CN102811600B - Arithmetic unit, apparatus for mounting component - Google Patents

Abstract

The invention provides arithmetic unit, apparatus for mounting component.A kind of technology that can reduce abnormality incidence is provided.This apparatus for mounting component (arithmetic unit) carries out following process: the process (s1) of status parameter values obtaining or calculate the distance of suction nozzle when representing absorption action and parts; The process (s2) of the undulating value of computing mode parameter; When undulating value has exceeded first threshold (s3), with the form comprising Z-direction by the parameter value of the absorption position of suction nozzle to the process (s7) of suction nozzle close to the position correction of parts.In addition, this apparatus for mounting component (arithmetic unit) carries out extending the such correction of responsiveness (s9) of the dwell time (s8) of suction nozzle, the suction nozzle that slows down.

Description

Arithmetic unit, apparatus for mounting component

Technical field

The present invention relates to the technology of relevant with the production of the electronic equipment device (apparatus for mounting component) be arranged on by parts (electronic unit) on substrate (circuit substrate) etc., particularly carry out for calculating, determining, the technology of the computing (information processing) of the parameter value of the setting of the action control at the position (head, absorption suction nozzle etc.) of correcting part erecting device.

Background technology

The absorption suction nozzle (hereinafter also referred to " suction nozzle ") that apparatus for mounting component inside has been depressurized adsorbs the parts remained on assembly supply device (dispenser), and is transported to the precalculated position of substrate and carries out assembling (will comprise below in adsorbing and being assemblied in and be called installation).For apparatus for mounting component, the direction of (also can be sideling) will be intersected with gravity direction as X, Y-direction (X-Y plane), will with the direction of X, Y-direction (X-Y plane) square crossing as Z-direction.In addition, Z-direction can be intersected with X, Y-direction (X-Y plane), also can be vertical.In this case, apparatus for mounting component is when carrying out above-mentioned assembling action, move in X, Y-direction and Z-direction by making suction nozzle (possessing the first-class of suction nozzle), and move it the position (predetermined X, Y, Z position) close with the parts remained on dispenser (absorption object), it is made to stop the scheduled time, and reduced pressure in the inside of suction nozzle, thus adsorption element, parts are being adsorbed under the state on suction nozzle, make it move in X, Y-direction and Z-direction according to predetermined responsiveness, thus parts are assemblied on the precalculated position of substrate.

As prior art example, there is Japanese Unexamined Patent Publication 2002-050896 publication (patent document 1).In patent document 1, describe the technology that the position in the x, y direction of suction nozzle during adsorption element is set.In the art, after adsorption element, the parts that suction nozzle and suction nozzle hold are made a video recording, the target of calculating unit holds the difference between position and the actual holding position of suction nozzle, revises the position in the x, y direction of suction nozzle during adsorption element according to the value be directly proportional to difference.

Prior art document

Patent documentation

Patent documentation 1: Japanese Unexamined Patent Publication 2002-050896 publication

In apparatus for mounting component as described above, think that to need shape, weight etc. with carrying, the position of the parts remained on dispenser, parts corresponding, the dwell time when position suitably during setting suction, suction, the responsiveness etc. after suction.

Such as, in the installation site of parts relative to the suction nozzle stop position (a little on the top of parts) of Z-direction in the situation (situation that the dispenser (recess) of such as load bearing component is deflected downwardly in z-direction a little) of the position deviation of opposition side one side, distance between parts and suction nozzle becomes large, is difficult to suitably parts are adsorbed on (Fig. 5) on suction nozzle.Thus, can produce adsorption element in an inclined state abnormal, cannot the exception of adsorption element.Under these circumstances, such as consider to need the absorption position of suction nozzle (stop position) is moved to the position in z-direction close to parts.

In addition, such as when the pressure control mechanism relevant with suction nozzle worsens, can spended time to the inside of suction nozzle is depressurized, therefore, suction nozzle can in the inside of suction nozzle by action under the state that fully reduces pressure, can produce adsorption element obliquely abnormal, cannot the exception of adsorption element.Under these circumstances, such as consider need increase suction parts time dwell time, or with the decompressed condition of suction nozzle inside reduce accordingly responsiveness (suction nozzle, first-class mobile time speed), make suction nozzle inside fully reduced pressure.

In order to reduce abnormal incidence as described above, such as, consider need position, dwell time, responsiveness etc. when calculating suction parts by computing and suitably carry out setting (correction).

In prior art example, there is following such problem points.In the technology of above-mentioned patent document 1, the X of suction nozzle during setting adsorption element, Y-direction position.But, the method etc. of the dwell time of the suction nozzle when method in the art, not providing (disclosing) to set the suction nozzle position of Z-direction, setting adsorption element.

Therefore, even if such as when by reduce the Z-direction position of suction nozzle parts contacted with suction nozzle or by suction nozzle by be pressed in parts can reduce abnormality incidence, in the technology of patent documentation 1, also the suction nozzle position of Z-direction cannot be set as suitable value, therefore, abnormality incidence cannot be reduced.In addition, even if when can reduce abnormality incidence in the dwell time by suction nozzle during prolongation adsorption element, in the technology of patent document 1, also the dwell time of suction nozzle cannot be set as suitable value, therefore, cannot abnormality incidence be reduced.

In addition, in the prior art examples such as patent document 1, even disclose and hold position (X, Y-direction) holding to revise when the mean value of position has departing to a certain degree, but do not disclose and revise when the degree of fluctuation holding position is large the position, dwell time, responsiveness etc. that comprise Z-direction as the present invention.

Summary of the invention

In view of above problem, main purpose of the present invention (problem) is to provide a kind of relevant with apparatus for mounting component, the position comprising the suction nozzle of Z-direction, dwell time, responsiveness etc. by suitably calculating, determine, when revising adsorption element, can reduce the technology of abnormality incidence.

In order to achieve the above object, representative manner of the present invention is a kind of arithmetic unit, possesses the apparatus for mounting component of this arithmetic unit and perform the program etc. of the process in this arithmetic unit, this arithmetic unit carries out the computing (information processing) calculating for the information (parameter value) of the setting (method of controlling operation) of the action control to apparatus for mounting component, determine, revise, and it is characterized in that having structure as follows.

The arithmetic unit of the manner possesses following functions: the fluctuation of the position when suction parts etc. is large, revise the information of above-mentioned setting.In the process of this function, use input information (comprising the absorption position etc. of the suction nozzle of Z-direction) unlike the prior art, carry out process (calculating, judgement etc. of undulating value) unlike the prior art, obtain output information (comprising the absorption position of the suction nozzle of Z-direction, dwell time, responsiveness etc.) unlike the prior art.This arithmetic unit utilizes above-mentioned functions, carries out suitable correction, reduce abnormality incidence thus to the setting of the installation action (comprising absorption action and assembling action) of apparatus for mounting component.

The apparatus for mounting component of the manner possesses: the feedway of supply part; Comprise the assembling device of the suction nozzle for adsorption element; All control device, it is according to the information of setting, to comprise absorption action and, the action comprising each position of feedway and erecting device in installation action controls, wherein, above-mentioned absorption action is the action by suction parts, and above-mentioned assembling action is the action be assembled to by the parts by suction on substrate; And checkout gear, it detects the state relevant with suction nozzle and parts when adsorbing action.Apparatus for mounting component makes the suction nozzle of assembling device move to the predetermined absorption position (stop position) corresponding with the position of the predetermined parts of feedway in the X, Y, Z direction, make by these parts of this suction, the suction nozzle having adsorbed these parts is moved in the X, Y, Z direction, and these parts are assembled to the precalculated position of substrate.Using make suction nozzle relative to the parts of feedway loading end vertically close to or away from direction as Z-direction, using the direction of the plane vertical with Z-direction as X, Y-direction.

The arithmetic unit of the manner has: calculation control unit, and it carries out the computing for carrying out above-mentioned correction; Storage part, it is stored in the data message used in this computing.Absorption result information, fluctuation information, threshold information is stored in storage part.Absorption result packets of information is containing the information of the result (real result) of the absorption action of expression apparatus for mounting component.Fluctuation information comprises the fluctuation information representing and hold position (being the position that suction nozzle holds parts in absorption action) etc.Threshold information comprises the threshold value for judging the degree fluctuated.Arithmetic unit such as uses the checkout gear of apparatus for mounting component to obtain the state relevant with suction nozzle and parts.Calculation control unit is according to the information of storage part, carry out following process: (1) first process, obtain or calculate suction nozzle and the distance of parts, the state parameter of relative position when representing absorption action with the form comprising Z-direction, this information (distance KZ, holding position HX, HY) is stored in absorption result information; (2) second process, calculate the undulating value of the state parameter in the absorption action of repeatedly (real result) based on absorption result information, are stored in fluctuation information by this information; (3) the 3rd process, when the undulating value of state parameter has exceeded the first threshold based on threshold information, with the form comprising Z-direction by the parameter of the absorption position (stop position) of suction nozzle to the position correction of suction nozzle close to parts.

In addition, calculation control unit carries out the 4th process, and (4), when the undulating value of state parameter has exceeded the Second Threshold based on threshold information, are carried out correction to suction nozzle in the parameter of the dwell time of absorption position and made it become large.

In addition, calculation control unit carries out the 5th process, (5) when the undulating value of state parameter has exceeded the 3rd threshold value based on threshold information, correction is carried out to the parameter comprising the translational speed of the movement of Z-direction near the absorption position comprising suction nozzle and makes it diminish.

According to representative manner of the present invention, a kind of apparatus for mounting component can be provided, the Z-direction position etc. of the suction nozzle when parts of the suction nozzle after adsorption element can be held position, adsorption element by it is as the information of input, suitably calculate, determine the Z-direction position, dwell time, responsiveness etc. of suction nozzle when adsorbing, thus can abnormality incidence be reduced.

Accompanying drawing explanation

Fig. 1 is the figure of the configuration example of the apparatus for mounting component (comprising arithmetic unit) representing an embodiment of the invention.

Fig. 2 is the flow chart of the processing example represented in this apparatus for mounting component.

Fig. 3 is the dispenser schematically represented in this apparatus for mounting component, the configuration example at first-class position and the figure of configuration example that installed to substrate by parts.

Fig. 4 is the figure of the configuration example representing head and suction nozzle.

Fig. 5 is the figure of the example of the position representing parts when adsorbing from the side and suction nozzle.

Fig. 6 is the figure of the example of the image representing side test section.

Fig. 7 is the figure of the example of the position representing parts when to see absorption from above and suction nozzle.

Fig. 8 is the figure of the example of the image representing test section below.

Fig. 9 is the flow chart of the processing example (calculating of action message, correcting process) representing this arithmetic unit.

Figure 10 is the figure of the table example representing assembly information.

Figure 11 is the figure of the table example representing action message.

Figure 12 is the figure of the table example representing absorption result information.

Figure 13 is the figure of the table example representing fluctuation information.

Figure 14 is the figure of the table example representing threshold information.

Figure 15 is the figure representing the picture example revising content check.

Symbol description

50: parts (P); 90: substrate; 100: apparatus for mounting component; 110: feedway; 111: dispenser pedestal; 111a: dispenser (F); 112,125,133,145,163:IF portion; 120: assembling device; 121: head; 122: beam; 122a: guide rail; 123: suction nozzle (absorption suction nozzle) (N); 124: drive control part; 125: pressure control portion; 130: part detection device; 131: side test section; 132: test section below; 140: all control device; 141: storage part; 144: all control parts; 150: arithmetic unit; 151: storage part; D1: assembly information; D2: action message; D3: absorption result information; D4: fluctuation information; D5: threshold information; 160: calculation control unit; 161: input part; 162: efferent; 170: input unit; 171: output device; 172: communication IF device; 173: bus

Embodiment

Below, use Fig. 1 ~ Figure 15, an embodiment of the invention (arithmetic unit, apparatus for mounting component etc.) are described.In addition, for illustration of in whole figure of execution mode, in principle identical symbol is added to identical portions, and omit its explanation repeated.As the mark illustrated, such as, dispenser is set to F, suction nozzle is set to N, parts are set to P.

Apparatus for mounting component 100(arithmetic unit 150 in present embodiment) in, according to the hardware of Fig. 1, Fig. 3, Fig. 4 etc., the structure of software, carry out the such process of Fig. 2, Fig. 9 (comprising the process that the component mounting method (set information of action control) to apparatus for mounting component 100 calculates, determines, revises).The data message such to Figure 10 ~ Figure 14 manages.In the picture that Figure 15 is such, user's (utilization and supervisory packet contain the operator etc. of the system of this apparatus for mounting component 100) can input/output information.

As one of feature, describe in detail in fig .9 at the treatment step S9(of Fig. 2) in, use the fluctuation information relevant with the distance (KZ) of suction nozzle N to the holding position (HX, HY) of parts P, suction nozzle N and parts P, the stop position (L) of suction nozzle N when calculating absorption or dwell time (T) or responsiveness (V) isoparametric correction value (seeking the suitable correction value for making abnormality incidence reduce), be reflected to its result in the set information of the action control of apparatus for mounting component 100.

[apparatus for mounting component]

In FIG, the apparatus for mounting component 100 of an embodiment of the invention and the structure of arithmetic unit 150 is illustrated.Arithmetic unit 150 is arranged on the inside of apparatus for mounting component 100.In addition, also can be the form that arithmetic unit 150 is connected the outside of apparatus for mounting component 100, can also be the form etc. of 1 by arithmetic unit 150 and all control device 140 unification.

Apparatus for mounting component 100 possesses feedway 110, assembling device 120, part detection device 130, all control device 140, arithmetic unit 150, input unit 170, output device 171, communication IF device 172 etc., they is connected with each other via bus 173.Input unit 170 is such as mouse, the keyboard etc. of the information input accepting user operation.Output device 171 is display, printer etc. to user's output information.Communication IF device 172 is for connecting with other devices, system (also can being connected with existing production management system etc.) via bus 173, external network etc., carrying out the interface of information transmit-receive.Each several part (110 ~ 172) couples together by bus 173.The IF portion of each device (110 ~ 150) (112 ~ 163 etc.) is the interface for carrying out information transmit-receive via bus 173.

Feedway 110 possesses the dispenser pedestal 111, IF portion 112 etc. with multiple dispenser F.Feedway 110 has the physical structure (this is an example in addition, can carry out various application) of detailed example in Fig. 3.

Assembling device 120 possesses 121, beam 122, suction nozzle (absorption suction nozzle) 123, drive control part 124, pressure control portion 125, IF portion 126 etc.Assembling device 120 has the physical structure (this is an example in addition, can carry out various application) of example in detail in Fig. 3.Drive control part 124 controls according to from positions (Fig. 3 ~ Fig. 5 etc.) such as the instruction of all control device 140, correct 121, beam 122 and suction nozzles 123, makes for assembly information 142(Figure 10 described later) shown in assemble sequence and parts rigging position coordinate on substrate carry out build-up member.Pressure control portion 125, according to the instruction from all control device 140, controls the pressure of the inside of suction nozzle 123.Such as, pressure control portion 125 accepts instruction from all control parts 140 and reduces the internal pressure of suction nozzle 123, is adsorbed onto on suction nozzle 123 by parts P.

Part detection device 130 possesses side test section 131, below test section 132, IF portion 133 etc.Side test section 131 accepts the instruction of all control parts 140, (side) is to the suction nozzle 123(N having adsorbed parts P from the side) make a video recording, use this image, by unit such as pattern match (image procossing), suction nozzle N in measurement, calculating Z-direction (Fig. 5) and the distance (KZ) (aftermentioned, Fig. 5, Fig. 6 etc.) of parts P.Side test section 131 such as shown in Figure 4, has the light accepting part 131a that is carried on 121 and penetrates light portion 131b and form, and comprising the computing function of above-mentioned value (KZ).

In addition, test section 132 accepts the instruction of all control parts 140 below, from below to the suction nozzle 123(N having adsorbed parts P) make a video recording, use this image, by the unit of pattern match (image procossing) etc., suction nozzle N in measurement, calculating X, Y-direction (Fig. 3) is to the holding position (HX, HY) (aftermentioned, Fig. 7, Fig. 8 etc.) of parts P.Test section 132 such as shown in Figure 3 below, is configured between dispenser pedestal 111 and substrate 90, and comprise the computing function of above-mentioned value (HX, HY).

In addition, in the present embodiment, the computing of above-mentioned KZ, HX, HY value is undertaken by side test section 131, below test section 132, obtains its result by arithmetic unit 150, but also can carry out this computing by other positions such as arithmetic unit 150 grade.When being calculated by arithmetic unit 150, test section 131, below test section 132 obtain each data message (such as view data) from the side, calculate each value by arithmetic unit 150.In addition, the unit for obtaining above-mentioned value is not limited to the unit such as shooting, pattern match, can carry out various application.

All control device 140 are major control portions of apparatus for mounting component 100, possess all control parts 144, storage part 141, IF portion 145 etc.In the storage area of storage part 141, store assembly information D1(aftermentioned, Figure 10), action message D2(is aftermentioned, Figure 11) etc.

All control parts 144 control the process performed by feedway 110, assembling device 120, part detection device 130, arithmetic unit 150, input part 170, efferent 171 and communication IF portion 172 etc.All control device 140, according to assembly information D1 and action message D2, control the action at each positions (comprising dispenser F, suction nozzle N etc.) such as feedway 110, assembling device 120, part detection device 130.All control parts 144 according to the order be stored in assembly information D1, from predetermined dispenser F by predetermined suction nozzle N, carry out adsorption element P according to the setting be stored in action message D2.When adsorbing, all control parts 144 make parts test section 130 calculating unit hold position HX, HY, distance KZ etc.In addition, all control parts 144 make parts P be assembled on the position of the substrate be stored in assembly information D1.

Assembly information D1 and action message D2(its store information) be one of information (set information) controlled for the action (installation action) at each position to apparatus for mounting component 100.

[arithmetic unit]

Arithmetic unit 150 possesses calculation control unit 160, storage part 151, input part 161, efferent 162, IF portion 163 etc.In the storage area of storage part 151, store absorption result information D3(aftermentioned, Figure 12), fluctuation information D4(is aftermentioned, Figure 13), threshold information D5(is aftermentioned, Figure 14) etc.

Arithmetic unit 150 can with realizations such as general computer, IC.Such as, calculation control unit 160 can pass through the hardware such as CPU, memory (ROM, RAM etc.) and the realization such as software program process (process of the program of present embodiment) based on it.Such as, by being loaded by calculation control unit 160 and performing the program be stored in storage part 151 or outside etc., realize each processing capacity (comprising process in Fig. 2, shown in Fig. 9).Storage part 151 can by external memories such as various memory, HDD, to the read-write equipment of the storage medium reading writing informations such as CD, DVD or to realizations such as the devices that the data of external network are read and write.The input unit such as keyboard, mouse that input part 161 can be inputted by the information accepting user operation realizes, efferent 162 can be realized by output devices such as the displays to user's output information, and IF portion 163 can by being connected with bus 173 and the Interface realization of receiving and sending messages via bus 173.

Calculation control unit 160 uses the information (real result data) be stored in absorption result information D3, carry out calculating and to hold position HX, HY fluctuation relevant with distance KZ etc. with parts, based on the process (aftermentioned, Fig. 2, Fig. 9 etc.) judging to revise the information be stored in action message D2 (set information).

The absorption result information D3 be stored in arithmetic unit 150, fluctuation information D4, threshold information D5 are managed as required information in the process at arithmetic unit 150.In addition, as required, these information can be unified with each information (assembly information D1, action message D2) in all control device 140 or be separated.

[feedway, assembling device]

Fig. 3 represent the dispenser pedestal 111 relevant with assembling device 120 to the feedway 110 of Fig. 1,121, the Sketch (above) of beam 122 and guide rail 122a etc.Dispenser pedestal 111 possesses multiple dispenser 111a(F).Assembly supply device (dispenser pedestal 111) is desk-top as an example, and such as on each dispenser F, carrying supplies multiple parts P of object.Such as, if the suction nozzle N(Fig. 4 by 121) adsorb 1 the parts P be contained on dispenser F, then with the instruction of all control device 140 accordingly, this dispenser F automatically by the next component feed in remaining parts P to the position (being Y-direction in figure 3) can adsorbed by this suction nozzle N.

With the action of the instruction of all control device 140 control head 121 and beam 122 etc. accordingly.121 be configured to can be upper mobile at a change in coordinate axis direction (being X-direction in figure 3) along beam 122.Beam 122 is configured to can be upper mobile at other change in coordinate axis direction (being Y-direction in figure 3) intersected with a change in coordinate axis direction of 121 movements along guide rail 122a.And then, be configured to make a 121(to be carried on a suction nozzle N on 121) upper mobile in the direction (Z-direction) vertical with X, Y-direction.

Be configured to make 121 and beam 122 move in the x, y direction, a 121 suction nozzle N possessed is moved in z-direction, predetermined parts P(50 is adsorbed from predetermined dispenser F) by predetermined suction nozzle N, and then, each position can be made similarly to move in the X, Y, Z direction, by parts P(50) be assembled on substrate 90 preposition on.

[head, suction nozzle]

Fig. 4 represents below the configuration example as 121.This 121 below portion possess multiple suction nozzle 123(N), and then, carry the light accepting part 131a of the structural element as side test section 131, penetrate light portion 131b.In the present example, be that multiple (such as 12) suction nozzle N is configured to circle, control by rotating, the mechanism of the suction nozzle N of hope can be utilized.In addition, be control by rotating equally, the mechanism that can be made a video recording by the suction nozzle N of light accepting part 131a to hope.The position of each suction nozzle N is identified by numbering.

In addition, can enemy 121 and suction nozzle N application various forms.Such as, can be set forth in 1 unit and carry multiple 121, the structure of suction nozzle N.

[side test section, distance KZ]

In side test section 131, light accepting part 131a(Fig. 4) accept, from the light penetrated light portion 131b and launch, from the part of the shadow of light, such as, to generate (shooting) image as shown in Figure 6.In addition, side test section 131 is according to the image of this shooting, and calculating unit P is relative to the relative distance KZ of suction nozzle N.

Fig. 5 represents the example of the parts P of dispenser F when adsorbing from the side and the position of suction nozzle N.By parts 50(P) be contained in situation in each recess 520 of dispenser F.A () is such as the situation of the normal place (stop position L) in setting, (b) is situation about departing from a little from (a).

In (a), 501 is datum lines (Z-direction position (z)=0) of the Z-direction relevant with the position of suction nozzle N (stop position L).Such as using relative to datum line 501 lower direction (suction nozzle N descent direction) as+(just), using upper direction as-(bearing).The line of the suction nozzle stop position L of the front end (lower end) of 503 expression suction nozzle N.Z-direction position (z) of the suction nozzle N that 502 expressions are corresponding with the stop position L of 503.The line of the component locations of the upper end of 504 expression parts P.The distance of 505 expression suction nozzle N lower ends and parts P upper end.The distance of 506 expression suction nozzle N lower ends and parts P lower end (recess 502 bottom surface).Such as can calculate distance KZ by 505 or 506.

Dispenser F(recess 502) on the position of parts P may produce on the direction comprising Z-direction and depart from, fluctuate.Such as under situation of movement, the situation that the face of recess 520 is departed from z-direction a little can be considered due to carrying at dispenser F as described above.Thus, parts P departs from a little relative to the relative position (distance) of suction nozzle N.

B () is the situation left to opposition side (+Z-direction) relative to suction nozzle N position relative to P position, (a) position and depart from.The line of the component locations of the upper end of 509 expression parts P.Distance between 504 and the line of 509 is equivalent to the size departed from.In this case, compared with (a), the distance (507 or 508) of suction nozzle N and parts P is large.That is, be difficult to by suction nozzle N adsorption element P, easily produce abnormal (sideling adsorption element P, adsorption element P end, cannot adsorption element P, to fall after absorption etc. abnormal).

Fig. 6 is the image examples based on shooting of side test section 131, is the situation of 2 value view data.In the image 700a of (a), 711 is the parts being equivalent to suction nozzle N, and 712 is the parts being equivalent to parts P.701 is measuring basis lines of Z-direction, is the straight line of the front end (lower end) that have passed suction nozzle N.702 is straight lines of the lower end of parts P.The distance KZ of 703 expressions 701 and 702.In addition, in the image 700b of (b), in order to easy understand indicate the concept of distance KZ, and the situation that the inclination of parts P when indicating absorption is large.704 is straight lines of the lower end of parts P.The distance KZ of 705 expressions 701 and 704.

In distance KZ defined here, have following relation, namely compared with (a), the inclination of parts P when suction nozzle N adsorbs as (b) is larger, then KZ value is larger.As (b), KZ value is larger, then abnormality incidence is higher.In the present embodiment, the correction relevant with the position etc. of suction nozzle N during absorption is carried out accordingly with the size of the undulating value of distance KZ.

In the present embodiment, the definition of distance KZ be simply in Z-direction from suction nozzle N to the distance of parts P.In the example of fig. 6, as the computational methods of distance KZ, it is the distance from suction nozzle N front end (701) to parts P lower end (702 etc.).

Distance KZ also can be other definition (computational methods).Such as being not limited to lower end, upper end etc., also can be the distance between datum mark.And then also can be using distance value etc. as input according to the value etc. that predetermined formulae discovery goes out.In addition, be not limited to Z-direction, also can comprise X, Y-direction calculates distance value.

[test section, parts hold position HX, HY below]

The image based on shooting of test section 132 below, according to the difference of the position at the parts P center in X, Y-direction and suction nozzle N center, calculates parts holding position HX, HY.

Fig. 7 represents the example of the position of parts P when to see absorption from above and suction nozzle N.In X, Y-direction (the same with Fig. 3), the overlapping situation having circular suction nozzle N on rectangular parts P.The circle in outside is the profile of suction nozzle N, and the circle of inner side is the internal diameter of suction nozzle N.CP represents parts P central point, and CN represents suction nozzle N central point.601,602 represent by the X of CP, the datum line of Y-direction.603,604 represent by the X of CN, the datum line of Y-direction.PX, PY represent suction nozzle N(CN) relative to parts P(CP) X, the relative position of Y-direction, distance.In many parts, the consistent situation of CN and CP is desirable adsorbed state.

Fig. 8 is the image examples (be corresponding relation with Fig. 7) based on shooting of test section 132 below.In the image 800 of Fig. 8, C is datum mark, is the point consistent with CP.801,802 by C, is not the datum line of absolute coordinate system, but with the measuring basis line that the coordinate system of parts P unit (such as when Fig. 7, Fig. 8, the direction parallel with long limit is X, and the direction parallel with minor face is Y) is benchmark.801 is straight lines identical with 601 of the relativeness of parts and Fig. 7.Such as, in the figure 7,601 is straight lines parallel with the minor face of parts, but in this case, 801 is also the straight line parallel with the minor face of parts.Equally, 802 is straight lines identical with 602 of the relativeness of parts and Fig. 7.820 is the parts being equivalent to parts P.Region shown in 810(dotted line) be the part being equivalent to suction nozzle N.803,804 be by suction nozzle center CN with the measuring basis line 801 of X, Y-direction, 802 parallel straight lines.810 owing to being from shooting below, so by parts P(820 on image 800) cover and do not show, but by making suction nozzle N move to preposition (center at position of such as making a video recording), suction nozzle center CN can be grasped.

The PX of Fig. 7, the parts of PY and Fig. 8 hold position HX, HY correspondence.X, the Y-direction (X in absolute coordinate system, Y-direction) of the parts P when direction of HX, HY is carried on dispenser F with parts P are consistent.Such as, when rectangular parts P is carried on dispenser F, parallel with the X-direction of Fig. 3 on the long limit of parts P, when minor face is parallel with the Y-direction of Fig. 3, parts hold the difference that position HX represents part centre CP on the direction parallel with the long limit of parts P and suction nozzle center CN, equally, parts holding position HY represents the difference of CP and the CN on the direction parallel with the minor face of parts P.

HX, HY value is larger, then depart from larger, is difficult to by suction nozzle N adsorption element P, easily occur abnormal (sideling adsorption element P, adsorption element P end, cannot adsorption element P, to fall after absorption etc. abnormal).

[process summary (Fig. 2)]

Fig. 2 represents the flow process (S1 etc. represent treatment step) of the entirety process summary of the apparatus for mounting component 100 of the feature comprising present embodiment.Special use Fig. 9 illustrates the detailed construction example of S9 below.

(S1) all control parts 144 of all control device 140 use assembly information D1(Figure 10), action message D2(Figure 11), to each parts instruction installation action comprising feedway 110, assembling device 120.

(S2) according to the instruction of S1, feedway 110 makes dispenser F(111a) etc. action, assembling device 120 makes 121, beam 122, suction nozzle N(123) etc. action.Make 121 of object especially, suction nozzle N in the x, y direction (Fig. 3) mobile, and the dispenser F-parts P(moving to object adsorbs object) position.

(S3) then, make suction nozzle 123(N) in Z-direction (Fig. 5) upper mobile (decline), move it close on object Part P() precalculated position (stop position L{x, y, z} of suction nozzle N) stop afterwards.In addition, in the present embodiment, be that S2(X, Y-direction are moved) and S3(Z direction move) form of separating, but also can be the form S2 and S3 being combined into 1 and carrying out controlling (X, Y, Z-direction move) simultaneously.

(S4) make suction nozzle N stop the scheduled time (dwell time T) at stop position L, by being reduced pressure by pressure control portion 125 pairs of suction nozzle N inside, and adsorb, hold parts P.

(S5) according to predetermined responsiveness VZ, suction nozzle N is moved (rising) in Z-direction from stop position L.

In addition, in the present embodiment, when S4, S5, use side detection part 131, from the side to absorption, held parts P state under suction nozzle N make a video recording, thus calculate distance KZ.

(S6) and then, make 121, suction nozzle N etc. is moved in the X, Y, Z direction, moves it the parts rigging position of substrate, by removing absorption, and build-up member P(Fig. 3).

In addition, in the present embodiment, when S6, use test section 132 below, from below to absorption, held parts P state suction nozzle N make a video recording, thus calculate parts and hold position HX, HY.

(S7) for the combination of dispenser F, suction nozzle N etc. being carried out action by above-mentioned S1 ~ S6, generate the absorption result information 152 of real result data, and be stored in the storage part 151 of arithmetic unit 150.The information of above-mentioned distance HZ, parts holding position HX, HY is comprised in absorption result information 152.In addition, also this storage can be carried out under other timings.Such as, arithmetic unit 150 also as required, can obtain absorption result information 152 etc. from outside (all control device 140 etc.).Similarly real result data are stored to each each parts installation action repeatedly.

(S8) after the above-mentioned parts P of assembling, all control parts 144 of all control device 140 for the combination of dispenser F, suction nozzle N etc. being carried out action by above-mentioned S1 ~ S7, to arithmetic unit 150 indicate to action message D2 revise (comprise to its need of judgement).

(S9) calculation control unit 160 of arithmetic unit 150 is according to instruction, using absorption result information 152, carrying out for calculating, the following process (describing in detail in fig .9) of corrective action information D2.As the object carrying out revising, candidate, comprise the stop position L(11c with suction nozzle N) relevant Z-direction position (z), dwell time T(11d), responsiveness VZ(11e).

(1) detect based on above-mentioned side, calculate distance KZ(Fig. 6 etc. of suction nozzle N-parts P).In the present embodiment, the information of distance KZ being calculated by side test section 131, export is obtained.

(2) detect below based on above-mentioned, parts holding position HX, HY(of calculating suction nozzle N-parts P are aftermentioned, Fig. 8 etc.).In the present embodiment, obtain calculated by test section 132 below, information that the parts that export hold position HX, HY.

(3) hold position HX, HY for the distance KZ of above-mentioned (1), the parts of (2), calculate undulating value respectively, and store as fluctuation information 153.

(4) for the undulating value of above-mentioned (3), use threshold information 154, judge the size (degree) of fluctuation.Judge (aftermentioned) etc. according to the result of this judgement and relative importance value, carry out the correction (correction value calculate) relevant with each setting key element (parameter) that following (5) ~ (7) are such.

(5) correction value relevant with stop position L{x, y, z} of suction nozzle N is calculated.Comprise the correction relevant with Z-direction position especially.

(6) correction value relevant with the dwell time T of suction nozzle N is calculated.

(7) calculate and the responsiveness V(VZ of suction nozzle N) relevant correction value.Comprise the correction relevant with the translational speed VZ of the movement of Z-direction especially.

In addition, consider the relative importance value of the correction after on the impact of rhythm of production time to be the L of above-mentioned (5) be that first is preferential, the T of above-mentioned (6), the V of (7) are second preferential.

(8) result of the S9 comprising above-mentioned correction content information (comprising parameter correction values etc.) is stored in absorption result information 152 by the calculation control unit 160 of arithmetic unit 150.

(S10) calculation control unit 160 grade of arithmetic unit 150 such as shows the correction content information of S9 on picture, and user is confirmed (aftermentioned, Figure 15) correction execution.On the basis confirmed, reply the correction content information (comprise and whether will revise) sending S9 to all control device 140, thus, the content of all control parts 144 pairs of action messages 143 upgrades (resetting).In addition, also can be the form of confirmation omitting above-mentioned picture, user, in this case, be the form of the set information automatically upgraded in all control device 140.

[assembly information]

Figure 10 represents the assembly information table example of an execution mode as assembly information D1.This table has each field such as order 10a, parts rigging position coordinate 10b, dispenser numbering 10c, absorption suction nozzle numbering 10d.Its storage information of D1() comprise from dispenser F by the information such as order, position, dispenser F, suction nozzle N during suction nozzle N adsorption element P and when these parts P is assembled to substrate.In addition, other fields such as not shown parts ID can also be had.

Order 10a stores and represents that parts P is assembled to the information of the assemble sequence of substrate, represents the information of the absorption order of being adsorbed these parts P by suction nozzle N.In the present embodiment, be configured to assemble sequence identical with absorption order, but also can be different.The information of the position that these parts P is assembled on substrate (90 of Fig. 3) as expression by the information of the coordinate of the X on substrate, Y-direction stores by parts rigging position coordinate 10b.

Dispenser numbering 10c stores the dispenser F(position representing and keep this parts P) information.In the present embodiment, store and identify dispenser pedestal 111(Fig. 3 uniquely) on this dispenser F(111a) the dispenser numbering of carrying position.Absorption suction nozzle numbering 10d stores the information of the suction nozzle N representing these parts of absorption P.In the present embodiment, use absorption suction nozzle numbering (such as 1 ~ 12) being assigned to the carrying position identifying this suction nozzle N uniquely, as determining the head 121(Fig. 4 associated with this suction nozzle N) on the information of position of this suction nozzle N.

[action message]

Figure 11 represents the example of the action message table of an execution mode as action message D2.This table have dispenser numbering 11a, absorption suction nozzle numbering 11b, position, stop position (L) 11c{X direction (x), Y-direction position (y), Z-direction position (z), dwell time (T) 11d, responsiveness (VZ) 11e(correction factor) etc. each field.Its storage information of D2() comprise by the information such as stop position L, dwell time T, responsiveness V of suction nozzle N from suction nozzle N during dispenser F adsorption element P.

Dispenser numbering 11a storage is used for determining that this dispenser F(carries object Part P) the information (the same with 10c) of position.Absorption suction nozzle numbering 11b storage is used for determining this suction nozzle N(absorption object Part P) the information (the same with 10d) of position.Stop position 11c(L{x, y, z}) to store for determining that the stop position L(of suction nozzle N when adsorbing by the suction nozzle N shown in 11b the parts P be carried on by the position (dispenser F) shown in 11a changes a kind of saying be exactly absorption position) information.In the present embodiment, there is each position (representing with the relative position relative to reference position) of X, Y, Z-direction.X-direction position (x), Y-direction position (y) represents the X of Fig. 3, the position of Y-direction.Such as, as shown in Figure 7, on the position that the distance on the x direction making suction nozzle N stop between part centre CP and suction nozzle center CN is identical with the storing value of the x of 11c.Z-direction position (z) represents the position of the Z-direction of Fig. 5.Such as, as shown in Figure 5, make suction nozzle N decline to stop at relative to datum line 501(z=0) the distance position identical with the storing value of the z of 11c.

Dwell time (T) 11d store the suction nozzle N(at stop position L place of 11c when adsorbing the parts P of correspondence position (dispenser F) with this suction nozzle N corresponding 121 etc.) the information of the correction value relevant with dwell time T.In this example, suction nozzle N is made to stop the amount corresponding with the value of 11d.Such as, when the value of 11d is 1, T=0.1 second is set to.

At responsiveness (VZ) 11e(correction factor) in store when adsorbing the parts P of relevant position (dispenser) with corresponding suction nozzle N, for determining the information of the responsiveness V of suction nozzle N.In the present embodiment, as responsiveness V, at least comprise responsiveness VZ.Responsiveness VZ is the responsiveness of the suction nozzle N under the state making to have adsorbed parts P when rising in z-direction.In addition, 11e is represented with correction factor.Using the responsiveness (correction value) that the value of the predetermined standard operation velocity amplitude gained value represented with 11e is multiplied by setting uses as reality.Also can when other move to 11e(VZ) control apply.Such as, also can be applied in X, the movement of Y-direction and the movement of 121 and beam 122 etc.

[all control examples]

The all control parts 144 of all control device 140() use assembly information D1(Figure 10) and action message D2(Figure 11) the control example of parts installation action that carries out is as follows.All control parts 144 send the order 10a indicating and make according to assembly information D1 to feedway 110 and assembling device 120, suction nozzle N(d11 by absorption suction nozzle numbering 10d) adsorb the parts P be carried on the dispenser F position (d10) of dispenser numbering 10c, and the parts rigging position coordinate 10b moved it on substrate assembles.D10 etc. are the symbols for distinguishing.

All control parts 144 make suction nozzle N(d11) locate (stopping) stop position L{x(d12 at the 11c of action message D2), y(d13), z(d14) }, send instruction to pressure control portion 125 to make corresponding suction nozzle N(d11) inside reduce pressure, and make suction nozzle N(d11) stop the dwell time T(d15 of 11d), adsorption element P thus.Then, have passed through dwell time T(d15) after, all control parts 144 are according to the responsiveness VZ(d16 of 11e) make corresponding suction nozzle N(d11) etc. mobile.

In addition, after above-mentioned absorption, all control parts 144 make the suction nozzle N(d11 under the state of having adsorbed parts P) move to the position that can be made a video recording by side test section 131 and make a video recording from the side.Thus, above-mentioned distance KZ(d17 is calculated).In addition, all control parts 144 make the suction nozzle N(d11 under the state of having adsorbed parts P) moving to can by test section 132(Fig. 3 below) preposition of making a video recording and making a video recording from below.Thus, calculate above-mentioned parts and hold position HX(d18), HY(d19).

The all dispenser position (d10) of control part 144 by the 10c of above-mentioned action, the suction nozzle N(d11 of 10d), the stop position L{x(d12 of 11c), y(d13), z(d14) }, the dwell time T(d15 of 11d), the responsiveness VZ(d16 of 11e), the above-mentioned distance KZ(d17 calculated), parts hold position HX(d18), HY(d19) value etc. be stored in absorption result information D3(Figure 12) final line corresponding field (12a ~ 12h) in.

Then, all control parts 144 make suction nozzle N(d11) move to parts rigging position coordinate 10b on substrate in the X, Y, Z direction, send instruction to pressure control portion 125 to make to remove suction nozzle N(d11) the decompression of inside, thus parts P is assembled to this position.

[absorption result information]

Figure 12 represents the example of the absorption result information table of an execution mode as absorption result information 152.Absorption result information D3 storage comprises the information (real result data) of the parts absorption result of information using part detection device 130 to detect, calculate.This table has dispenser numbering 12a, absorption suction nozzle numbering 12b, stop position 12c(L{x, y, z}), dwell time (T) 12d, responsiveness (VZ) 12e, parts hold position HX(12f), parts hold position HY(12g), distance KZ(12h) etc. each field.12a ~ 12e is the field corresponding with the 11a ~ 11e of Figure 11, illustrated by above-mentioned S7 and [all control examples], value as described above (d10 ~ d19) is stored in these each fields.

Hold position HX(12f at parts), HY(12g) in store the information holding position HX, HY for determining means being detected by test section 132 below, calculate of above-mentioned (Fig. 7, Fig. 8).In the present example, the value of 0 is set to when being CP=CN by Fig. 7.At distance KZ(12h) the middle information for determining distance KZ being detected by side test section 131, calculate storing above-mentioned (Fig. 5, Fig. 6).In the present example, be suction nozzle N front end and parts P distance in z-direction.

[fluctuation information]

Figure 13 represents the example of the fluctuation information table of an execution mode as fluctuation information D4.This table has dispenser numbering 13a, absorption suction nozzle numbering 13b, parts hold position average A veX(13c), parts hold position average A veY(13d), parts holding position variance VarXY(13e), distance variance VarZ(13f) etc. each field.In fluctuation information D4, store the information calculated by the process of Fig. 9.

Dispenser numbering 13a stores the information (the same with 10c) of dispenser F position.Absorption suction nozzle numbering 13b stores the information (the same with 10d) of suction nozzle N position.

Parts hold position average A veX(13c) storage part holds position HX(12f) the information of mean value (for AveX).Parts hold position average A veY(13d) storage part holds position HY(12g) the information of mean value (for AveY).In addition, obtaining the average of 13c, 13d according to the unit (combination) of above-mentioned dispenser F-suction nozzle N (also independently can obtain relevant average with same dispenser F with suction nozzle N.In addition, can also with dispenser F independently, obtain relevant with same suction nozzle N average).In addition, real result data average based on past repeatedly installation action is also obtained.

In addition, hold position variance VarXY(13e at parts) in, store and hold position HX(12f according to parts), HY(12g) information of variance yields (for VarXY) that calculates.Distance variance VarZ(13f) store according to distance KZ(12h) information of variance yields (for VarZ) that calculates.These variances (VarXY, VarZ) represent degree of fluctuation.

[threshold information]

Figure 14 represents the example of the threshold information table of an execution mode as threshold information D5.This table has first threshold Th1(14a), Second Threshold Th2(14b), the 3rd threshold value Th3(14c), each field such as Z-direction position initial value (14d).Threshold information D5 is judgement at Fig. 9 (s3, s4, s6) the middle set information that uses relevant with the correction of the action of suction nozzle N during absorption, can be set by the user and change each field value.

First threshold Th1(14a) store for judging whether (s3) implements the information of the correcting process such as Z-direction position (z), dwell time (T), responsiveness (VZ) of suction nozzle N.Second Threshold Th2(14b) store be used for judging (s4) whether implement the X-direction position of suction nozzle N (x), the information of the correcting process of Y-direction position (y).3rd threshold value Th3(14c) store for judging whether (s6) implements the information of the dwell time (T) of suction nozzle N, the correcting process of responsiveness (VZ).

In Z-direction position initial value (14d), the information of the value (reseting value) during the reset of Z-direction position (z) for determining suction nozzle N when the storage implementation correction of T, VZ.In the present embodiment, when the correction implementing T, VZ, carry out controlling (reset) and make the position of suction nozzle N revert to the initial value (14d) of top in z-direction, therefore, it is possible to set this initial value (14d).

[process in detail (Fig. 9)]

Fig. 9 represents relevant to the S9 of Fig. 2 for by arithmetic unit 150(mainly calculation control unit 160) calculate, the processing example (s1 etc. represent treatment step) of corrective action information D2.If calculation control unit 160 is such as from all control parts 144 of all control device 140() receive to be used to specify via IF portion 163 etc. become action message D2(table) the dispenser F(dispenser position of correction object) (d201) and suction nozzle N(suction nozzle position) information of combination etc. of (d202), the instruction of the correcting process of action message D2, then perform the process of Fig. 9.

(s1) calculation control unit 160 calculates mean value (AveX), parts the holding mean value (AveY) of position HY, the mean value (AveZ) of distance KZ that parts hold position HX.In addition, obtain average (Ave) of the unit of dispenser F, suction nozzle N, parts P etc.

First, calculation control unit 160 is in the table of action message D2, determine that dispenser numbering 11a and d201 is equal and adsorb the equal row of suction nozzle numbering 11b and d202, reading in X-direction position (x) (d203), Y-direction position (y) (d204), Z-direction position (z) (d205), the dwell time T(11d be stored in this row) (d206), responsiveness VZ(11e) (d207).And then calculation control unit 160, in the table of absorption result information D3, retrieves whole row, determine the row meeting following condition 1, read in parts in the row of eligible 1 and hold position HX(12f), HY(12g), distance KZ(12h) information.

The storing value of (condition 1) dispenser numbering 12a is equal with d201, the storing value of absorption suction nozzle numbering 12b is equal with d202, the X-direction position storing value (x) of 12c is equal with d203, the storing value of Y-direction position (y) is equal with d204, the storing value of Z-direction position (z) is equal with d205, dwell time T(12d) storing value equal with d206, responsiveness VZ(12e) storing value equal with d207.

At this, by in the row of eligible 1 from upper several i-th row parts hold position HX(12f) information be called Xi, parts are held position HY(12g) information be called Yi, by apart from KZ(12h) information be called Zi, the number of the row of eligible 1 is called n.

And then calculation control unit 160 calculates that parts hold the mean value (AveX) of position HX, parts hold the mean value (AveY) of position HY and the mean value (AveZ) of distance KZ.Threshold value Th0(such as 5 when the number n of data is predetermined) below, be set to data number few, and be set to AveX=0, AveY=0, AveZ=0.When n is larger than threshold value Th0, calculation control unit 160, according to following formula (1), formula (2) and formula (3), calculates AveX, AveY, AveZ.

$\mathrm{AveX}=\left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{X}_i\right)/n...\left(1\right)$

$\mathrm{AveY}=\left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{Y}_i\right)/n...\left(2\right)$

$\mathrm{AveZ}=\left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{Z}_i\right)/n...\left(3\right)$

Above-mentioned d201 is stored in the dispenser numbering 13a of the table of fluctuation information D4 by calculation control unit 160, is stored in by d202 in absorption suction nozzle numbering 13b, is stored in by AveX in 13c, is stored in 13d by AveY.

(s2) calculation control unit 160 calculates the variance (VarXY) of HX, HY as representing that parts hold the value of the fluctuation of position HX, HY, calculates the variance (VarZ) of KZ.

Calculation control unit 160 is predetermined threshold Th0(such as 5 at data amount check n) below, be set to data number few, for HX, HY variance and i.e. VarXY, be set to VarXY=0, for variance and the VarZ of distance KZ, be set to VarZ=0.When n is larger than threshold value Th0, calculation control unit 160, according to following formula (4), formula (5), calculates VarXY, VarZ.

$\mathrm{VarXY}=\left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\right\{{(X_i-\mathrm{AveX})}^2+{(Y_i-\mathrm{AveY})}^2\left\}\right)/(n-1)...\left(4\right)$

$\mathrm{VarZ}=\left(\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\right\{Z_i-\mathrm{AveZ}\left\}\right)/(n-1)...\left(5\right)$

Above-mentioned VarXY is stored in the 13f of the table of fluctuation information D4 by calculation control unit 160, is stored in 13g by VarZ.

(s3) calculation control unit 160 is used in the fluctuation (variance VarXY) of HX, the HY calculated in s2, the data of the fluctuation (variance VarZ) of distance KZ and threshold information D5(first threshold Th1), carry out the judgement for determining the process carried out below.Calculation control unit 160 is first threshold Th1(14a at VarXY or VarZ) more than (S3-is (Y)), then the later process of s6 (Z correcting process) is carried out, at all not enough first threshold Th1(14a of VarXY and VarZ) (s3-no (N)), then carry out the later process of s4 (XY correcting process).In process (Z correcting process) after s6, to the position, stop position L(Z direction of suction nozzle N (x)) or, dwell time T or responsiveness VZ revises, in process (XY correcting process) after s4, position, modified chi direction (x), Y-direction position (y).

(s4) calculation control unit 160 uses parts to hold mean value (AveX, AveY) and the threshold information D5 of position HX, HY, carries out the judgement for determining the process carried out below.Calculation control unit 160 is Second Threshold Th2(14b at AveX or AveY) more than (s4-is), then the process of s5 is carried out, at the not enough Second Threshold Th2(14b of AveX and AveY) (s4-is no), it is no problem to be judged as in absorption, ends process.

(s5) calculation control unit 160 uses above-mentioned mean value AveX, AveY, the position of the X of suction nozzle N when revising absorption, Y-direction (x, y).Calculation control unit 160 uses following formula (6), formula (7), calculates the correction value (newd204) of X-direction position correction value (x) (newd203) and Y-direction position (y).At this, the α in formula (6) and formula (7) is the real number (such as 0.9) between 0 ~ 1.

newd203＝d203-α×AveX…(6)

newd204＝d204-α×AveY…(7)

Calculation control unit 160 is for the above-mentioned correction value (newd203 and newd204) calculated, the row that the storing value of dispenser numbering 11a is equal with d201, the storing value of absorption suction nozzle numbering 11b is equal with d202 is determined in the table of action message D2, be newd203 by the X-direction position of the 11c in this row data correction (x), be newd204 by the data correction of Y-direction position (y), end process.

(s6) calculation control unit 160 uses value and the threshold information D5 of Z-direction position (z), carries out the judgement for determining the process carried out below.Calculation control unit 160 is at d205(z) less than the 3rd threshold value Th3(14c) (s6-is), as the first preferential process, carry out being judged as between parts P with suction nozzle n, there is affluence (separation), Z-direction position (z) of suction nozzle N is modified to the process of the position close with parts P in s7 etc.At d205(z) be Th3(14c) more than (s6-is no), carry out being judged as between parts P and suction nozzle N too close, the process of the parameter (dwell time T and responsiveness VZ) beyond Z-direction position (z) revising suction nozzle N in s8 etc.

(s7) calculation control unit 160 carries out the process of the correction value calculating Z-direction position (z).Calculation control unit 160 such as calculates will to d205(z) add the correction value (newd205) of value as Z-direction position (z) of predetermined real number (such as 0.1) gained.In addition, be judged as not needing to revise dwell time T and responsiveness VZ, d206 be updated to the correction value (newd206) of dwell time T, d207 be updated to the correction value (newd207) of responsiveness VZ.As above-mentioned modification method, also can not be set to addition, and be set to multiplication etc.

(s8) calculation control unit 160 carries out the process of the correction value calculating dwell time T.Calculation control unit 160 such as calculates and will add the correction value (newd206) of value as dwell time T of predetermined real number (such as 0.1) gained to d206.

(s9) calculation control unit 160 carries out the process of the correction value calculating responsiveness VZ.Calculation control unit 160 such as calculates and will deduct the correction value (newd207) of value as responsiveness VZ of predetermined real number (such as 0.1) gained from d207.

(s10) calculation control unit 160 is in the correction value of the correction value of the dwell time T of s8 and the responsiveness VZ of s9, the correction value little to rhythm of production time effects being defined as the high correction value of relative importance value (correction value for revising), determining the correction value of Z-direction position (z), dwell time T, responsiveness VZ uniformly.

Calculation control unit 160 according to following formula (8), calculate dwell time T correction value (assuming that) rhythm of production time recruitment and the correction of responsiveness VZ time (assuming that) rhythm of production time recruitment between difference (DifTime).

DifTime＝(newd206-d206)-(β/newd207-β/d207)…(8)

At this, the β in formula (8) is the real number of the operating distance (such as from dispenser pedestal 111 to the distance of substrate 90) representing 121.

When above-mentioned DifTime is less than 0, make it increase if revise dwell time T, rhythm of production time recruitment is few, therefore determines as to revise dwell time T.Therefore, d207 is updated to newd207, Z-direction position initial value (14d) is updated to newd205 by (in order to reset).

In addition, when DifTime is larger than 0, if corrective action speed VZ makes it reduce, rhythm of production time recruitment is few, therefore determines as to revise responsiveness VZ.Therefore, d206 is updated to newd206, Z-direction position initial value (14d) is updated to newd205 by (in order to reset).

(s11) calculation control unit 160 is according to the result to s10, exports the information (correction content information) such as correction value, the correction value of dwell time T, the correction value of responsiveness VZ of Z-direction position (z).In the present embodiment, carry out the process be presented at by correction content information on picture, can carry out by user confirmation and correction execution (Figure 15) of revising content.By the efferent 171(of apparatus for mounting component 100 or the efferent 162 of arithmetic unit 150) display frame.

Figure 15 represents the picture example shown in s11.In this picture, show the numbering (g11) as the dispenser F revising object, the numbering (g12) of suction nozzle N, parts hold position HX, fluctuation (variance yields) (g13) of HY, fluctuation (variance yields) (g14) of distance KZ, action message D2{(Z position, direction (z) (g15) before correction, dwell time T(g16), responsiveness VZ(g17) etc.), revised action message D2{(Z position, direction (z) (g18), dwell time T(g19), responsiveness VZ(g20) etc.) information, and the button (g21 of correction could be performed, g22) etc.

D201 is shown as g11 by arithmetic unit 160, d202 is shown as g12, VarXY is shown as g13, VzrZ is shown as g14, d205 is shown as the g15 before correction, d206 is shown as g16, d207 is shown as g17, newd205 is shown as revised g18, newd206 is shown as g19, newd207 is shown as g20.

(s12) calculation control unit 160 accepts the picture by s11(Figure 15) the input results (the performed correction etc. by "Yes" (Yes) button (g21)) of user.When correction (YES) can be performed (Y), carry out the process of s13, when correction (no) can not be performed, do not carry out S13 and terminate.In addition, as mentioned above, also can omit s11, s12 and automatically perform the correction (such as can preset and automatically perform) of s13.

(s13) calculation control unit 160 uses above-mentioned result (correction content information), corrective action information D2(z, T, VZ etc.) (above-mentioned S10).Such as, in the table of action message D2, determine that the storing value of dispenser numbering 11a is equal with d201 and adsorb the storing value of the suction nozzle numbering 11b row equal with d202, be newd205 by the data correction of Z-direction position (z) of the 11c in this row, by dwell time T(11d) data correction be newd205, by responsiveness VZ(11e) data correction be newd206, end process.

[supplementing]

The reason of the fluctuation of the data message utilizing the status parameter values (distance KZ, parts hold position HX, HY) relevant with suction nozzle N, parts P is described.

First, when the fluctuation that parts hold position HX, HY is large, represent that the possibility of the end of suction nozzle N adsorption element P is high.If the end of adsorption element P, then the possibility that is exposed to outside parts P of the hole of suction nozzle N is high, and the possibility that air flow into the inside of suction nozzle N is high.If air flow into the inside of suction nozzle N, then the pressure of the inside of suction nozzle N becomes large, and the possibility that parts P is fallen uprises.Therefore, the fluctuation that parts hold position HX, HY must be reduced.

In addition, when the fluctuation of distance KZ is large, suction nozzle N has the possibility of very large adsorption element P obliquely high.If there is very large adsorption element P obliquely, then such as can becomes and parts P cannot be arranged on according to suitable direction reason substrate producing defective substrate.Therefore, the fluctuation of distance KZ must be reduced.

As the reason that parts hold position HX, HY, the fluctuation of distance KZ expands, can to enumerate by the distance of parts P during suction nozzle N adsorption element P and suction nozzle N greatly, the little and pressure in the inside of suction nozzle N of the dwell time T of suction nozzle N when adsorbing fully reduce before suction nozzle N action, suction nozzle N responsiveness V large etc.The distance that parts P during absorption and the distance of suction nozzle N be large, parts P moves to suction nozzle N from dispenser F when adsorb expands, and the inclination (distance KZ) of parts holding position HX, HY, parts is fluctuated.When the responsiveness V of the situation that the pressure of the inside of suction nozzle N does not fully reduce, suction nozzle N is large, the absorption affinity of the air impedance geometric ratio suction nozzle N produced due to the action of suction nozzle N is also large, and holding position HX, the HY of parts P, the inclination (distance KZ) of parts are fluctuated.

[effect etc.]

As described above, apparatus for mounting component 100(arithmetic unit 150 in present embodiment) in, by conduct input information such as Z-directions position (z) of the suction nozzle N when holding of the parts of the suction nozzle N according to real result data (absorption result information D3) after adsorption element P position HX, HY, absorption, suitably stop position L, the dwell time T, responsiveness VZ etc. of Z-direction position (z) of suction nozzle N when comprising absorption are calculated, revised, can abnormality incidence be reduced thus.

Above, specifically illustrate the invention of the present inventor according to execution mode, but the present invention being not limited to above-mentioned execution mode, not departing from the scope of its aim, certainly can carrying out various change.

The present invention can be used in production management system etc.

Claims (6)

1. an arithmetic unit, it calculates the setting of action control parts being installed to the apparatus for mounting component on substrate, it is characterized in that:

Above-mentioned apparatus for mounting component possesses:

Feedway, it supplies above-mentioned parts;

Assembling device, it comprises the suction nozzle for adsorbing above-mentioned parts;

All control device, it is according to the information of above-mentioned setting, the action comprising each position of above-mentioned feedway and assembling device comprised in the installation action of absorption action and assembling action is controlled, wherein, above-mentioned absorption action is the action of being adsorbed above-mentioned parts by said suction nozzle, and above-mentioned assembling action is the action that will be assembled to by the adsorbed above-mentioned parts of said suction nozzle on substrate; And

Checkout gear, the state relevant with said suction nozzle and parts when it detects above-mentioned absorption action,

Using make said suction nozzle relative to the parts of above-mentioned feedway loading end close to or away from direction as Z-direction, using the direction of plane that intersects with Z-direction as X, Y-direction,

Above-mentioned arithmetic unit has: the calculation control unit of carrying out above-mentioned computing; And be stored in the storage part of the data message used in this computing,

Above-mentioned arithmetic unit uses above-mentioned detection device to obtain the state relevant with said suction nozzle and parts,

Above-mentioned calculation control unit, according to the information of above-mentioned storage part, carries out following process:

(1) first process, obtains or calculates said suction nozzle when representing above-mentioned absorption action and the distance of parts, multiple state parameters of relative position with the form comprising Z-direction, and store this information;

(2) second process, according to mean value and multiple above-mentioned state parameter of the above-mentioned state parameter obtained by multiple above-mentioned state parameter, calculate the undulating value of the above-mentioned state parameter in above-mentioned absorption action, and store this information;

(3) the 3rd process, when the undulating value of above-mentioned state parameter has exceeded first threshold, with the form comprising Z-direction by the parameter value of the absorption position of said suction nozzle to the position correction of said suction nozzle close to parts;

(4) the 4th process, have exceeded first threshold at the undulating value of above-mentioned state parameter, and when the value of above-mentioned state parameter has exceeded Second Threshold, have carried out correction make it become large to said suction nozzle at the parameter value of the dwell time of absorption position; And

(5) the 5th process, first threshold has been exceeded at the undulating value of above-mentioned state parameter, and when the value of above-mentioned state parameter has exceeded Second Threshold, correction is carried out to the parameter value comprising the translational speed of the movement of Z-direction near the absorption position comprising said suction nozzle and makes it diminish.

2. arithmetic unit according to claim 1, is characterized in that:

Calculate variance yields and it can be used as the undulating value of above-mentioned state parameter and utilize.

3. arithmetic unit according to claim 1, is characterized in that:

When above-mentioned correction, preferentially carry out above-mentioned 3rd process relative to above-mentioned 4th process, when said suction nozzle is too close to parts, carry out above-mentioned 4th process.

4. arithmetic unit according to claim 1, is characterized in that:

When above-mentioned correction, preferentially carry out above-mentioned 3rd process relative to above-mentioned 5th process, when said suction nozzle is too close to parts, carry out above-mentioned 5th process.

5. arithmetic unit according to claim 1, is characterized in that:

In the picture of the output device possessed at above-mentioned apparatus for mounting component or arithmetic unit, show the undulating value of above-mentioned state parameter, the correction content information comprising the value before and after above-mentioned correction with the relating to parameters of above-mentioned setting, on the basis confirmed by user, perform above-mentioned correction.

6. an apparatus for mounting component, parts are installed on substrate by it, it is characterized in that,

Above-mentioned apparatus for mounting component possesses:

Feedway, it supplies above-mentioned parts;

Assembling device, it comprises the suction nozzle for adsorbing above-mentioned parts;

Arithmetic unit, it calculates the setting of the action control of above-mentioned apparatus for mounting component;

All control device, it is according to the information of above-mentioned setting, the action comprising each position of above-mentioned feedway and assembling device comprised in the installation action of absorption action and assembling action is controlled, wherein, above-mentioned absorption action is the action of being adsorbed above-mentioned parts by said suction nozzle, and above-mentioned assembling action is the action that will be assembled to by the adsorbed parts of said suction nozzle on substrate; And

Checkout gear, the state relevant with said suction nozzle and parts when it detects above-mentioned absorption action,

Using make said suction nozzle relative to the parts of above-mentioned feedway loading end close to or away from direction as Z-direction, using the direction of plane that intersects with Z-direction as X, Y-direction,

Above-mentioned arithmetic unit has: the calculation control unit of carrying out above-mentioned computing; Be stored in the storage part of the data message used in this computing,

Above-mentioned arithmetic unit uses above-mentioned detection device to obtain the state relevant with said suction nozzle and parts,

Above-mentioned calculation control unit, according to the information of above-mentioned storage part, carries out following process:

(1) first process, obtains or calculates said suction nozzle when representing above-mentioned absorption action and the distance of parts, multiple state parameters of relative position with the form comprising Z-direction, and store this information;

(2) second process, according to mean value and multiple above-mentioned state parameter of the above-mentioned state parameter obtained by multiple above-mentioned state parameter, calculate the undulating value of the above-mentioned state parameter in above-mentioned absorption action, and store this information;

(3) the 3rd process, when the undulating value of above-mentioned state parameter has exceeded first threshold, with the form comprising Z-direction by the parameter value of the absorption position of said suction nozzle to the position correction of said suction nozzle close to parts;

(4) the 4th process, have exceeded first threshold at the undulating value of above-mentioned state parameter, and when the value of above-mentioned state parameter has exceeded Second Threshold, have carried out correction make it become large to said suction nozzle at the parameter value of the dwell time of absorption position; And

(5) the 5th process, first threshold has been exceeded at the undulating value of above-mentioned state parameter, and when the value of above-mentioned state parameter has exceeded Second Threshold, correction is carried out to the parameter value comprising the translational speed of the movement of Z-direction near the absorption position comprising said suction nozzle and makes it diminish.