CN101267728A - Element mounting device - Google Patents
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- CN101267728A CN101267728A CNA2008100837237A CN200810083723A CN101267728A CN 101267728 A CN101267728 A CN 101267728A CN A2008100837237 A CNA2008100837237 A CN A2008100837237A CN 200810083723 A CN200810083723 A CN 200810083723A CN 101267728 A CN101267728 A CN 101267728A
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Abstract
The invention provides an element installing apparatus which includes: a substrate holding apparatus for fixing and holding a circuit substrate; an element supply apparatus for providing a plurality of circuit elements; and a head that can be disassembled to attach to the apparatus, the head is operated for holding each circuit element provided by the element supply apparatus, each circuit element is obtained from the element supply apparatus, and each circuit element is installed on the circuit substrate surface fixed and held by the substrate holding apparatus, wherein, the installing head is attached to the apparatus for separating with the apparatus without tool. The invention is favorable for conditions of disassembled attaching including the element holding apparatus, increasing and reducing installing head of the apparatus. The installing head of the apparatus is a precision element. Consequently, the head can be checked constantly for maintaining.
Description
The application is be on November 19th, 2003, denomination of invention the applying date for " substrate associative operation actuating equipment; be used for the operation Executive Head of substrate associative operation actuating equipment, substrate associative operation executive system and operation Executive Head use preparation routine " and application number be dividing an application of 200380103863.1 Chinese invention patent application.
Technical field
The present invention relates to substrate associative operation actuating equipment, this equipment carry out with the circuit element combination with the relevant operation of the circuit substrate that electronic circuit is provided, more particularly, relate to the substrate associative operation actuating equipment of the operation Executive Head that comprises executable operations.
Background technology
Substrate associative operation actuating equipment is to carry out and the relevant apparatus operating of circuit substrate that constitutes electronic circuit, known various substrate associative operation actuating equipment is such as solder printing equipment, applying glue equipment, component mounting apparatus or check the result's of executed operation checkout facility.As a kind of substrate associative operation actuating equipment, known a kind of equipment, comprise with respect to circuit substrate move in case the operation Executive Head of executable operations as the main element of its executable operations.Each of above-mentioned applying glue equipment, component mounting apparatus and checkout facility all is the example of such equipment.Especially, component mounting apparatus comprises that this installation head adopts the suction nozzle that keeps instrument as its element as the installation head of its operation Executive Head, obtains element from component supplying apparatus and also this element is installed on the surface of circuit substrate.About the operation Executive Head, for example, the flat 6-104596 of Japanese Patent Application Laid-Open discloses any one in the elected majority suction nozzle and has adhered to (attach) to the operation Executive Head the time, judges whether selected and suction nozzle that adhere to are one suitable technology.
Summary of the invention
As disclosed by above-mentioned patent documentation, extensively implemented to prepare a plurality of elements, such as a plurality of suction nozzles, each can both removably adhere to the composed component for the operation Executive Head, that is, can exchange each other on the operation Executive Head.For example, under the situation of a plurality of suction nozzles of preparing to replace each other, according to the kind of circuit substrate and/or will be installed in the kind of the electronic component on the circuit substrate, can removably adhere to suction nozzle suitable one.In this case, can advantageously safeguard all suction nozzles.In addition, owing to can removably adhere to various suction nozzles, substrate associative operation actuating equipment can more found its application in the wide region.Yet, traditionally, also do not propose to use the technology that can removably adhere to (can replace each other) multiple operation Executive Head respectively.
Therefore, the objective of the invention is to realize at least one of the needed various advantages of substrate associative operation actuating equipment, such as high utilization rate or extensive applicability.Can realize this purpose according in the following pattern of the present invention any one, the form of these patterns is substrate associative operation actuating equipment, is used for operation Executive Head, the substrate associative operation executive system of using with substrate associative operation actuating equipment and operates the form that Executive Head uses preparation routine, in them each numbered as claims, if and suitably, can be dependent on other patterns or a plurality of pattern, with expression with illustrate may making up of technical characterictic.Yet, should be appreciated that, be the described technical characterictic of example purpose or its any combination below the invention is not restricted to.It should also be further understood that a plurality of features in any one that is included in following pattern of the present invention not necessarily provide together, and lack at least one feature, also can realize the present invention according to the feature of each pattern description.
(1) a kind of substrate associative operation actuating equipment is characterized in that, comprises the operation Executive Head that removably is attached to equipment, is attached under the situation of described equipment at the operation Executive Head, operates described operation Executive Head, carries out the operation relevant with circuit substrate thus.
Substrate associative operation actuating equipment according to the present invention comprises the operation Executive Head, and is characterised in that, the operation Executive Head removably is attached on the described equipment.Substrate associative operation actuating equipment is not limited to any particular types, as long as it comprises the operation Executive Head.For example, the present invention can be applicable to various substrate associative operation actuating equipments, such as the component mounting apparatus that comprises installation head, comprise the applying glue equipment that applies head, or comprises the inspection actuating equipment of checking head.Here, the operation Executive Head is defined as the composed component of substrate associative operation actuating equipment, carries out most of operation of carrying out by this equipment, for example, the element that moves with respect to circuit substrate.Substrate associative operation actuating equipment can comprise in addition with respect to circuit substrate, the mobile device of move operation Executive Head.In this case, the operations according to the instant invention Executive Head can be defined as the head that removably is attached on the mobile device.According to the present invention, operation Executive Head itself removably is attached on this equipment, and this feature makes a distinction with the conventional art that the composed component of operating Executive Head removably adheres on the head.Phrase " removably adheres to " expression and can be easily the operation Executive Head be attached on this equipment, or with this device separates, for example tool using not.Briefly, this phrase is represented to adhere to or separate with one touch type.Because the operation Executive Head can removably adhere to, and therefore, can improve the availability of substrate associative operation actuating equipment, this is because for example can easily safeguard this equipment.
(2) according to the substrate associative operation actuating equipment of pattern (1), the base plate keeping device that further comprises fixing and holding circuit substrate, and the component supplying apparatus that a plurality of circuit elements are provided, wherein, the operation Executive Head comprises installation head, each circuit element that described installation head maintenance is provided by component supplying apparatus, obtain described each circuit element from component supplying apparatus, and with described each circuit element be installed in by base plate keeping device fix and the surface of the circuit substrate that keeps on, therefore, substrate associative operation actuating equipment serves as component mounting apparatus.
According to this pattern, substrate associative operation actuating equipment serves as component mounting apparatus.Usually, component mounting apparatus comprises the element holding device, such as suction nozzle, alternatively, comprise the raising that improves and reduce the element holding device and reduce device, and around the whirligig of its axis rotating element holding device.Substrate associative operation actuating equipment according to the present invention is particularly conducive to the situation of removably adhering to the installation head that comprises element holding device, raising and reduction device and whirligig.Comprise that those Unit Installation heads are precision elements.Therefore, if installation head removably can be attached on this equipment, just frequent verification head is used for its maintenance.In many cases, component mounting apparatus comprises the human-like head moving device of X-Y machine, and it is along plane move operation Executive Head.Be applied in the present invention under the situation of component mounting apparatus, the operation Executive Head removably is attached to head moving device.
(3) according to the substrate associative operation actuating equipment of pattern (1) or (2), wherein, with in a plurality of operation Executive Heads optional one as described operation Executive Head, be attached on this equipment.
On present mode, can read current operation Executive Head and can operate the pattern that Executive Head is replaced with another.For example, when an operation Executive Head stands to safeguard, another can be operated Executive Head and be attached on the equipment so that executable operations.This helps the availability that not only improves equipment, and improves its operating efficiency.This pattern not only comprises the pattern that can replace a plurality of operation Executive Heads with same structure each other, and comprises the pattern that can replace a plurality of operation Executive Heads with different separately structures each other.
(4) according to the substrate associative operation actuating equipment of pattern (3), wherein, the operation Executive Head has different separately structures, and can will have separately optional in the operation Executive Head of different structure be attached on this equipment as described operation Executive Head.
According to present mode, a plurality of operation Executive Heads with different structure can exchange each other.For example, two operation Executive Heads carrying out different types of operation can exchange each other.The operation Executive Head of carrying out different types of operation can comprise the installation head of execution unit fitting operation, carry out the applicator heads of applying glue operation, and the inspection head of carrying out checked operation.Have under the situation about can exchange each other to the operation Executive Head of the different structure of the degree of the different types of operation of those execution, substrate associative operation actuating equipment can be enjoyed the high universalizable with respect to the operation that will carry out, thereby, enjoy quite big improved application.Yet this pattern comprises the pattern that a plurality of operation Executive Heads with different structure of carrying out operation of the same race can exchange each other.When installation head during as the example of operation Executive Head, known various installation head with different structure of being decided by their application for example adopt the installation head of the element holding device of varying number, such as suction nozzle; Adopt the installation head that improves and reduce the different device of one or more element holding devices; The installation head of the circuit element of difformity or size is installed; Installation head of circuit element or the like is installed with friction speed.That is, the installation head of the different composed components that move is carried out in the installation head of the composed component of known employing varying number, the installation head that adopts difform composed component, employing, or adopts the installation head of the composed component with difference in functionality.According to this pattern, the operation Executive Head with different structure of carrying out the operation of identical type can exchange each other, therefore, can carry out operation of the same race by different way.At this on the one hand, can improve the scope of the application of substrate associative operation actuating equipment.
(5) according to any one substrate associative operation actuating equipment of pattern (1) to 4, wherein, described operation Executive Head comprises the individual information recording medium of the individual information that record is relevant with the operation Executive Head, and wherein, substrate associative operation actuating equipment comprises based on individual information, discerns a relevant information identification part of the relevant information relevant with the operation Executive Head that is attached to this equipment.
When the operation Executive Head that can removably adhere to is attached on the substrate associative operation actuating equipment,, then can further improve the availability of equipment if can obtain structure, state of head or the like by this equipment.As describing in detail after a while, can be if be attached to the structurally associated factor of the head of this equipment automatically by this recognition of devices, then this equipment can automatically be carried out the step (hereinafter, in the time of suitably, being called " head uses preparation process ") of for example preparing the use of head.Head uses preparation process to comprise the software of selecting driving head, or alignment heads, and comprises in addition whether the judgement head is fit to use.When the preparation process of Executive Head use automatically, this pattern is very favourable.
Relevant information in this pattern of being used in can comprise described after a while header structure factor information, head status information or the like.In this pattern, the operation Executive Head has its oneself individual information.That is, the individual information that is used in this pattern is the information that is recorded in the head itself, therefore, can be called " stored information ".Individual information is included in the information of using in the acquisition relevant information, such as an ID (sign) information of the ID that represents the operation Executive Head, or the head type information of the type of expression head.The individual information recording medium can be a memory element, such as ROM or RAM, maybe can be electrically connected so that the medium of the information that is write down is provided, such as straight cutting encapsulation switch.As an alternative, recording medium can be by the identification of visual or Optical devices so that the medium of acquired information, such as bar code or 2D (two dimension) sign indicating number (being also referred to as " QR sign indicating number ").In addition, can for example comprise the recording medium (such as the belt chip) of radio communication device, or utilize for example recording medium of magnetic, select this recording medium from various media.When the operation Executive Head adopted the recording medium of particular types to be used as the individual information recording medium, substrate associative operation actuating equipment adopts can be from the device of the sort of recording medium acquisition or identifying information.
A relevant information is discerned based on individual information in relevant information identification part.For example, the identification part can be based on individual information and carry out calculating and result of calculation is identified as a kind of of a relevant information, or by using individual information as keyword, from the inside of substrate associative operation actuating equipment or outside some information that obtain, and with a kind of for a relevant information of the information Recognition that obtained.As an alternative, individual information can comprise a relevant information.In this case, head has a relevant information, and a relevant information is discerned by just in time obtaining individual information in the identification part.
(6) as the substrate associative operation actuating equipment of pattern (5), wherein, relevant information identification part comprises structurally associated factor information identification part, and the header structure correlative factor information Recognition of at least one factor that it is relevant with the structure of the operation Executive Head that is attached to this equipment with expression is a relevant information.
In this pattern, a relevant information comprises at least one the relevant factor of structure with the operation Executive Head.The header structure correlative factor can be the head type information of the kind of expression head, or expression provides the information of position separately of the various composed components of head.About installation head as the example of operating Executive Head, head type information can be to discern the information of the particular type of installation head, maybe can be attached to shape, kind or the installation rate of this suction nozzle such as the title of the sort of type of expression, the maximum suction nozzle number that can be attached to this.In addition, the information of position is provided can be the position separately that provides in installation head in the horizontal or vertical direction of support member of maintenance suction nozzle separately to the expression composed component.As described later, can with the structurally associated factor information as the information of the driver of the accompanying operation Executive Head of selection operation, judge whether accompanying head is fit to the information of using or the information of the reference position of determining to use in operating installation head.
(7) as the substrate associative operation actuating equipment of pattern (6), further comprise: driver store portion, wherein storage is as the operation Executive Head driver of the software of the operation of the operation Executive Head that is used to allow to be attached to this equipment; And a response portion, it is based on the header structure correlative factor information by the identification of structurally associated factor information identification part, and storage is corresponding to the operation Executive Head driver of the operation Executive Head that is attached to this equipment in driver store portion.
Usually, the control device that the operation of substrate associative operation actuating equipment is subjected to mainly to be made of computer is controlled, and drives operation Executive Head, feeder or the like according to special-purpose software (promptly so-called " driver ").Therefore, the driver of operating this operation Executive Head can be called " operation Executive Head driver ", and different types of operation Executive Head needs suitable driver separately.There is not any problem in traditional substrate associative operation actuating equipment that its operation Executive Head can not be replaced (promptly fixing).On the other hand, in this substrate associative operation actuating equipment that can replace its operation Executive Head, need to select driver corresponding to the operation Executive Head that is attached to this equipment (more particularly, corresponding to this structure).In this pattern, can be selected automatically corresponding to this driver, therefore, can easily replace this head with the other end.Under the situation of having prepared multiple driver, those drivers both can be stored in the substrate associative operation actuating equipment, also can be stored in outside it.Under one situation of back, selected driver is sent to this equipment from the outside.Therefore, this pattern is when with another stature replacement operation Executive Head, allows a kind of pattern of substrate associative operation actuating equipment Executive Head use automatically preparation process.
(8) according to the substrate associative operation actuating equipment of pattern (6) or (7), further comprise positional information acquisition portion, it is based on the header structure correlative factor information by structurally associated factor information identification part identification, obtains to move relevant composed component positional information with the operation of the composed component of the operation Executive Head that is attached to this equipment.
The operation Executive Head is a precision element, but can have certain foozle.In the fixing substrate associative operation actuating equipment of operation Executive Head, after with head and this device assembles, adjust the position separately of head itself or its composed component so that foozle can influence the accuracy of the operation that will carry out by head sharply.On the other hand, can replace (especially with another stature at its operation Executive Head, can removably adhere in the various operation Executive Heads optional one) substrate associative operation actuating equipment in, the foozle of each or head is attached to the accuracy that deviation position can influence operation unfriendly.This pattern is used for automatically adjusting and a relevant position, so that eliminate the influence that is caused by error or the like, that is, carries out so-called " calibration ".For example, based on the expression composed component factor identifying information (especially, expression provides the information of the position of composed component), positional information acquisition portion obtain head accompanying in the indication equipment with and the information of the position separately of composed component, and based on the adjustment of the information and executing that is obtained corresponding to the position of accompanying head.When carrying out the substrate associative operation, operation Executive Head and circuit substrate relative to each other move, and adjust the position and comprise the modification and the relevant precalculated position that relatively moves.About for example installation head, can be based on the information that is illustrated in the position in the horizontal or vertical direction that the composed component of suction nozzle retaining member as this is provided in head, the precalculated position that adjustment is relevant with relatively moving of suction nozzle or installation head.
(9) as any one substrate associative operation actuating equipment of pattern (5) to (8), wherein, relevant information identification part comprises the state information identification part, and it is a relevant information with the head status information Recognition relevant with the state of the operation Executive Head that is attached to this equipment.
This pattern is used for the individual information that obtains based on from the operation Executive Head that is attached to substrate associative operation actuating equipment, identification with the relevant information of state.Head status information can comprise the state that for example uses head, or the state of the head relevant with the accuracy of the operation of carrying out thus.In addition, head status information not only can comprise the state of head itself, and can comprise the state of the head relevant with equipment, for example head and compatibility of apparatus.More particularly, head status information can be: how long operated this head; Once safeguard the back elapsed time from carrying out at head; The failure rate of head; Maybe when being attached to specific head on the particular device, the failure rate of head.Head status information can be used in for example judges whether head is suitable for using, as described below.Head status information can be by the individual information based on the operation Executive Head, obtains visit and comprises that the production separately of various operation Executive Heads or the database of maintenance history discern.
(10) as the substrate associative operation actuating equipment of pattern (9), further comprise a judging part,, judge whether the operation Executive Head that is attached to this equipment is fit to based on head status information by the identification of state information identification part.
Whether this pattern is used for the state based on the operation Executive Head, judges whether head is fit to, that is, be suitable for using the head that is attached to substrate associative operation actuating equipment to come executable operations.For example, a judging part can be judged whether outofkilter and therefore can not using of head itself, or whether head is with this hardware compatibility and therefore to use this head be unaccommodated.Judge accompanying head whether the fit for service step can be used as head and use one of preparation process to carry out.Therefore, this pattern is to allow one of pattern that the use preparation process is automatically carried out.Yet, in the pattern different, can revise this substrate associative operation actuating equipment with this pattern, so that this equipment is based on head status information, and carry out above-mentioned judgement based on header structure correlative factor information.In addition, according to the feature of this pattern, this equipment can carry out above-mentioned judgement based on head status information and header structure correlative factor both information.
(11), further comprise operation Executive Head mobile device according to any one substrate associative operation actuating equipment of pattern (1) to (10).This operation Executive Head mobile device comprises the directions X mobile device, and it comprises the operation Executive Head supporting member of attach operation Executive Head, and along straight line move operation Executive Head supporting member in directions X; And comprise Y direction mobile device, its in Y direction perpendicular to directions X, mobile directions X mobile device.Wherein, operation Executive Head mobile device is being parallel on the plane of circuit substrate the move operation Executive Head.
(12) according to the substrate associative operation actuating equipment of pattern (11), wherein, be attached at the operation Executive Head under the situation of operation Executive Head supporting member, in directions X, the length of the combination of operation Executive Head and operation Executive Head supporting member is no more than 60mm.
(13) according to the substrate associative operation actuating equipment of pattern (11) or (12), wherein, the weight of the combination of operation Executive Head and operation Executive Head supporting member is no more than 5kg.
(14) according to any one substrate associative operation actuating equipment of pattern (11) to (13), further comprise image-pickup device, picked-up is attached to the image of lip-deep reference mark of circuit substrate, by operation Executive Head support member support so that image-pickup device is located in the Y direction and the operation Executive Head positions aligning place that is attached to operation Executive Head supporting member.
In each of above-mentioned four kinds of patterns (11) to (14), substrate associative operation actuating equipment can be enjoyed small size, or is applied to the little load on the operation Executive Head mobile device.Yet each of above-mentioned four kinds of patterns all can be applicable to its operation Executive Head, and the substrate associative operation actuating equipment of (promptly providing regularly) can not be provided with another stature.
(15) a kind of substrate associative operation Executive Head, use with substrate associative operation actuating equipment, it is characterized in that the operation Executive Head removably is attached on the substrate associative operation actuating equipment, be used for substrate associative operation actuating equipment and carry out the operation relevant with circuit substrate.
(16) according to the operation Executive Head of pattern (15), wherein, substrate associative operation actuating equipment comprises the base plate keeping device of fixing and holding circuit substrate, and the component supplying apparatus that a plurality of circuit elements are provided, wherein, the operation Executive Head comprises installation head, each circuit element that this installation head maintenance is provided by component supplying apparatus, obtain described each circuit element from component supplying apparatus, and with described each circuit element be installed in by base plate keeping device fix and the surface of the circuit substrate that keeps on.
(17) according to the operation Executive Head of pattern (15) or (16), comprise the individual information recording medium, therein record and the relevant individual information of operation Executive Head.
Operation Executive Head according to above-mentioned various patterns of the present invention is preferably adopted by the substrate associative operation actuating equipment according to above-mentioned various patterns of the present invention.Therefore, omit the description of former model.
(18) a kind of substrate associative operation executive system, comprise substrate associative operation actuating equipment, this substrate associative operation actuating equipment comprises the operation Executive Head that removably is attached to this equipment, be attached under the situation of equipment at the operation Executive Head, the operating operation Executive Head, carry out the operation relevant thus with circuit substrate, this substrate associative operation executive system is characterised in that, the operation Executive Head that is attached to this equipment comprises the individual information recording medium, therein record and the relevant individual information of operation Executive Head; And this system comprises a relevant information exterior storage portion, its outside substrate associative operation actuating equipment, storage respectively with the relevant many screwdriver bits relevant information of a plurality of described operation Executive Heads; And this system comprises a relevant information identification part, and it is based on individual information, and relevant information exterior storage portion from the beginning obtains to become the screwdriver bit relevant information with identification corresponding to the operation Executive Head that is attached to this equipment.
Substrate associative operation executive system according to the present invention comprises substrate associative operation actuating equipment, and wherein, its operation Executive Head can be replaced with another stature, and obtains above-mentioned relevant information from the external device (ED) that provides outside this equipment.Omitted native system with respect to part as the repetition of foregoing description.Relevant information exterior storage portion is the device that for example is made of computer basically and plays the function the same with database.As previously mentioned, a relevant information can comprise header structure correlative factor information or head status information.Therefore, exterior storage portion can comprise the database separately that corresponds respectively to different types of relevant information.For example, exterior storage portion can adopt the database of production history separately of memory substrate associative operation actuating equipment and operation Executive Head, and the constituent apparatus or the relevant various database of information of element of storage and substrate associative operation actuating equipment.Therefore, native system can adopt one or more relevant information exterior storage portions or a plurality of storage part.In addition, a relevant information identification part is can be with substrate associative operation actuating equipment integrated or separate.Under one situation of back, for example, if native system adopt mainly constitute by computer, manage a plurality of substrate associative operation actuating equipments and serve as the management devices of main frame with integration mode, this management devices can be used as independent information Recognition portion so.As an alternative, the said apparatus that serves as database can be used as independent information Recognition portion.
Can realize according to substrate associative operation executive system of the present invention, make a relevant information identification part comprise at least one of header structure correlative factor information Recognition portion and head status information Recognition portion, make as an alternative that perhaps a relevant information identification part comprises at least one of a judging part, a response portion and positional information acquisition portion.Each of header structure correlative factor information Recognition portion, head status information Recognition portion, a judging part, a response portion and positional information acquisition portion can with substrate associative operation actuating equipment, or the above-mentioned management devices or integrated the providing of device of serving as database.Native system can be in the above described manner any one realization, promptly operate the mode that Executive Head can be replaced with another stature, have the mode that different types of operation Executive Head of different structure can be replaced each other, and substrate associative operation actuating equipment is limited to the mode of component mounting apparatus.
(19) a kind ofly carry out so that prepare to use the program of operation Executive Head by computer, described operation Executive Head removably is attached to substrate associative operation actuating equipment and is used for substrate associative operation actuating equipment carries out the operation relevant with circuit substrate, this program is characterised in that and comprises: the individual information read step, read the individual information relevant with operating Executive Head from the individual information recording medium that provides during being attached to the operation Executive Head of this equipment; And a relevant information identification step, based on the individual information that is read, discern the relevant information relevant with the operation Executive Head that is attached to this equipment.
(20) the operation Executive Head according to pattern (19) uses preparation routine, wherein, relevant information identification step comprises structurally associated factor information identification step, and the header structure correlative factor information Recognition of at least one factor that expression is relevant with the structure of the operation Executive Head that is attached to this equipment is a relevant information.
(21) the operation Executive Head according to pattern (20) uses preparation routine, further comprise a response of step, in the driver store portion of storage as the operation Executive Head driver of the software of the operation of the operation Executive Head that is used for allowing being attached to this equipment, based on the header structure correlative factor information of being discerned, storage is corresponding to the operation Executive Head driver of the operation Executive Head that is attached to this equipment.
(22) the operation Executive Head according to pattern (20) or (21) uses preparation routine, comprise that further positional information obtains step, based on the header structure correlative factor information of being discerned, obtain to move relevant composed component positional information with the operation of the composed component of the operation Executive Head that is attached to this equipment.
(23) any one operation Executive Head according to pattern (19) to (22) uses preparation routine, wherein, relevant information identification step comprises the state information identification step, is a relevant information with the head status information Recognition relevant with the state of the operation Executive Head that is attached to this equipment.
(24) the operation Executive Head according to pattern (23) uses preparation routine, further comprises a determining step, based on the head status information of being discerned, judges whether the operation Executive Head that is attached to this equipment is fit to.
The operations according to the instant invention Executive Head uses the above-mentioned various patterns of preparation routine relevant with the program of the operation Executive Head that is used to allow preparation use automatically removably to be attached to substrate associative operation actuating equipment.Because the description of those patterns is previously described repetitions, therefore in this omission.Yet, it should be noted that each that can realize those patterns with each of aforesaid way, these modes are promptly: the operation Executive Head can be with the mode of another stature replacement, have the mode that different types of operation Executive Head of different structure can be replaced each other, and substrate associative operation actuating equipment is limited to the mode of component mounting apparatus.
Description of drawings
Fig. 1 is the perspective view as a general configuration of the substrate associative operation actuating equipment of embodiments of the invention.
Fig. 2 is the perspective view of configuration of operation executive module that constitutes the part of substrate associative operation actuating equipment.
Fig. 3 is the perspective view by the conveyer unit of operation executive module use.
Fig. 4 is the perspective view by the substrate associative operation final controlling element of operation executive module use.
Fig. 5 represents to be attached to respectively the perspective view separately of three installation head on the substrate associative operation final controlling element.
Fig. 6 is the perspective view that can be attached to the installation head of substrate associative operation final controlling element.
Fig. 7 represents to be used to illustrate installation head is adhered to the perspective view of the attachment device of erecting device to the end.
Fig. 8 represents to fixedly mount the sectional view of a fixture of 21.
Fig. 9 is the schematic diagram that is used to illustrate the controlled function of the component control device that is used by each operation executive module.
Figure 10 is used for illustrating that substrate associative operation actuating equipment is placed in the schematic diagram of the mode of factory.
Figure 11 represents that the head of realizing uses the flow chart of preparation routine when the attach operation Executive Head.
Figure 12 is that expression uses a relevant information of the part of preparation routine to discern the flow chart of routine as head.
Figure 13 is that expression uses the head of the part of preparation routine to judge the flow chart of routine as head.
Figure 14 is the flow chart of expression as the alignment routine of the part of head use preparation routine.
Figure 15 is the exemplary plot that is used to illustrate the method for the height and position that calculates accompanying installation head.
Figure 16 is the exemplary plot that is used to illustrate the method for the centre of gyration of determining installation unit.
Figure 17 is used for explanation to calculate the exemplary plot of installation unit around the method at the rotating center of its calibration (indexing).
Figure 18 is used to illustrate the schematic diagram that uses the controlled function of the relevant component control device of preparation routine with head.
Embodiment
Hereinafter, will be with reference to the accompanying drawings, describe embodiments of the invention in detail.Yet, it will be appreciated that the present invention is not limited to the details of those embodiment, but can realize, such as described in the summary of the invention by the thinkable various changes and modifications of those skilled in the art.
The structure of＜substrate associative operation actuating equipment 〉
Fig. 1 is the perspective view as the substrate associative operation actuating equipment 1 of embodiments of the invention.A plurality of (eight) operation executive module 12 that substrate associative operation actuating equipment 1 comprises base assembly 10, provide on base assembly 10 is so that operation executive module 12 is adjacent one another are and by arrayed, and separate and serve as the control assembly 13 of operating the actuating equipment control device with base assembly 10 and operation executive module 12.Except that operation Executive Head 21 (explanation in the back), operation executive module 12 has substantially the same hardware configuration, and is arranged in the direction of presenting each circuit substrate.In the description of substrate associative operation actuating equipment 1, the direction of arranging operation executive module 12 will be called " about " direction, will be called " front and back " direction perpendicular to the direction of left and right directions.Therefore, the left front part of this figure will be called " preceding " side of substrate associative operation actuating equipment 1, and the right back part of this figure will be called " back " side of substrate associative operation actuating equipment 1.In addition, the left side of substrate associative operation actuating equipment 1 is the upstream side of this equipment, and the right side of equipment 1 is its downstream.Thereby, when with each circuit substrate from the operation executive module 12 that is positioned at the left side when the assembly 12 that is positioned at the right is presented, assembly 12 is sequentially carried out separately the operation relevant with each circuit substrate.
In the operation executive module 12 that is adopted by substrate associative operation actuating equipment 1 each can both be served as according to substrate associative operation actuating equipment of the present invention, and with regard to the present invention, each operation executive module 12 can both be interpreted as substrate associative operation actuating equipment.Yet,, be interpreted as a plurality of operation executive modules 12 and cooperate each other so that serve as according to substrate associative operation actuating equipment of the present invention with regard to related present embodiment.In addition, even each operation executive module 12 can use with various operation Executive Heads 21 (such as applicator heads or inspection Executive Head), but in the present invention, only be the purpose that is more readily understood, suppose that can operate operation Executive Head that executive module 12 uses with each only is that circuit element (such as electronic component) is installed in installation head on the circuit substrate.Therefore, each operation executive module 12 serves as installation component, and substrate associative operation actuating equipment 1 serves as component mounting apparatus.In following description, substrate associative operation actuating equipment 1 can be called component mounting apparatus 1, and operation executive module 12 can be called installation component 12, wherein, describes on the component mounting operation that concentrates on as the substrate associative operation.
Fig. 2 is the zoomed-in view of two installation components 12 in above-mentioned eight installation components 12, and is presented at the right installation component 12 under the situation that removes its lid member.As shown in the figure, each installation component 12 comprises: the framework 14 that serves as its main body; And by framework 14 support, form a line various devices, for example a plurality of belt feeders (are called " feeder " hereinafter, if suitably) 16, would serve as respectively from predetermined element and supply with the component supplying apparatus that the position provides a plurality of circuit elements one by one; As the conveyer unit 20 of base plate keeping device, has the function of presenting each circuit substrate and keeping each circuit substrate in the scheduled operation executing location regularly; And substrate associative operation final controlling element 22, it comprises operation Executive Head 21, and in the district is carried out in operation move operation Executive Head 21 so that 21 an execution operation relevant with each circuit substrate.In the present embodiment, operation Executive Head 21 serves as installation head, its maintenance and obtaining by suitable in the feeder 16 circuit element that provides, and element is installed in by on the conveyer unit 20 fixing circuit substrates that keep, substrate associative operation final controlling element 22 serves as erecting device.In following description, operation Executive Head 21 can be called installation head 21, and substrate associative operation final controlling element 22 can be called erecting device, wherein, describes concentrating in the component mounting operation.
In addition, each installation component 12 comprises: between feeder 16 group 18 (being called " feeder group " hereinafter) and conveyer unit 20, provide, and mainly as the element camera 24 (being the CCD camera) of element image-pickup device; As the suction nozzle collector (nozzle stocker) of a plurality of suction nozzles of storage of element holding device storage device, each suction nozzle is as element holding device (explanation in the back); And the terminal height sensor 27 of suction nozzle as described below.In addition, each installation component 12 comprises component control device 26 (see figure 9)s, controls itself, i.e. the operation separately of above-mentioned various devices.In addition, each installation component 12 be included in its top provide and be connected to component control device 26, as the operation and the display floater 28 of input and output device.Operation and display floater 28 receive by the various command of operator's input, information or the like and show information of the state of representing installation component 12 and composed component thereof or the like or the like.
Each feeder 16 consists essentially of to be brought into to portion 40 and tep reel maintaining part 42.Tep reel maintaining part 42 keeps tep reel 46, twines the circuit element band (especially, the electronic component by the support of base and cover band can be called the electronic component band) as the circuit element of being supported by pedestal band and cover tape on tep reel.Bring into to portion 40 and comprise drive source, and from tep reel 46, keep bringing into at interval of spacing to equal element with the holding circuit element, delivery circuit element band is so that the feeding of band is corresponding to the operation of erecting device 22.When delivery circuit element band, cover tape breaks away from from the pedestal band, and provides circuit element one by one from predetermined element supply position.Because feeder 16 and circuit element band are being known in the art, and no longer provide to further describe.
As shown in Figure 3, conveyer unit 20 is made of two conveyer devices basically, promptly preceding conveyer 72 and back conveyer 74.Preceding conveyer 72 comprises reciprocal two conveyer rails 76,78, and back conveyer 74 comprises reciprocal two conveyer rails 80,82.By conveyer motor 84, respectively at 76,78,80,82 times endless conveyor (not shown) of conveyer rail.Feed circuit substrate 86 when supporting by every pair of conveyer belt.Installation component 12 adopts conveyer unit 20 separately, so as conveyer unit 20 in component mounting apparatus 1 along linear array.Cooperate each other so that feed circuit substrate 86 in the conveyer unit 20 separately of installation component 12.Therefore, cooperate each other with the substrate feed arrangement of composed component erection unit 1 in conveyer unit 20.Except that conveyer belt 76, each in the conveyer rail 78,80,82 can both move in fore-and-aft direction by conveyer width adjustment motor 88, so that freely adjust the width of each conveyer unit 20.If only use in preceding and the back conveyer 72,74, then can present circuit substrate by a conveyer with big width.
When operation or driving conveyer motor 84, circuit substrate 86 is fed to operation carries out in the district, and stopping as the operation executing location place that is scheduled to stop position.Each conveyer unit 20 has circuit substrate supporting bracket (being called " supporting bracket " hereinafter, if suitably) 90 in its underpart, supporting bracket 90 moves up and down by each raising and reduction device (not shown).On each of supporting bracket 90, provide a plurality of supporting pin (not shown), so that each supporting pin can be moved to the optional position.When moving up each supporting bracket 90, the circuit substrate 86 that moves up is supported by supporting pin simultaneously, so that make circuit substrate 86 lift from conveyer belt and be clipped in conveyer rail 76,78 or 90 of the part separately of conveyer rail 80,82 and supporting pins.Thereby, circuit substrate 86 is fixed on aforesaid operations executing location place.Can discharge circuit substrate 86 by reducing supporting bracket 90.Therefore, the conveyer unit 20 of each installation component 12 serves as base plate keeping device.
As shown in Figure 4, erecting device 22 comprises installation head 21, and the head moving device 102 (as the installation head mobile device) of installation head 21 plane is moved basically in the edge in the district is carried out in operation.Head moving device 102 is a kind of relative movement device, it make installation head 21 and the circuit substrate that keeps by conveyer unit 20 at least one move with respect in installation head 21 and the circuit substrate 86 another.Installation head 21 will be described in detail belows.Head moving device 102 is the human-like mobile devices of X-Y machine, and be included in mobile installation head 21 in the fore-and-aft direction (being the Y direction), as the Y carriage 112 of Y direction mobile device; And in left and right directions (being directions X) mobile installation head 21, as the X carriage 114 of directions X mobile device.Y carriage 112 is supported by the beam 116 as the part of framework 14, and comprises Y slide block 120 and move the Y-axis motor 118 of Y slide block 120 through ball screw, along Y guide rail 122.X carriage 114 is supported by Y slide block 120, and comprises X slide block 128 and move the X-axis motor 126 of X slide block 128 through ball screw, along X guide rail 130.Installation head 21 is attached on the X slide block 128, as operation Executive Head supporting member.Be used for 21 device that are attached on the X slide block 128 be will be explained below.Erecting device 102 moves to installation head 21 by on the fixing circuit substrate 86 in conveyer unit 20 from feeder group 18, and vice versa.X slide block 128 supports mark camera 132 (being the CCD camera) in its underpart.Mark camera 132 serves as the substrate image capturing apparatus, and picked-up is attached to each image of the lip-deep reference mark of circuit substrate 46.Head moving device 102 movement indicia cameras 132 and installation head 21.
The structure of＜operation Executive Head, and adhere to mode with Tool for detaching 〉
In the present embodiment, can be attached on the head moving device 102 as the installation head 21 of operating Executive Head, and can dismantle from it.More particularly, select to have any one in the various installation head 21 of different structure, and selected installation head removably is attached on the head moving device 102.That is, erecting device 22 allows a kind of installation head 21 is replaced with another kind of installation head 21.Fig. 5 (a), 5 (b) and 5 (c) represent three kinds of installation head 21a, 21b and 21c respectively, and every kind can both removably be attached on the head moving device 102 as operation Executive Head 21.Briefly, the installation head 21a shown in Fig. 5 (a) comprises a plurality of (eight) installation unit 140, and each has bar shape, and installation head 21a turns round installation unit 140 off and on.In the installation unit 140 each has suction nozzle 142 in its lower end, as the element holding device that comes the holding circuit element by absorption.Be higher than in installation head 21 under the situation of feeder group 18, move down in the installation unit 140, so that the suction nozzle 142 of this installation unit 140 can remain on the circuit element that the component feeding position of a feeder 16 provides, and from these feeder 16 acquisition elements.Because turn round installation unit 140 off and on, so installation unit 140 sequentially obtains each circuit element.Keep under the situation of circuit element separately at installation unit 140, installation head 21a is shifted to by the position on the conveyer unit 20 fixing circuit substrates 86 that keep.Then, make to be currently located in the installation unit 140 and to move down each installation unit 140, so that can be installed on the surface of circuit substrate 86 by current circuit element by these installation unit 140 maintenances so that obtaining of identical position, the position of circuit element moves down.When turning round installation unit 140 off and on, installation unit 140 sequentially is installed in each circuit element that is kept on the circuit substrate 86.Therefore, installation head 21 preferably is used for having quite undersized circuit element to install at a high speed.Can with installation head 21a identical type but the installation head (not shown) with quantity of the installation unit 140 different with the quantity of the installation unit 140 of installation head 21a be attached on the head moving device 102 as installation head 21.
Installation head 21c shown in Fig. 5 (c) has an installation unit 140.In the position that is higher than one of feeder 16, and, move down installation unit 140 in the position that is higher than circuit substrate 86.Thereby, when between a feeder 16 and circuit substrate 86, installation head 21c being made a round trip, a circuit element is installed on the circuit substrate 86.The installation rate that installation head 21c installs circuit element is low relatively, but installation head 21c can support to have quite large-sized suction nozzle 142, therefore, the circuit element with suitable large scale or given shape can be installed.Therefore, installation head 21c can be used as general installation head 21.The installation head 21b that Fig. 5 (b) illustrates has two installation units 140.Therefore, installation head 21b has the characteristic between installation head 21a and installation head 21c.One of the front end of two installation units 140 has a plurality of suction nozzles 142, they are from the radial expansion of axis perpendicular to the axis of this installation unit 140, so that suction nozzle 142 can be around the former axis revolution, therefore, can select in the suction nozzle 142 any one to be used for using.Each installation component 12 can be with according to a use in the optional above-mentioned various installation head 21 of kind of the fitting operation that will carry out.Fig. 2 and 4 each all represented installation head 21a as installation head 21.
By with reference to the installation head 21a shown in the figure 6, will the structure of installation head 21 be described in more detail.Installation head 21a is configured to comprise the main body 280 as its skeleton, its various composed components or the device that provides in each district, and lid member 282 (see figure 5)s.Fig. 6 represents to cover the installation head 21a that member 282 is removed.
Installation head 21a comprises a plurality of (for example eight) installation unit 140, each keeps suction nozzle 142 at its free end portion, as the circuit element holding device.Although it is not shown, each suction nozzle 142 selects feedway 292 (see figure 9)s to communicate with negative pressure plasmas channel and barotropic atmosphere passage through positive negative pressure, and the free end that is configured to each suction nozzle 142 is applied to negative pressure on the electronic component, so that by drawing holding element, and will hang down malleation and be applied on the element, so that discharge this element.Installation unit 140 with general strip shape keeps the outer circumference portion of body 294 to divide by the unit of intermittently rotation keeping, so as installation unit 140 each other equi-angularly space and each installation unit 140 axially be vertical.In the installation unit 140 each can be rotated around its axis, and can move in it is axial.The unit keeps body 294 to keep body whirligig 298 to drive by the unit, the unit keeps body whirligig 298 to comprise as maintenance body rotation motor 296 its drive source, that belong to electro-motor (servo motor that for example has encoder), make the unit keep body 294 with equal installation unit 140 each other the angular separation of the angular separation of equi-angularly space rotate (being also referred to as " gear shift (is indexed) ") off and on, thereby each in the calibration revolution installation unit 140 off and on.The unit of one of a plurality of application positions that stop when rotating off and on as each installation unit 140 improves and reduces the platform place, improve and reduce device 302 by the unit and improve and reduce each installation unit 140, the unit improves and reduction device 302 comprises as unit its drive source, that belong to electro-motor (servo motor that for example has encoder) raising and reduce motor 300.Therefore, be positioned at each installation unit 140 that improves and reduce the platform place in the unit and obtain electronic component, and this element is installed on the circuit substrate 86 that is kept by conveyer unit 20 from a suitable feeder 16.For this reason, make installation unit 140 reduce preset distance.In addition, for for example adjusting the purpose that is installed in the position of rotation on the circuit substrate 86 by the electronic component of 140 absorptions of each installation unit and maintenance, make each installation unit 140 around its axis rotation by unit whirligig 306, unit whirligig 306 comprises as unit rotation motor 304 its drive source, that belong to electro-motor (servo motor that for example has encoder).To rotate the mode of a plurality of installation head 140 simultaneously around its axis separately, constitute the unit and keep body 294.Like this, the description of the general structure of installation head 21a finishes.
Other installation head 21b, 21c has and the similar structure of installation head 21a, only comprises an installation head 140 but have following difference: installation head 21c, and does not comprise that the unit that is used by installation head 21a keeps body whirligig 298.Installation head 21b comprises two installation units 140, and wherein each can both irrespectively improve and reduce with another installation unit 140.Therefore, installation head 21b adopts two to improve and reduce the device (not shown), and in two installation units 140 one comprises suction nozzle choice device (not shown), and it selects in a plurality of suction nozzles 142 any one.
As mentioned above, installation head 21 removably is attached on the X slide block 128,21 removably is attached on the head moving device 102 thus.Hereinafter, use description to installation head 21 removably is attached to attachment device on the head moving device 102.Fig. 7 (a) is the perspective back view of installation head 21, and Fig. 7 (b) is the front perspective view of X slide block 128.
The rear portion 330 of the main body 280 of installation head 21 constitutes a facies posterior hepatis of 21, and the front portion 332 of X slide block 128 constitutes the support portion of slide blocks 128.The rear portion 330 of main body 280 part in its lower section has two shanks 334, and part has gear block 336 in the above.Simultaneously, the front portion 332 of X slide block 128 part in its lower section has two leg support portions 338, is used for supporting respectively two shanks 334, is higher than in the part of leg support portion 338 at it in addition, has two engagement rollers (roller) 340 down.In addition, the front portion 332 of X slide block 128 part in the above has a fixture 342 (see figure 4)s, be used for meshing the part of gear block 336, thereby fixed block 336, be lower than in the part of a fixture 342 at it in addition, have engaging hole 346, wherein have two and go up engagement roller 344 and hold gear block 336.Be attached in installation head 21 under the situation of X slide block 128, the rear portion 330 of main body 280 keeps closely contacting each other with the front portion of X slide block 128 332.
Each of two shanks 334 has the wedge shape free end in corresponding one v-depression that can be assemblied in two leg support portions 338.Therefore, can define the position of installation head 21 in the vertical direction.In addition, two opposite inner face of the upper part separately of two shanks 334 can closely mesh with two outer surfaces separately that mesh roller 336 down, wherein, the distance each other of upper part separately of two shanks 334 is less than the distance of the lower part separately of two shanks 334.In addition, two of gear block 336 side surfaces can closely be assemblied in two spaces of going up between the outer surface separately that meshes roller 344.Therefore, can define the position of installation head 21 in the left and right directions.
Fig. 8 (a) and (b) respectively the expression fixture 342 two sectional views.More particularly, Fig. 8 (a) expression along by about to the sectional view of the X slide block 128 done of the plane at center of X slide block 128, Fig. 8 (b) is the sectional view along the X slide block 128 that A-A did of Fig. 8 (a).The latch 362 of lock bolt roller 360 (see figure 7)s that provide in the upper part that can be engaged on gear block 336 is provided for fixture 342.More particularly, the latch 362 of fixture 342 can be supported so that latch 362 can move in vertical direction by the pin supported hole 364 that provides in 332 the upper part forwardly, and a fixture 342 comprises the latch operating means 366 that can make latch 362 mobile up and down in addition.Latch operating means 366 comprises: the bar 368 with certain flexibility ratio; The disk cam plate 370 that provides regularly on an end of bar 368 makes lobe plate 370 and bar 368 off-centre; Support bar 368 is so that bar 368 can be around the general tubular rod supporting member 372 of its axis rotation; And on the other end of bar 368, provide and operationally be used for the handle 374 of swingle 368 regularly.The bar supporting member 372 of latch operating means 366 is fixed to the upper part of the front portion 332 of X slide block (see figure 7).Latch 362 has groove 376 in the part in the above, and groove 376 has less times greater than the width of the overall diameter of lobe plate 370, and engagement with cams plate 370.When rotary handle 374, mobile up and down latch 362.Be the purpose of easy operating handle 374, the bar supporting member 372 of latch operating means 366 has reclinate shape so that handle 374 is positioned at lower position.
When installation head 21 is attached on the X slide block 128, at first, at a direction (for example in the present embodiment, being seen as counterclockwise) rotary handle 374, so that move up latch 362 from the front side of handle 374.In this case, the rear portion of installation head 21 330 keeps closely contacting with the front portion 332 of X slide block 128, then, and the rotary handle 374 that in the opposite direction (for example, in the present embodiment, is seen as clockwise direction) from the front side of handle 374.As a result, move down latch 362, before latch 362 had just arrived its extreme lower position, meshed with the outer surface of lock bolt roller 360 on the inclined plane 378 that forms in the lower end of latch 362.When being further rotated handle 374 in equidirectional, latch 362 is by pushing installation head 21 downwards and backward and pin lock bolt roller 360 owing to the effect on inclined plane 378.Although can keep this state by the frictional force that produces between one below in two opposite faces of the outer surface of lobe plate 370 and definition groove 376, but the torsion spring 380 that is adopted by latch operating means 366 surely keeps this state, so as in the direction that latch 362 is moved down bias stem 368.When removing and installing 21 from X slide block 128, rotary handle 374 in an above-mentioned direction.
In the present embodiment, operation executive module 12 can use with any one of various operation Executive Heads 21.Yet, use general attachment device to adhere to each of various operation Executive Heads 21.Because attachment device, each operation Executive Head 21 can both be dismantled from X slide block 128 in a step, and can be attached on the X slide block 128 in a step.Can control the operation Executive Head 21 that is attached on the X slide block 128 by component control device 26.For this reason, being used for driving power line separately and the control signal wire separately each element, operation Executive Head 21 of operating Executive Head 21 is connected on the head moving device 102.Can in a step, carry out this connection by using the conductor (not shown).Operation Executive Head 21 comprises storage chip 400 (see figure 5)s as the individual information recording medium, the individual information of record identification 21 itself.Storage chip 400 also can be connected to component control device 26.Storage chip 400 is RAM chips of being done reserve by battery, and wherein can write down various information.The occupation mode that is recorded in information in the storage chip 400 and this information illustrates in the back.
The factor of＜operation Executive Head 〉
In the present embodiment, installation head 21 is small-sized operation Executive Heads.Specifically, the width of installation head 21 (that is, being attached under the situation of X slide block 128 length of the installation head 21 in substrate direction of feed (being directions X), i.e. " x " among Fig. 4 21) is little, promptly is no more than 60mm.In above-mentioned three kinds of installation head 21a, 21b and 21c, use calibration type installation head 21a that quite little circuit element is installed.Installation head 21a comprises suction nozzle 142, provides suction nozzle 142 to make the diameter that is centered close to separately of suction nozzle 142 be not more than on the circle of 40mm.The width that the width that adheres to the X slide block 128 of installation head 21 equals 21.Although in the present embodiment, mark camera 132 as the substrate image capturing apparatus is not to provide on installation head 21, but on X slide block 128, but mark camera 132 be located in the direction perpendicular to the horizontal direction of the slide block 128 Y direction of the direction of motion of slide block 128 (promptly perpendicular to) with 21 positions aligning on.This also helps to reduce the width of X slide block 128.In the present embodiment, the length of the installation component 12 in the substrate direction of feed (being the width of each assembly 12) is quite little.Yet because the width separately of installation head 21 and X slide block 128 is quite little, 21 can install circuit element in sizable scope in its horizontal direction.
In three kinds of installation head 21a, 21b and 21c, the installation head 21a of calibration type has maximum weight, promptly about 2kg.Because mark camera 132 separates with installation head 21,21 weight similarly reduces.Simultaneously, the weight that comprises the X slide block 128 of mark camera 132 is for example about 2kg.Therefore, in the head moving device 102 as the human-like mobile device of X-Y machine, X carriage 114 moves installation head 21 and the X slide block 128 as the target that will move, and their combination weight is for being not more than 5kg.Therefore, the load that is applied on the head moving device 102 is quite little.Therefore, installation head 21 can at full speed move, and installation component 12 can be enjoyed high production rate.In addition, because installation head 21 is light, 21 produce less vibrations or consume the less energy.
＜control device 〉
Substrate associative operation actuating equipment 1 is operated the component control device separately 26 and the conduct of executive module 12 and is controlled with the control assembly 13 of the operation actuating equipment control device of integration mode control operation executive module 12.Yet, under the control of the component control device 26 of each assembly 12, carry out the essential part of the operation of carrying out by each operation executive module 12.Fig. 9 is the schematic diagram of the relevant portion of each component control device 26 of operating executive module 12.
Component control device 26 mainly is made of computer 410, and computer 410 comprises PU (processing unit) 412, ROM 414, RAM 416, input and output interface 418 and makes those element 412,414,416,418 buses connected to one another.Feeder 16 or feeder group 18, conveyer unit 20 and head moving device 102 are connected to input and output interface 418 through drive circuit 422 separately.In addition, component control device 26 comprises the head drive circuit 424 that drives operation Executive Head 21, and 21 are connected to input and output interface 418 through head drive circuit 424.In addition, element camera 24 and mark camera 132 are connected to input and output interface 418 through control circuit 426 separately, expression after being handled by unit 428, sends to input and output interface 418 through graphics processing unit 428 by the view data of the image of each picked-up of two cameras 24,132.Operation and display floater 28 and external memory 430 are connected to input and output interface 418, and external memory 430 is made of the hard disk as a kind of memory basically.In substrate associative operation actuating equipment 1, the operation that all operations executive module 12 is carried out separately transmits simultaneously various signals each other.For this reason, other operation executive modules 12 are connected to input and output interface 418 through telecommunication circuit 432.In addition, the control assembly 13 as master computer work relevant with component control device 26 also is connected on the input and output interface 418 through telecommunication circuit 432, so that input and output interface 418 can transmit signals, information or the like with control assembly 13.That is to say that operation executive module 12 and control assembly 13 are connected to each other through LAN 434.External memory 430 storage operating systems, various application program are such as corresponding to the installation procedure of every kind of circuit substrate, various data relevant with circuit element or the like.When carrying out fitting operation, necessary programs and data are sent to RAM416 from external memory 430, and by its storage, so that can carry out fitting operation based on by RAM 416 program stored and data.
Next, will describe operation Executive Head 21 in detail.The installation head 21a that the schematic diagram of Fig. 9 has illustrated as operation Executive Head 21 is attached to operation executive module 12, so that positive negative pressure is selected feedway 292, maintenance body rotation motor 296, the unit improves and reduce motor 300 and unit rotation motor 304 is connected to head drive circuit 424.Like this, according to each kind that is connected to the operation Executive Head 21 on the operation executive module 12, different types of actuator, drive source or the like can be connected to head drive circuit 424.Belonging to the various devices (such as feeder 16 or conveyer unit 20) of operating Executive Head 21 is driven by separately special use " driver " (promptly being used for operating the software program of those devices).Driver is corresponding to the structure separately of those devices.Operation Executive Head 21 is driven by operation Executive Head driver, and for example by a special-purpose installation head driver drive installation 21a.Various drivers are by the driver store portion storage as the part of external memory 430.For example, when installation head 21a is attached on the operation executive module 12, component control device 26 reads dedicated head driver corresponding to installation head 21a from external memory 430, and a driver is sent to RAM 416, so that set up the operation sequence corresponding to installation head 21a.In addition, the operation Executive Head 21 storage chip 400 be connected to input and output interface 418 so that computer 410 can with 21 a transmission information.
Although it is not shown, control assembly 13 as operation actuating equipment control device mainly is made of the computer that comprises PU, ROM, RAM and input and output interface, and comprise external memory in addition, such as the input unit of keyboard, such as output device of display or the like.Control assembly 13 can transmit various signals and data with each of operation executive module 12, and with integration mode control all operations executive module 12.In addition, control assembly 13 serves as the database of the required various data of memory substrate associative operation actuating equipment 1.Installation procedure separately corresponding to operation executive module 12 is provided by control assembly 13.In addition, control assembly 13 can allow substrate associative operation actuating equipment 1 to communicate by letter with external device (ED).
Figure 10 schematically shows the mode that a plurality of substrate associative operation actuating equipments 1 are placed in the factory.Three substrate associative operation actuating equipments 1 of same type more particularly, are provided.Three equipment 1 is connected to each other so that they can be sent to information each other and from receiving information each other, and each of equipment 1 is connected to various supervisory computers (shown in this figure two supervisory computers 440,442), so that information is sent to each other and from receiving information each other.Substrate associative operation actuating equipment 1 and supervisory computer 440,442 are connected to each other through LAN 444.Multiple supervisory computer is arranged, such as serving as the supervisory computer of storage, or serve as each the supervisory computer of database of data of factor of storage representation circuit substrate corresponding to the database of the various operation executive programs of various circuit substrates.In those supervisory computers, Figure 10 represents to serve as the production history supervisory computer 440 of the database of storing the data relevant with the production history of each substrate associative operation actuating equipment 1, and the assembly apparatus supervisory computer 442 that serves as the storage database of information relevant with the device (such as operation Executive Head 21 or feeder 16) of assembly.When operation Executive Head 21 when replacing each other, each of two supervisory computers 440,442 is served as a relevant information exterior storage portion, it outside each substrate associative operation actuating equipment 1, storage with operate Executive Head 21 in each relevant relevant information.Represent that the information how each substrate associative operation actuating equipment 1 carries out production operation sends to production history supervisory computer 440, the information of Fa Songing comprises the information of having used which kind of operation Executive Head 21 in the production operation that is illustrated in thus.In addition, also the information relevant with the check result of the circuit substrate of executed thereon operation is sent to production history supervisory computer 440, and supervisory computer 440 management as one of production history parameter, with each relevant failure rate of operating Executive Head 21.After a while, will describe production history supervisory computer 440 and assembly apparatus supervisory computer 442 in detail.
＜component mounting operation 〉
Next, will the component mounting operation of an installation component 12 execution that removably are attached to by installation head 21 be described briefly.Carry out operation executing location predetermined in the district in operation, stop the circuit substrate of presenting from upstream side 86 by conveyer unit 20.Owing to improved circuit substrate supporting bracket 90 by improving and reduce device, the circuit substrate 86 that stops at operation executing location place is fixed by conveyer unit 20 and is kept.Subsequently, head moving device 102 moves to mark camera 132 position on the reference mark that is attached on the circuit substrate 86, so that the image separately of mark camera 132 picked-up reference marks.Based on representing the view data of the image of picked-up thus, determine site error by the circuit substrate 86 of conveyer unit 20 maintenances.
Then, make installation head 21a move to position on the feeder group 18, and the suction nozzle 142 of a 21a keep each circuit element by drawing by predefined procedure.More particularly, make the installation unit 140 that is currently located at the unit raising and reduces on the platform move to the position on the component feeding position on the feeder 16, will be so that provide by the circuit element of those unit 140 acquisitions, and in that position, reduce unit 140, simultaneously negative pressure is provided to suction nozzle 142 by the lower end maintenance of unit 140.Like this, installation unit 140 is by drawing the holding circuit element.After turning round installation unit 140 off and on, next installation unit 140 is carried out similar elements and is obtained action.Like this, the element sequentially carried out separately of the installation unit 140 of installation head 21a obtains action (in each normal fitting operation, eight actions altogether).
Then, make the installation head 21a of holding circuit element shift to position on the element camera 24.In that position, element camera 24 absorbs the image that is kept, dropped on all circuit elements in the visual field of camera 24 by 21a immediately.Based on the view data of the image of representing to be absorbed, determine by an error separately of the circuit element of 21a maintenance.Subsequently, installation head 21a is moved on the circuit substrate 86, and press predefined procedure the circuit element that keeps thus sequentially is installed on the surface of circuit substrate 86.More particularly, make the installation unit 140 that is currently located at that the unit improves and reduces the platform place shift to position on the suitable component installation location on the circuit substrate 86.For this reason, the site error amount of the circuit element of determining based on the site error amount of each circuit substrate of determining 86 and each that is kept by installation unit 140 is adjusted the amount of movement of installation head 21a.In above-mentioned position, make installation unit 140 reduce preset distance, simultaneously malleation is provided to suction nozzle 142.Thus, will be installed on the surface of circuit substrate 86 by the circuit element that suction nozzle 142 keeps.After turning round installation unit 140 off and on, next installation unit 140 is carried out the similar elements installation action.Thus, the installation unit 140 of installation head 21a is sequentially carried out element installation action separately.Yet, in the element installation action, before reducing each installation unit 140, based on the circuit element that keeps thus will be installed in predetermined rotational positions on the circuit substrate 86, the site error amount of the site error amount of the circuit substrate 86 that detected and the circuit element that detected, installation unit 140 is rotated to suitable position of rotation around its axis.Thereby, the circuit element of adjusting to suitable position of rotation is installed on the circuit substrate 86.
Till the actual installation, back and forth, repeat element is obtained action and element installation action to installation head 21 simultaneously between feeder group 18 and circuit substrate up to all circuit elements that pre-programmed will be installed.After all circuit elements are installed, by improving and reduce the supporting bracket 90 that device reduces conveyer unit 20, so that fix and hold mode release circuit substrate 86 from it.Then, by conveyer unit 20, side feed circuit substrate 86 downstream.Like this, installation component 12 finishes the component mounting operation that pre-programmed will be carried out on circuit substrate 86.
In the component mounting apparatus 1 that comprises a plurality of installation components 12, when the component mounting operation on all installation components 12 their each comfortable circuit substrates 86 of end, component mounting apparatus 1 finishes its component mounting operation on substrate 86.Thus, component mounting apparatus 1 is installed in circuit element on the circuit substrate, by each installation component 12, circuit substrate is fed to downstream from upstream extremity one by one simultaneously, and each installation component 12 is sequentially carried out pre-programmed fitting operation separately on each circuit substrate.More particularly, circuit substrate is transported in the upstream extremity installation component 12 one by one, so that installation component 12 is installed in circuit element on the circuit substrate, and after installation component 12 is installed in circuit element on the circuit substrate, circuit substrate is shifted out downstream installation component 12 one by one.Circuit substrate is transported to moving into operation and making circuit substrate shift out near taking out of operation and can moving into device and conveyance device execution by what provide in respectively upstream installation component 12 and downstream installation component 12 of component mounting apparatus 1 in the component mounting apparatus 1, and each in them mainly is made of conveyer device.
＜the preparation process relevant〉with the attach operation Executive Head
As mentioned above, any one that can be in a plurality of operation Executive Heads 21 used each of operation executive module 12.When an operation Executive Head 21 initially was attached on the operation executive module 12, specific assembly 12 was carried out preparation process so that use specific 21.Hereinafter, with reference to the situation of adhering to installation head 21a, the preparation process relevant with attach operation Executive Head 21 described with for example.
The preparation process relevant with adhering to installation head 21a adhered to component control device 26 controls of the operation executive module 12 of installation head 21a.More particularly, by the head use preparation routine of computer 410 execution by ROM 414 storages of component control device 26.Figure 11 illustrates the flow chart that head uses preparation routine.Below, with reference to this flow chart, preparation process is described.After adhering to installation head 21a, at first at step S1, identification installation head 21a.More particularly, an identification relevant information such as the header structure correlative factor information of the expression factor relevant with the structure of installation head 21a, or is represented the head status information of the state of a 21a, correspondingly, can discern and how construct a 21a or which kind of state a 21a is in.Be step S2 behind the step S1,, judge whether the use of installation head 21a is suitable based on a relevant information of being discerned.If judging to use is not suitable for, that fact of notifying operation person, and withdraw from preparation process.On the other hand, if judge that it is suitable using, then the control of computer 410 enters step S3, selects to be suitable for the operation Executive Head driver of installation head 21a, thereby allows a 21a operation.Be step S4 behind the step S3,, carry out calibration revolution (indexing revolving) relevant adjustment with installation unit 140 based on the header structure correlative factor information of being discerned.Be step S5 behind the step S4, wherein, suitable suction nozzle 142 be attached to each end of installation unit 140.After adhering to suction nozzle 142, control enters step S6 so that carry out calibration.Briefly, this calibration is the error of adhering to that solves installation head 21a,, adjusts and be fixed on the position that its operating period will be taked by installation head 21a that is, more particularly, represents the bid value of those positions.Use aforesaid way, Executive Head uses preparation process.Hereinafter, will describe each preparation process in detail.
I) an identification relevant information
Step S1, promptly a relevant information identification step is carried out according to discerning a routine by a relevant information of the flowcharting shown in Figure 12.At first, at step S11, read a stored information by storage chip 400 storages of installation head 21a.Therefore, step S11 is the individual information read step.Stored information is the individual information relevant with installation head 21a, comprising: the ID data of the ID (identifier) of an expression 21a; The data of representing the factor relevant with the structure of a 21a, head type data such as the type of representing a 21a, the expression provide a 21a installation unit 140 angular separation spacing data (hereinafter, in the time of suitably, be called " unit provides angular data "), or expression is with respect to the data of the height and position of the suction nozzle maintaining part of reference position, each installation unit 140 (when in place, be called hereinafter, " cell height position data).It is a kind of information relevant with the position of the composed component that installation head 21a is provided that the unit provides angular data or cell height position data.
Subsequently, at step S12, based on an ID data that reads at step S11, computer 410 reads the data relevant with installation head 21a from said modules device management computer 442.Assembly apparatus supervisory computer 442 storage comprise with factory in the various devices various database of information relevant that exist with instrument.Through control assembly 13, an ID data that is read are sent to assembly apparatus supervisory computer 442.Supervisory computer 442 as keyword, is searched for an ID data information relevant with installation head 21a, and through control assembly 13, thus obtained information is sent to component control device 26.Thus, read necessary information from supervisory computer 442.The information that reads from supervisory computer 442 comprises header structure correlative factor information, provides angular data and cell height position data such as the unit.Supervisory computer 442 is the storage information relevant with the maintenance of various devices and instrument in addition, makes this information relevant with an ID data.More particularly, safeguard that relevant information comprises the data relevant with carrying out date and time when safeguarding for the last time, data relevant with the cumulative operational time of safeguarding each device of back or instrument the last time (hereinafter, in the time of suitably, be called " safeguarding the back operating time ") or the like.Therefore, at step S12, the operating time is read as a kind of head status information after the maintenance of accompanying installation head 21a.
Subsequently, at step S13, based on an ID data that reads at step S11, computer 410 reads the data relevant with installation head 21a from above-mentioned production history supervisory computer 440.Production history supervisory computer 440 storage comprises that expression is present in the database of each batch production history of the production history separately of the various substrate associative operation actuating equipments in the factory.Every batch of production history comprises the data of representing failure rate.At step S13, component control device 26 is through control assembly 13, above-mentioned ID data that will identification installation head 21a, and the assembly ID data of the accompanying installation component 12 of an identification 21a send to production history supervisory computer 440.An ID data is used as keyword, supervisory computer 440 is based on canned data thus, generate the data (hereinafter, suitably time, be called " predetermined lasting time failure rate ") of expression with respect to the failure rate of the predetermined lasting time before the current time, installation head 21a.In addition, an ID data and assembly ID data are used as keyword, supervisory computer 440 generate be illustrated under the situation that a 21s is attached to specific installation component 12, in predetermined lasting time, the data of the failure rate of installation head 21a, the i.e. relevant predetermined lasting time failure rate of assembly.Then, supervisory computer 440 through control assembly 13, sends to component control device 26 with the data (each is relevant with installation head 21a) that generate thus, represent predetermined lasting time failure rate and the relevant predetermined lasting time failure rate of assembly.Therefore, at step S13, installation and control device 26 obtains the relevant predetermined lasting time failure rate with assembly of predetermined lasting time failure rate information information, they each respectively as a kind of head status information.
Subsequently, at step S14, computer 410 is by the information that reads at step S11 and S12, the information of the factor that the identification expression is relevant with the structure of installation head 21a.More particularly, at first, computer 410 will provide angular data and cell height position data from the unit that storage chip 400 reads and provide angular data and cell height position data to compare from the unit that assembly apparatus supervisory computer 442 reads, and judge whether those data meet each other.Under the situation of installation head 21a under installation component 12 dismountings,, can upgrade those data of preserving by the storage chip 400 of a 21a if make a 21a stand to adjust and/or safeguard.Therefore, if make negative evaluation, then use the data of preserving to replace the data of preserving by assembly apparatus supervisory computer 442 by storage chip 400 at step S14.If make affirmative determination at step S14 place, then computer 410 provides angular data and cell height position data with the unit, and head type data or the like are stored in the header structure correlative factor information storage part as the part of RAM 416.Subsequently, computer 410 is by the information that reads at step S11, S12 and S13, the information of the state of identification expression installation head 21a.More particularly, computer 410 will be after the maintenance that step S12 reads operating time data and the relevant predetermined lasting time failure-rate data of predetermined lasting time failure-rate data that reads at step S13 respectively with assembly be stored in head status information storage part as the different piece of RAM 416.Thereby, finish the identification of head status information.
Whether ii) judge has be fit to moment
Step S2 promptly judges the step whether head is fit to, according to being judged that by the head of the flowcharting of Figure 13 a routine carries out.At first, at step S21, computer 410 is made judgement based on head type.In component control device 26, the installation procedure that RAM 416 uses when installation component 12 is carried out fitting operation is stored in its installation procedure storage part.At step S21, computer 410 compares the head type data of being stored and the content of installation procedure, judges thus whether the type that is attached to the installation head 21a on the installation component 12 is suitable for the fitting operation according to installation procedure.If make affirmative determination, then the operation of computer 410 enters step S22, so that judge based on the operating time after the maintenance of installation head 21a.More particularly, if then computer 410 judges that installation head 21a need to safeguard greater than the reference operating limit time operating time after the maintenance of being stored, therefore, judge that a 21a is not suitable for, so that stop further to use a 21a.On the other hand, be not more than with reference to the operating limit time if safeguard the back operating time, then computer 410 judges that installation head 21a is fit to, and allows further to use a 21a.
If S22 makes affirmative determination in step, then control enters step S23, so that make judgement based on the predetermined lasting time failure rate.More particularly, if the predetermined lasting time failure rate of being stored greater than reference limit fault rate corresponding to the circuit substrate of the particular types that will use, then computer 410 judges that installation head 21a are not suitable for.If S23 makes affirmative determination in step, then control enters step S24, so that make judgement based on the relevant predetermined lasting time failure rate of assembly.We can say that also it is whether compatible each other in order to judge specific operation executive module 12 and specific operation Executive Head 21 carrying out this judgement.S23 is the same with step, if the relevant predetermined lasting time failure rate of the assembly of being stored greater than reference limit fault rate corresponding to the circuit substrate of the particular types that will use, then computer 410 judges that installation head 21a are not suitable for.Use sets in advance and is suitable for the reference limit fault rate of those substrates for the circuit substrate that will be used in the particular types in the fitting operation, carry out the judgement at each place of step S23 and S24.For example, under the situation that needs to carry out accurately at fitting operation, preset a low limit fault rate.Be the part of installation procedure with reference to the record of limit fault rate, from the installation procedure data, it read out.
If S24 makes affirmative determination in step, then control enters step S3.On the other hand, if make negative evaluation at any one place of step S21, S22, S23 and S24, then control enters step S25 with the unaccommodated fact of notifying operation person installation head 21a.More particularly, computer 410 control operations and display floater 28 show the unaccommodated fact of installation head 21a, and reason that should the fact.After informing this fact, withdraw from head and use preparation routine.Response is by the shown content of panel 28, and the extensible installation head 21a of operator also adheres to another installation head 21a.
Iii) select driver, adjust the calibration revolution, and adhere to suction nozzle
At step S3, select driver, as previously mentioned, external memory 430 storages are corresponding to the various drivers of various operation Executive Heads 21.At step S3, computer 410 is based on the type of being discerned that is attached to the installation head 21a on the installation component 12, selection is corresponding to one of the driver of being stored of the type of being discerned, and selected driver sent to RAM 416, so that selected driver store is in the driver store portion of RAM 416, and set up operation executive program in the operation executive program district of RAM 416 corresponding to installation head 21a.Thereby computer 410 can be controlled the operation of installation head 21a.
After selecting driver, control enters step S4 with the rotating adjustment of the calibration of carrying out relevant installation unit 140.At first, make a design corner position that is positioned at the unit raising and reduces platform of selecting in advance as the installation unit 140 of reference unit.In this case, the unit keeps body 294 to be parked in the position, angle, promptly is used for reference unit and stops at the unit and improve and reduce rotation stop position on the platform.Subsequently, provide angular data based on the unit of being discerned, the calibration rotary unit keeps body 294, improves and reduces on the platform so that make another installation unit 140 sequentially be positioned at the unit.Be parked in the unit in each of other installation units 140 and improve and reduce under the situation on the platform, the rotation stop position that detecting unit keeps body 294 to stop to be stored in the rotation stop position that detects thus in the maintenance body rotation stop position storage part of RAM 416.From that time, when in the installation head 140 each improves and reduces in the unit when stopping on the platform, a corresponding place in the rotation stop position of storage, stop element keeps the rotation of body 294.Will be for preventing that each foozle in each installation head 21 from influencing unfriendly by the precision of each 21 fitting operation of carrying out, carry out the adjustment of calibration rotation stop position, they are based on the example of the adjustment of header structure correlative factor operation executing location information, installation head 21a.In addition, the adjustment of calibration rotation stop position can be described as a kind of calibration steps.
Subsequently, at step S5, suction nozzle 142 is attached on the installation unit 140 of installation head 21a respectively.In the part of installation procedure, the suction nozzle 142 that record will be used with installation head 21a, and according to installation procedure, determine to adhere to the suction nozzle 142 of 21a to the end.Carrying out after this determines, making installation head 21a move to position on the previous described suction nozzle collector 25, and sequentially reduce and improves installation unit 140, rotary unit maintenance body 294, i.e. gear shift off and on simultaneously.Like this, the suction nozzle 142 that is contained in the pre-position separately in the suction nozzle collector 25 is attached to installation unit 140 respectively.Can discern suction nozzle 142 mutually by suction nozzle ID data separately.Thereby,, identification is attached to suction nozzle ID storage the adhering in the suction nozzle information storage part of the suction nozzle 142 on each installation unit 140 at RAM 416 at step S5.In addition, storage representation is attached to the length data (as described below) of length of the suction nozzle 142 of each installation unit 140, so that length data is related with the suction nozzle ID data of identification suction nozzle 142.
Iv) calibration
Step S6, promptly calibration steps is carried out according to the alignment routine of representing with Figure 14.At first, at step S61, detect the height and position that is attached to as the lower end of the suction nozzle 142 on the above-mentioned reference unit of one of installation unit 140 by the terminal height sensor 27 of suction nozzle.For this reason, reference unit be positioned at that the unit improves and situation about dipping under, make installation head 21a shift to reference unit and be positioned at position on the detector 27.Subsequently, reduce reference unit lentamente.The upper surface of the terminal height sensor 27 of suction nozzle is used the reference altitude position that acts on installation component 12.Detector 27 is suitable for detecting the lower end of suction nozzle 142 and the upper surface state of contact of detector 27.When reducing reference unit till the lower end of suction nozzle 142 arrival reference altitude position, the stroke that computer 410 witness mark unit move downward from starting altitude position, top.Therefore, in this step, with the stroke that moves downward of measured reference unit detected value as the height and position of the lower end of suction nozzle 142.
Then, at step S62, calculate head height degree position, promptly installation head 21a is attached to the height and position of installation component 12.The method of head height degree position is calculated in the exemplary expression of Figure 15 (a) and 15 (b).In the drawings, symbol " H
0" the above-mentioned reference altitude of expression position, symbol " H
1" expression will adhere to the design height position of installation head 21a.As previously mentioned, will be stored among the RAM 416 corresponding to the cell height position data of each in the installation unit 140.Suppose that installation head 21a is attached to design height of attachment position H
1And (has length l with respect to the part between the lower end of suction nozzle maintaining part and suction nozzle with reference to suction nozzle
0) adhere to 21a to the end, the cell height position data of then being stored is represented to arrive reference altitude position H with reference to the lower end of suction nozzle
0The stroke L that moves down of required installation unit 140.Figure 15 (a) expression moves down stroke L corresponding to reference unit
1As mentioned above, the physical length l that is attached to the suction nozzle 142 on each installation unit 140 has been stored among the RAM 416.The suction nozzle 142 that is attached to reference unit has length l
1Shown in Figure 15 (b), if installation head 21a is attached to design height of attachment position H
1, answer the witness mark unit to move down stroke L1 ' as follows: L
1'=L
1-(l
1-l
0).Yet, if the stroke actual measurement that moves down of reference unit is L
1", then represent actual height of attachment position H
2Departed from design height of attachment position H
1, shown in Figure 15 (b).Therefore, obtain installation head 21a to adhere to error delta H as follows: Δ H=H
2-H
1=L
1" L
1'.Like this,, adhere to error delta H by calculating and calculate a height of attachment position, and the error delta H that adheres to that will calculate is stored in the height of attachment location storage portion of RAM 416 at step S62.
Subsequently, at step S63, the height and position of each in the adjustment installation head 140.Based on the several endorsement height and position data L of unit that stored corresponding to eight installation units 140
1To L
8(subscript 1 to 8 is represented first to the 8th installation unit 140 respectively, and this is suitable for following description), be attached to the length l separately of each suction nozzle 142 of eight installation units 140
1To l
8, and the installation head 21a that is calculated adhere to error delta H, determine and the height and position separately of control installation head 140.
Subsequently, control enters step S64, with based on the view data that is provided by element camera 24, determines each pivot of installation unit 140.The suction nozzle 142 that is attached to each installation unit 140 can be not concentric with the pivot of each installation unit 140, because for example suction nozzle 142 bendings.Figure 16 example explanation position-based N1 and N2 determine the pivot R of each installation unit 140, wherein, N1 is the position of the lower end of the suction nozzle 142 when each installation unit 140 obtains with reference to position of rotation, and N2 is the position when each installation unit 140 lower end of suction nozzle 142 when reference position of rotation Rotate 180 is spent.Determine position N1 and N2 based on view data.More particularly, pivot R is defined as being connected position N1, the mid point of the straight line line segment between N2.At step S64, at first, so that the rotating design centre of the calibration of each installation unit 140 is positioned at the position on the optical axial of element camera 24, make all installation units 140 be positioned at the visual field of element camera 24 by mobile installation head 21a.In that position, rotation is positioned at the installation unit 140 that the unit improves and reduce the platform place, so that determine the pivot R of installation unit 140 with said method.Under the situation that installation head 21a is maintained fixed, the installation unit 140 of calibration revolution sequentially is so that the pivot of each in definite installation unit 140.For this reason, make the height and position separately of lower end separately of the suction nozzle separately 142 of installation unit 140 adjust to the smallest height that equals all that height and position, and in this case, obtain the image separately of suction nozzle 142 by element camera 24.The deep-seated that placing element camera 24 makes the adjustment height and position of lower end separately of suction nozzle 142 be approximately in the depth of field of camera 24 is put.
Then, at step S65, based on the measurement pivot R separately of the installation unit 140 that obtains at step S64, the position of accompanying installation head 21a in the calculated level face.More particularly, the rotating center of calibration of each of calculating installation unit 140.Each method around its rotating center of calibration in the installation unit 140 is calculated in the explanation of Figure 17 example.Because memory cell provides angular data θ as mentioned above
1To θ
8, therefore can provide angular data θ based on the unit of being stored
1To θ
8, draw measured pivot R in the plane.In Figure 17, symbol R
1To R
8The measurement pivot separately of the installation unit 140 that expression is drawn in the plane.Based on pivot R
1To R
8, can use geometric ways, calculate the rotating practical center O ' of calibration approx.Next, with the calibration centre of gyration O ' that calculates thus with compare as the design calibration centre of gyration O of installation head 21a during attached to design attitude.In Figure 17, actual calibration centre of gyration O ' off-design calibration centre of gyration O is Δ X in left and right directions, is Δ Y in fore-and-aft direction.With those side-play amounts, promptly adhere in the calibration centre of gyration error storage part that error (Δ X, Δ Y) is stored in RAM 416.
As long as calculate actual calibration centre of gyration O ', just can calculate pivot separately with respect to the installation unit 140 of actual calibration centre of gyration O ', therefore, can obtain the measurement separately of installation unit 140 or (the Δ x of side-play amount separately of actual pivot from the pivot of the installation unit 140 that calculates thus
1, Δ y
1) to (Δ x
8, Δ y
8).Those side-play amounts also are used to adjust installation head 21a with the position that moves to, as described later.
Then, in step S66, with similar at step S64, use element camera 24, picked-up is attached to each another or second pivot of the image separately of suction nozzle 142 of installation unit 140 and definite installation unit 140.At step S66, based on the view data that obtains at step S64, determine second pivot separately of installation unit 140, wherein the view data that obtains at step S64 obtains under following situation: the lower end separately of suction nozzle 142 is positioned at the height and position different with the height and position of the lower end separately of placing suction nozzle 142 so that determine first pivot separately of installation head 140.More particularly, at step S64, near the deep-seated in the depth of field of element camera 24 is put, place the lower end of each suction nozzle 142, and at step S66, the most shallow position in being lower than the deep-seated depth of field that put, element camera 24, the lower end of placing each nozzle 142.Yet, use and the identical method that adopts at step S64, determine second pivot of installation unit 140, and the description of having omitted this method.Like this, in the differing heights position, first and second pivots of each of acquisition installation unit 140 correspondingly, remove first side-play amount (the Δ x separately of the actual pivot separately of the installation unit 140 that obtains at step S64
1, Δ y
1) to (Δ x
8, Δ y
8) outside, also obtain second side-play amount (the Δ x separately of the actual pivot separately of installation unit 140
1', Δ y
1') to (Δ x
8', Δ y
8').
Then, at step S67, based on error (the Δ X of the calibration centre of gyration of each in the installation unit 140, Δ Y) and the first and second above-mentioned side-play amounts of each installation unit 140 (Δ x, Δ y), (Δ x ', Δ y ') (omits subscript 1 to 8), adjust installation head 21a the position that moves to.More particularly, use first and second side-play amounts that correspond respectively to the differing heights position to obtain the 3rd side-play amount, estimate the inclination of each installation unit 140 thus.Therefore, even each installation unit 140 is improved or be reduced to the arbitrary height position, also can be with geometric ways, estimate in the pivot of each installation unit 140 of that height and position side-play amount from the theoretical pivot of each installation unit 140.Since consider in addition each installation unit 140 the calibration centre of gyration adhere to error (Δ X, Δ Y), so can make installation head 21a move to exact position, and therefore, can accurately carry out fitting operation corresponding to the certain height position of each installation unit 140.With each first and second side-play amounts (Δ x, Δ y) in the installation unit 140, (Δ x ' Δ y ') is stored in the unit side-play amount storage part of RAM 416, and based on those side-play amounts, determines and position that control installation head 21a will sequentially move to.
The function of＜component control device 〉
In the present embodiment, use preparation routine, carry out the preparation process relevant by component control device 26, as previously mentioned with attach operation Executive Head 21 according to head.Below, will the various functions that be included in the component control device 26 in the preparation process be described with reference to Figure 18.With above description is the same, suppose that adhering to installation head 21a carries out following description.
Component control device 26 is included in head and uses four major parts that relate in the preparation process.First of four major parts is a relevant information identification part 500, the part that comprises execution in step S1, step S1 is promptly based on a relevant information identification step of the individual information of installation head 21a (promptly by the stored information as storage chip 400 storages of the individual information recording medium of an installation head 21a) identification relevant information.Relevant information identification part 500 comprises structurally associated factor information identification part 502 and state information identification part 504.Structurally associated factor information identification part 502 identification header structure correlative factor information comprise that head type data, unit provide angular data, and the cell height position data, and execution in step S12, S14 or the like.State information identification part 504 identification head status information comprise and safeguard back operating time data, predetermined lasting time failure-rate data, and the relevant predetermined lasting time failure-rate data of assembly, and execution in step S12, S13, S15 or the like.With using an ID data, from serving as the mode of an assembly apparatus supervisory computer 440 of relevant information exterior storage portion 506 and production history supervisory computer 442 acquisition necessary informations, an identification relevant information respectively as keyword.That is, obtain necessary information and represent to have discerned a relevant information.RAM 416 comprises header structure correlative factor information storage part 508 and head status information storage part 510 in its related information area, they correspond respectively to a relevant information identification part 500.
Component control device 26 comprises the 4th positional information acquisition portion 522 as its four major parts, be used for based on the header structure correlative factor information of being discerned, obtain the composed component positional information as with each operational movement location information related of the composed component of installation head 21a, and in above-mentioned head use preparation process, (be step S4, S6 or the like), carry out so-called " calibration ".Based on by RAM 416 adhere to suction nozzle information storage part 524 canned datas, for example relevant with accompanying suction nozzle 412 suction nozzle length data, the unit of previous identification provide angular data and cell height position data or the like, obtain the composed component positional information.For this reason, as required, use measurement result, such as by the image of element camera 24 picked-ups or the height and position that detects by the terminal height sensor 27 of suction nozzle.In head used preparation process, obtain following data as the composed component positional information: the rotating unit of calibration that is used for each installation unit 140 kept the rotation stop position of body 294; The error delta H of the height of attachment position of installation head 21a; The error of the calibration centre of gyration (Δ X, Δ Y); And each side-play amount (Δ x, Δ y) in the installation unit 140.Thus obtained rotation stop position, error delta H, error (Δ X, Δ Y) and side-play amount (Δ x, Δ y) is stored in respectively in maintenance body rotation stop position storage part 528, a height of attachment error storage part 530, calibration centre of gyration error storage part 532 and the unit side-play amount storage part 534, and is used to control the operation of installation head 21a.
Claims (9)
1. component mounting apparatus comprises:
Fix base plate keeping device with the holding circuit substrate;
The component supplying apparatus of a plurality of circuit elements is provided; With
Installation head, described installation head removably is attached on this equipment, under described installation head is attached to situation on this equipment, each circuit element that is provided by described component supplying apparatus to keep is provided described installation head, obtain described each circuit element from described component supplying apparatus, and with described each circuit element be installed in by described base plate keeping device fix and the surface of the circuit substrate that keeps on
Wherein under the situation of tool using not, described installation head is attached on this equipment and with this device separates.
2. component mounting apparatus as claimed in claim 1, further comprise a fixture, this fixture comprises handle, by this handle of grasped of operator, and when this handle of operation, this handle is fixed to described installation head on the support portion of described equipment.
3. component mounting apparatus as claimed in claim 2 further comprises the device that is used for locating in each direction of vertical direction and left and right directions with respect to the described support portion of described equipment described installation head.
4. component mounting apparatus as claimed in claim 2 further comprises pressing device, and this pressing device pushes the rear portion of described installation head to the front portion of the described support portion of described equipment.
5. component mounting apparatus as claimed in claim 2, wherein said installation head comprises:
Main body, this main body are fixed on the described support portion of described equipment by described fixture; With
At least one installation unit, described at least one installation unit comprises the element holding device, a circuit element in the circuit element that this element holding device keeps being provided by described component supplying apparatus, and described at least one installation unit of this body supports makes the element holding device to move up and down.
6. component mounting apparatus as claimed in claim 1, further comprise the installation head mobile device, described installation head mobile device comprises directions X mobile device and Y direction mobile device, described directions X mobile device has the installation head supporting member that adheres to described installation head, and moves described installation head supporting member along straight line on directions X; Described Y direction mobile device moves described directions X mobile device on perpendicular to the Y direction of directions X, wherein, described installation head mobile device is being parallel to mobile described installation head on the plane of described circuit substrate.
7. component mounting apparatus as claimed in claim 6, wherein said installation head have two shanks and a gear block, and wherein said installation head supporting member has: two leg support portions are used for supporting respectively described two shanks of described installation head; Engaging hole, this engaging hole holds the gear block of described installation head; With a fixture, the part of this fixture engagement gear block, thus gear block is fixed on the described installation head supporting member.
8. component mounting apparatus as claimed in claim 7, described two shanks of wherein said installation head have wedge shape free end separately, and described two leg support portions of described installation head supporting member have v-depression separately, the described wedge shape free end separately of described two shanks is assemblied in the described v-depression separately, thus definition installation head position in vertical direction.
9. component mounting apparatus as claimed in claim 7, wherein said installation head supporting member further has two first engagement rollers, and two second engagement rollers are set in the described engaging hole of described installation head supporting member, and two opposite inner face of described two shanks of wherein said installation head and the outer surface separately of described two first engagement rollers closely mesh, and two side surfaces of the described gear block of described installation head closely are assemblied in the space between the outer surface separately of described two second engagement rollers, thereby the definition position of installation head on left and right directions.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002-337739 | 2002-11-21 | ||
| JP2002337739 | 2002-11-21 | ||
| JP2003128348A JP4384439B2 (en) | 2002-11-21 | 2003-05-06 | Anti-substrate work machine, anti-substrate work system, and work head use preparation processing program for anti-substrate work machine |
| JP2003-128348 | 2003-05-06 |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2003801038631A Division CN100448341C (en) | 2002-11-21 | 2003-11-19 | Substrate processing machine, working head of substrate processing machine, substrate processing system, and preparation processing program for using working head of substrate processing machine |
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| Publication Number | Publication Date |
|---|---|
| CN101267728A true CN101267728A (en) | 2008-09-17 |
| CN101267728B CN101267728B (en) | 2011-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100837237A Expired - Lifetime CN101267728B (en) | 2002-11-21 | 2003-11-19 | Element mounting device |
| CNB2003801038631A Expired - Lifetime CN100448341C (en) | 2002-11-21 | 2003-11-19 | Substrate processing machine, working head of substrate processing machine, substrate processing system, and preparation processing program for using working head of substrate processing machine |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2003801038631A Expired - Lifetime CN100448341C (en) | 2002-11-21 | 2003-11-19 | Substrate processing machine, working head of substrate processing machine, substrate processing system, and preparation processing program for using working head of substrate processing machine |
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| Country | Link |
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| JP (14) | JP4782210B2 (en) |
| CN (2) | CN101267728B (en) |
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- 2003-11-19 CN CNB2003801038631A patent/CN100448341C/en not_active Expired - Lifetime
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2009
- 2009-02-12 JP JP2009030253A patent/JP4782210B2/en not_active Expired - Lifetime
- 2009-08-11 JP JP2009186850A patent/JP4922364B2/en not_active Expired - Lifetime
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102172115A (en) * | 2008-10-03 | 2011-08-31 | 松下电器产业株式会社 | Electronic component mounting apparatus and operation instruction method used for electronic component mounting apparatus |
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| CN104380852A (en) * | 2012-05-21 | 2015-02-25 | 松下知识产权经营株式会社 | Electronic component mounting system and equipment unit management method for electronic component mounting system |
| CN104380852B (en) * | 2012-05-21 | 2017-04-12 | 松下知识产权经营株式会社 | Electronic component mounting system and equipment unit management method for electronic component mounting system |
| CN104470348A (en) * | 2013-09-24 | 2015-03-25 | 松下电器产业株式会社 | Component mounting apparatus |
| CN104470348B (en) * | 2013-09-24 | 2018-11-13 | 松下知识产权经营株式会社 | component mounting apparatus |
| CN104519730A (en) * | 2013-10-03 | 2015-04-15 | 重机自动化系统有限公司 | Installation system and calibration method |
| CN104519730B (en) * | 2013-10-03 | 2019-02-01 | 重机自动化系统有限公司 | Installation system and calibration method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2014132689A (en) | 2014-07-17 |
| CN1714611A (en) | 2005-12-28 |
| JP2011258983A (en) | 2011-12-22 |
| CN101267728B (en) | 2011-09-21 |
| JP5249475B2 (en) | 2013-07-31 |
| JP2009105461A (en) | 2009-05-14 |
| JP5782151B2 (en) | 2015-09-24 |
| JP5584789B2 (en) | 2014-09-03 |
| JP4782210B2 (en) | 2011-09-28 |
| JP2013179340A (en) | 2013-09-09 |
| JP5782152B2 (en) | 2015-09-24 |
| JP2013080973A (en) | 2013-05-02 |
| JP2014123781A (en) | 2014-07-03 |
| JP2013153227A (en) | 2013-08-08 |
| JP5709931B2 (en) | 2015-04-30 |
| JP2013080974A (en) | 2013-05-02 |
| JP2009260401A (en) | 2009-11-05 |
| JP5865416B2 (en) | 2016-02-17 |
| JP4922364B2 (en) | 2012-04-25 |
| JP5329721B2 (en) | 2013-10-30 |
| JP2011258984A (en) | 2011-12-22 |
| JP2010004059A (en) | 2010-01-07 |
| JP5709930B2 (en) | 2015-04-30 |
| JP5719258B2 (en) | 2015-05-13 |
| JP5162014B2 (en) | 2013-03-13 |
| JP2013110433A (en) | 2013-06-06 |
| JP5898718B2 (en) | 2016-04-06 |
| JP2014123780A (en) | 2014-07-03 |
| JP2014123779A (en) | 2014-07-03 |
| CN100448341C (en) | 2008-12-31 |
| JP4922365B2 (en) | 2012-04-25 |
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