 80 is moved onto the shield frame 70 disposed in the mounting range S of the base 11 (S13), and the Z-axis servo motor 43 is operated to protect the mounting head 42. The protective cover 80 is attached to the shield frame 70 by lowering the cover 80 and pressing the protective cover 80 so as to cover the shield frame 70 from above (S14).

In this mounting process, first, the protective cover 80 is lowered by the mounting head 42 as shown in FIG. Then, when the upper end of the shield frame 70 starts to enter the protective cover 80, the locking projections 85 on the elastic locking pieces 84 of the protective cover 80 are formed on the side plates 71 of the shield frame 70 as shown in FIG. The locking projection 85 of each elastic locking piece 84 of the protective cover 80 rides on the side plate 71 of the shield frame 70. At this time, the pressing load value F for pressing the protective cover 80 against the shield frame 70 by the mounting head 42 increases to the maximum load value Fmax as shown in A of FIG. Here, the maximum load value Fmax is a maximum load value when the protective cover 80 is pressed against the shield frame 70 and attached.

If the protective cover 80 is further pressed against the shield frame 70 as it is, as shown in FIG. 5C, the locking projections 85 of the elastic locking pieces 84 and the outer surface of the side plate 71 of the shield frame 70 Slides, and the shield frame 70 is gradually covered by the protective cover 80. Note that the pressing load value F of the mounting head 42 at this time changes as the maximum load value Fmax as shown in FIG. 6B.

When the protective cover 80 reaches the proper mounting position with respect to the shield frame 70, the locking projections 85 of the respective elastic locking pieces 84 are formed on the side plate 71 of the shield frame 70 as shown in FIG. The pressing load value F of the mounting head 42 is reduced from the maximum load value Fmax as shown in FIG. 6C.

Then, the upper opening edge 73A of the locking hole 73 and the locking projection 85 are locked in the vertical direction, so that the protective cover 80 is held at a normal position with respect to the shield frame 70, and the protective cover for the shield frame 70 is obtained. Installation of 80 is completed.

In the mounting of the protective cover 80 as described above, the following processing is performed in the mounting determination processing.

In the attachment determination process, first, it is determined whether or not the assembly of the protective cover 80 to the shield frame 70 has been started.

Specifically, the motor control unit 112 lowers the protective cover 80 by the mounting head 42 (S21), and measures the pressing load value F of the mounting head 42 (S22).

Next, the motor control unit 112 increases the maximum load value Fmax until the pressing load value F exceeds the lower limit load value Fd, and reaches the load target range Fr between the upper limit load value Fu and the lower limit load value Fd. It is determined whether or not (S23). Here, the upper limit load value Fu is set larger than the maximum load value Fmax, and the lower limit load value Fd is set smaller than the maximum load value Fmax.
Specifically, for example, the upper limit load value Fu is a maximum load value measured by measuring a plurality of sets of the maximum load value Fmax when all the elastic locking pieces 84 in the protective cover 80 ride on the side plate 71 of the shield frame 70 in advance. A value that is slightly larger than the maximum load value Fmax that is the largest among Fmax (specifically, an increase of 10% of the maximum load value that was the largest). Further, the lower limit load value Fd is, for example, a reduced load that decreases from the maximum load value Fmax when all the locking projections 85 of the elastic locking piece 84 in the protective cover 80 are fitted into the locking holes 73 of the shield frame 70. A plurality of sets of values are measured, and the values are set to be slightly larger than the smallest drop load value among the measured drop load values (specifically, 10% increase of the smallest drop load value, etc.). The upper limit load value Fu and the lower limit load value Fd are set based on the maximum load value Fmax when the protective cover 80 is mounted on the shield frame 70, but based on the load values when other components are mounted. It may be set.

When the pressing load value F does not exceed the lower limit load value Fd (S23: NO), the motor control unit 112 continues the lowering of the protective cover 80 by the mounting head 42.

On the other hand, when the pressing load value F exceeds the lower limit load value Fd and reaches the load target range Fr (S23: YES), the motor control unit 112 determines that the assembly of the protective cover 80 to the shield frame 70 has started. Further, the protective cover 80 is lowered by the mounting head 42 (S24), and the pressing load value F of the mounting head 42 is measured (S25).

Then, it is determined whether or not the locking protrusion 85 of the elastic locking piece 84 is fitted into the locking hole 73 of the shield frame 70 and the mounting of the protective cover 80 to the shield frame 70 is completed.

Specifically, the motor control unit 112 determines whether the pressing load value F reaching the load target range Fr is lower than the lower limit load value Fd (S26).

When the pressing load value F of the mounting head 42 is not lower than the lower limit load value Fd (S26: NO), the motor control unit 112 continues to press the protective cover 80 by the mounting head 42.

On the other hand, when the pressing load value F of the mounting head 42 decreases and becomes lower than the lower limit load value Fd (S26: YES), the motor control unit 112 indicates that the locking projection 85 of the elastic locking piece 84 is the shield frame 70. It is determined that the protective cover 80 is held by the shield frame 70 and the attachment of the protective cover 80 to the shield frame 70 is completed.

As described above, according to the present embodiment, the pressing load value F of the mounting head 42 decreases after reaching the load target range Fr exceeding the lower limit load value Fd and further lower than the lower limit load value Fd. As a determination condition, it can be determined that the protective cover 80 is attached to the shield frame 70.

Therefore, for example, when the size of the protective cover 80 with respect to the shield frame 70 is slightly larger than the reference value due to variations in the size of the shield frame 70 on the protective cover 80, the pressing load value F of the mounting head 42 is the maximum load value Fmax. However, since the determination is based on the fact that the pressing load value F exceeds the lower limit load value Fd and then the pressing load value F is lower than the lower limit load value Fd, the shield frame 70 is protected. It can be determined that the cover 80 is attached.

For example, when the protective cover 80 is smaller than the reference value with respect to the shield frame 70, the pressing load value F exceeds the maximum load value Fmax, but the protective cover 80 has not been attached to the shield frame 70. If the locking protrusion 85 of the elastic locking piece 84 is not fitted in the locking hole 73, the pressing load value F does not decrease, and it is erroneously assumed that the mounting of the protective cover 80 on the shield frame 70 is completed. Can be prevented.

Furthermore, for example, when the protective cover 80 is assembled with the shield frame 70 being displaced, the pressing load value F reaching the load target range Fr does not decrease and exceeds the upper limit load value Fu. Therefore, it can be determined that the attachment of the protective cover 80 to the shield frame 70 is not completed.

That is, as compared with the conventional case where it is determined that the mounting of the protective cover 80 on the shield frame 70 is completed on the condition that the pressing load value F exceeds the load target value (see FIGS. 17 and 18). Thus, it is possible to improve the accuracy of determining whether or not the protective cover 80 is attached to the shield frame 70.

By the way, when the locking projections 85 of the plurality of elastic locking pieces 84 are respectively fitted into the plurality of locking holes 73 of the shield frame 70 as in the present embodiment, some of the locking projections 85 are locked into the locking holes. Even if it does not fit in 73, the pressing load value F of the mounting head 42 falls below the lower limit load value Fd, and it may be erroneously determined that the protective cover 80 is properly attached to the shield frame 70. Concerned.

Therefore, in the mounting determination process of the present embodiment, after the pressing load value F of the mounting head 42 decreases and becomes lower than the lower limit load value Fd, the motor control unit 112 further moves the protective cover 80 by the mounting head 42. The pressure is lowered (S27), and the pressing load value F of the mounting head 42 is measured (S28). In other words, when the mounting of the protective cover 80 to the shield frame 70 is completed and the protective cover 80 has reached the proper mounting position, when the protective cover 80 is further lowered by the mounting head 42, the locking projection 85 is moved to the shield frame 70. As shown in FIG. 6D, the pressing load value F of the mounting head 42 is such that the locking projections 85 fitted in the respective locking holes 73 are disengaged from the locking holes 73 and ride on the side plates 71. , It increases again and exceeds the reload upper limit Fru.
Therefore, the motor control unit 112 determines whether the pressing load value F of the mounting head 42 has increased again and the pressing load value F has exceeded the reload upper limit value Fru (S29). Here, the reload upper limit value Fru is set to a value slightly smaller than the pressing load value F when one elastic locking piece 84 of the protective cover 80 rides on the side plate 71 of the shield frame 70, for example.

As a result of the determination, after the pressing load value F of the mounting head 42 becomes lower than the lower limit load value Fd, the motor does not increase again or the pressing load value F does not exceed the reload upper limit value Fru (S29: NO). The control unit 112 continues to press the protective cover 80 by the mounting head 42, assuming that some of the locking protrusions 85 are not yet fitted in the locking holes 73.

When the pressing load value F becomes lower than the lower limit load value Fd and then increases again and exceeds the reload upper limit value Fru (S29: YES), the motor control unit 112 causes each elastic member of the protective cover 80 to It is assumed that all the locking projections 85 in the stop piece 84 are fitted into the respective locking holes 73 of the shield frame 70, and then the locking projections 85 are about to be detached from the locking holes 73. It is determined that the protective cover 80 is properly attached.

Therefore, according to the attachment determination process of the present embodiment, the attachment of the protective cover 80 to the shield frame 70 is almost completed, but some of the engagement protrusions 85 are not fitted in the engagement holes 73. It can be determined that the protective cover 80 is not properly attached to the shield frame 70.

That is, since it is possible to suppress erroneously determining that the mounting of the protective cover 80 is completed when a part of the protective cover 80 is mounted on the shield frame 70, the mounting of the protective cover 80 is completed. The determination accuracy can be further improved.

<Embodiment 2>
Next, Embodiment 2 will be described with reference to FIGS. 9 and 10.

In the second embodiment, for example, although the mounting of the protective cover 80 to the shield frame 70 is completed by partially changing the determination conditions of the mounting determination process in the first embodiment, the elasticity of the elastic locking piece 84 of the protective cover 80 is completed. This corresponds to the case where the return force is small and the pressing load value F of the mounting head 42 does not fall below the lower limit load value Fd, and the configuration, operation, and effect common to the first embodiment are duplicated. Description is omitted. The same reference numerals are used for the same configurations as those in the first embodiment.

For example, when the elastic return force of the elastic locking piece 84 of the protective cover 80 is small and the pressing load value F of the mounting head 42 does not fall below the lower limit load value Fd, the protective cover 80 is properly attached to the shield frame 70. When reaching the position, as shown in FIG. 5D, the locking projections 85 of the respective elastic locking pieces 84 are fitted into the locking holes 73 in the side plate 71 of the shield frame 70, and the pressing load of the mounting head 42 is reached. Although the value F decreases from the maximum load value Fmax as shown in FIG. 9C, the pressing load value F may remain within the load target range Fr.
Therefore, in the mounting determination process of the second embodiment, as shown in FIG. 10, first, similarly to the first embodiment, the protective cover 80 is lowered by the mounting head 42 (S31), and the pressing load value F of the mounting head 42 is set. Measure (S32).
Then, the motor control unit 112 increases the maximum load value Fmax until the pressing load value F exceeds the lower limit load value Fd, and reaches the load target range Fr between the upper limit load value Fu and the lower limit load value Fd. It is determined whether or not (S33).

When the pressing load value F does not exceed the lower limit load value Fd (S33: NO), the motor control unit 112 continues the lowering of the protective cover 80 by the mounting head 42.

On the other hand, when the pressing load value F exceeds the lower limit load value Fd and reaches the load target range Fr (S33: YES), the motor control unit 112 determines that the assembly of the protective cover 80 to the shield frame 70 has started. Further, the protective cover 80 is lowered by the mounting head 42 (S34), and the pressing load value F of the mounting head 42 is measured (S35).

Then, the motor control unit 112 determines whether or not the pressing load value F that has reached the load target range Fr is subsequently lowered, so that the locking protrusion 85 of the elastic locking piece 84 is engaged with the shield frame 70. It is determined whether the protective cover 80 is completely attached to the shield frame 70 by fitting into the stop hole 73 (S36).

When the pressing load value F of the mounting head 42 has not decreased (S36: NO), the motor control unit 112 continues to press the protective cover 80 by the mounting head 42.

On the other hand, when the pressing load value F of the mounting head 42 is decreased (S36: YES), the motor control unit 112 causes the locking protrusion 85 of the elastic locking piece 84 to fit into the locking hole 73 of the shield frame 70. The protective cover 80 is held by the shield frame 70, and it is determined that the mounting of the protective cover 80 on the shield frame 70 is completed.
Then, as in the first embodiment, S37 to S39 are executed.

As described above, according to the present embodiment, since the pressing load value F of the mounting head 42 has exceeded the lower limit load value Fd and has reached the load target range Fr, the determination condition is as shown in FIG. As shown, although the pressing load value F has decreased, it can be determined that the protective cover 80 is attached to the shield frame 70 even if the pressing load value F remains within the load target range Fr.

That is, according to the present embodiment, although the mounting of the protective cover 80 to the shield frame 70 is completed, the elastic return force of the elastic locking piece 84 of the protective cover 80 is small, and the pressing load value F of the mounting head 42 is the lower limit load value. Even when the pressure does not decrease below Fd, since the determination criterion is only that the pressure load value F decreases after the pressure load value F exceeds the lower limit load value Fd, the attachment of the protective cover 80 to the shield frame 70 is completed. Can be determined.

<Embodiment 3>
Next, Embodiment 3 will be described with reference to FIGS.
In the third embodiment, after the mounting determination process in the first embodiment is performed, a mounting confirmation process is performed to check whether the protective cover 80 is firmly held on the shield frame 70. The configuration common to the first embodiment, Since the operation and effect are duplicated, the description thereof is omitted. The same reference numerals are used for the same configurations as those in the first embodiment.

The mounting confirmation process is executed when the mounting determination process ends and the mounting head 42 is raised by the mounting program.
Specifically, when the protective cover 80 is attracted and held by the mounting head 42, the lower end opening of the mounting head 42 is blocked by the ceiling wall 82 of the protective cover 80 as shown in FIG. Therefore, the vacuum pressure P in the mounting head 42 is higher than the holding vacuum pressure Pu stored in the storage unit 113 as indicated by X in FIG.

On the other hand, when a negative pressure is supplied to the mounting head 42, but the protective cover 80 is not held and the lower end opening of the mounting head 42 is opened as shown in FIG. The vacuum pressure P in 42 changes so as to decrease, and as shown in Y of FIG. 12, the vacuum pressure P becomes lower than the non-holding vacuum pressure Pd stored in the storage unit 113.

The holding force of the protective cover 80 by the mounting head 42 is set to be smaller than the attaching force when the protective cover 80 is normally attached to the shield frame 70.

That is, as shown in FIG. 11A, when the mounting of the protective cover 80 to the shield frame 70 is completed and the protective cover 80 is firmly held by the shield frame 70, as shown in FIG. Thus, the rising of the mounting head 42 and the protective cover 80 remain held by the shield frame 70, and the vacuum pressure P in the mounting head 42 is higher than the non-holding vacuum pressure Pd as shown by Y in FIG. Also decreases.

On the other hand, as shown in FIG. 14A, the protective cover 80 is not held by the shield frame 70 even though the protective cover 80 is completely attached to the shield frame 70, and the protective cover 80 is not attached to the shield frame 70. When the mounting head 42 is removed, the protective cover 80 is lifted while being held by the mounting head 42 as the mounting head 42 is lifted, as shown in FIG. As shown by X in FIG. 15, the vacuum pressure P is substantially unchanged and is higher than the holding vacuum pressure Pu.

Therefore, in the attachment confirmation process, as shown in FIG. 13, when the attachment determination process is completed after the attachment of the protective cover 80 to the shield frame 70 is completed, the motor control unit 112 sucks the protective cover 80 by the mounting head 42. While being held, the mounting head 42 is raised by the Z-axis servo motor 43, and it is determined whether the vacuum pressure P in the mounting head 42 decreases (S41).

When the vacuum pressure P in the mounting head 42 is not lower than the holding vacuum pressure Pu as shown in FIG. 15 (S41: NO), the motor control unit 112 detects the protective cover as the mounting head 42 rises. 80 rises while being held by the mounting head 42, and it is determined that the protective cover 80 is in a state of falling off from the shield frame 70 as shown in FIG. Then, an error is displayed on the display unit of the operation unit 118 via the arithmetic processing unit 111 (S42).

On the other hand, when the vacuum pressure P in the mounting head 42 is lower than the non-holding vacuum pressure Pd (S41: YES), the motor control unit 112 correctly attaches the protective cover 80 to the shield frame 70. Thus, it is determined that the shield frame 70 is firmly held (S43). Accordingly, it can be confirmed that the protective cover 80 is not easily detached from the shield frame 70.

That is, according to the present embodiment, in the attachment determination process, the protective cover 80 reaches the regular attachment position with respect to the shield frame 70 and the attachment is completed. The protective cover 80 is easy to drop off from the shield frame 70 due to the large size or the elastic locking piece 84 floating, and the protective cover 80 is strong against the shield frame 70. It can be determined that it is held.

<Other embodiments>
The technology disclosed in the present specification is not limited to the embodiments described with reference to the above description and drawings, and includes, for example, the following various aspects.

(1) In the above embodiment, the protective cover 80 is attached to the shield frame 70 having the ceiling plate 72. However, the present invention is not limited to this, and a configuration may be adopted in which a protective cover is attached to a shield frame without a ceiling plate, or a configuration in which a shield cover is attached to a resin frame.

(2) In the above embodiment, a plurality of elastic locking pieces 84 are provided on the side wall 81 of the protective cover 80, and the locking protrusions 85 of these elastic locking pieces 84 are provided in the plurality of locking holes provided in the shield frame 70. 73. However, the present invention is not limited to this, and as shown in FIG. 16, a locking groove 171 is provided on the entire outer surface of the shield frame 170, and a locking protrusion 185 fitted into the locking groove 171 is provided on the protective cover 180. You may make it the structure provided in the inner surface of the side wall 181. FIG.

(3) In the above embodiment, the upper limit load value Fu and the lower limit load value Fd are determined based on data measured in advance. However, not limited to this, the upper limit load value may be set to 1.5 times or twice the maximum load value, or the lower limit load value may be set to about 80% of the maximum load value. Can be set to an arbitrary value larger than the maximum load value, and the lower limit load value can be set to an arbitrary value smaller than the maximum load value.

(4) In the above embodiment, the mounting head 42 holds the protective cover 80 by suction. However, the configuration is not limited to this, and the mounting head may be configured to chuck and hold the protective cover.

(5) In the first embodiment, the protective cover 80 is normally attached to the shield frame 70 on the condition that the pressing load value F of the mounting head 42 exceeds the reload upper limit value Fru in the attachment determination process. It was set as the structure judged that it was carried out. However, the present invention is not limited to this, and in the mounting determination process, it is determined that the protective cover is properly mounted on the shield frame on the condition that the pressing load value of the mounting head exceeds the lower limit load value. Good.

10: Surface mounter 12: Conveyor (an example of “substrate conveyor”)
13: Component supply device 20: Component mounting device 42: Mounting head (an example of “component holding unit”)
70: Shield frame (an example of “mounted parts”)
61: Air generating part (an example of “negative pressure generating part”)
80: Protective cover (an example of “mounted parts”)
110: Control unit 112: Motor control unit (an example of “control unit”)
F: Press load value Fd: Lower limit load value Fr: Target load range Fru: Reload upper limit value Fu: Upper limit load value S: Mounting range

Claims

A component mounting apparatus that presses and mounts a mounted component on a mounted component,
A component holding unit that holds the mounted component and presses it against the mounted component;
A control unit for controlling the operation of the component holding unit,
The pressing load value for pressing the mounted component against the mounted component by the component holding unit increases when the mounted component is pressed against the mounted component, and decreases when the mounting of the mounted component on the mounted component is completed. And
When the maximum load value when pressing the mounting part against the mounted part is the maximum load value,
After the controller has reached the load target range between the lower limit load value set smaller than the maximum load value and the upper limit load value set larger than the maximum load value. A component mounting apparatus that executes mounting determination processing for determining that mounting of the mounting component on the mounted component is completed on the condition that the decrease is a determination condition.
2. The component mounting apparatus according to claim 1, wherein the determination condition is that the pressing load value falls below the lower limit load value after reaching the load target range.
3. The component mounting apparatus according to claim 1, wherein the determination condition is that the pressing load value is increased again after the pressing load value is decreased.
4. The component mounting apparatus according to claim 3, wherein the determination condition is that a re-increase of the pressing load value in the component holding part exceeds a predetermined reload upper limit value.
The component holding unit is configured to suck and hold the mounting component by the negative pressure generated by the negative pressure generating unit,
After the mounting determination process, the control unit moves in a direction away from the mounted component while the mounted component is held by the component holding unit, and whether or not the mounted component is held in the component holding unit. 5. The component mounting apparatus according to claim 1, further comprising a mounting confirmation process for confirming whether or not this is caused by a change in a vacuum pressure in the component holding unit.
The component mounting apparatus according to any one of claims 1 to 5,
A component supply device for supplying the mounting component to the component mounting device;
A surface mounting machine comprising: a transport device that transports the mounted component to a mounting range of the mounted component by the component mounting device.
A mounting method for a component that is mounted by pressing the mounted component against the mounted component,
The pressing load value that presses the mounted component against the mounted component increases when the mounted component is pressed against the mounted component, and decreases when the mounting of the mounted component to the mounted component is completed. ,
When the maximum load value when pressing the mounting part against the mounted part is the maximum load value,
A pressing load value for pressing the mounting component against the mounted component is between a lower limit load value smaller than a maximum load value when pressing the mounting component against the mounted component and an upper limit load value larger than the maximum load value. The component mounting method for determining that the mounting of the mounting component to the mounted component is completed on the condition that the load decreases after reaching the load target range.