CN109287111A

CN109287111A - Stiffening plate adhering device

Info

Publication number: CN109287111A
Application number: CN201810745672.3A
Authority: CN
Inventors: 屋宜健勇; 河东和彦
Original assignee: Beac Co Ltd
Current assignee: Beac Co Ltd
Priority date: 2017-07-20
Filing date: 2018-07-09
Publication date: 2019-01-29
Anticipated expiration: 2038-07-09
Also published as: CN109287111B; TW201909727A; KR20190010449A; TWI680703B; JP2019021849A; JP6235751B1; KR102060249B1

Abstract

In order to provide a kind of stiffening plate adhering device of high production efficiency.Stiffening plate adhering device of the invention includes: attaching head 20, is provided with stiffening plate and captures means 22, the extraction and crimping of stiffening plate will be carried out by moving up and down, and change the posture of stiffening plate by being rotated up in the side θ；Rotor 30 configured with equiangularly spaced multiple attaching heads after dividing by one week trisection, and intermittently rotates；Stiffening plate provides device 40, configures on the first straw line position；Stiffening plate image processing apparatus 50 obtains the image of the second straw line position and carries out image procossing, to calculate information related with the position of the stiffening plate and posture；And by attaching component holding meanss 60, there is the first xy platform 62 being configured on third straw line position.Wherein, further comprise: the 2nd xy platform 64 has the composition same with the first xy platform 62；And xy platform configures switch unit 66, is switched in third straw line position and between attaching component replacement position to the configuration of the first xy platform 62 and the 2nd xy platform 64.

Description

Stiffening plate adhering device

Technical field

The present invention relates to stiffening plate adhering devices.

Background technique

In the past, there is a kind of apparatus for mounting component by common cognition, suction nozzle (suction is provided with by front end Nozzle multiple mechanical arms) intermittently rotate on one side, are mounted on material installed (electronics after on one side successively extracting electronic component Circuit substrate) on (for example, referring to patent document 1).

Figure 20 is the structure chart for the apparatus for mounting component recorded in patent document 1.

Apparatus for mounting component 900 documented by patent document 1 includes: head (Head) 920, configured with for adsorbing electronics The suction nozzle 922 of component WE can be moved up and down along the z-axis for being parallel to first axle AX1 thus by electronic component WE by suction nozzle 922 It extracts and installs；And intermittent rotational support body 930, on the imaginary circumference centered on first axle AX1, multiple heads 920 with by Saturday etc. point segmentation when equiangularly spaced configuration, intermittently rotated centered on first axle AX1, to make Head 920 successively on base station (not shown) by six equal parts divide each straw line position (Index position) S1~S6 On briefly stop (referring to Figure 20).

In addition, apparatus for mounting component 900 documented by patent document 1 further include: electronic component provides device, is configured in On position corresponding with the first straw line position S1, there is the direction x for being arranged side-by-side component offer casket (Cassette) 943 to move Dynamic platform (Table) 945, is supplied to head 920 for the electronic component WE of the extraction object as head 920.In addition, patent document Apparatus for mounting component 900 documented by 1 further include: be configured in and the second straw line position S2, the 5th straw line position S5 or the 6th On the corresponding position straw line position S6, posture detection means that position or posture to electronic component WE are detected (not shown) or the positioning means for positioning electronic component WE relative to suction nozzle (not shown).Further more, patent document 1 is remembered The apparatus for mounting component 900 of load further include: electronic circuit board holding meanss 960 have and are configured in and the 4th straw line position On the corresponding position S4, electronic circuit board BD is kept on upper surface, the electronic circuit being kept can be made The xy platform 962 that substrate BD is moved along x/y plane, and receive to be installed by head 920 on the specified position of electronic circuit board BD Electronic component WE (referring to second page lower-left column~third page upper right column of Figure 20 and patent document 1).

According to apparatus for mounting component 900 documented by patent document 1, due to being configured with head 920 and the machine of suction nozzle 922 Tool arm 934 intermittently rotates, also, when suction nozzle 922 stops at the first straw line position S1, and the suction nozzle 922 is from electronic component It provides and extracts electronic component WE at device 940.The second straw line position S2 is stopped at after the intermittent rotation of suction nozzle 922, the 5th is drawn When on rope position S5 or the 6th straw line position S6, position or posture to electronic component WE carry out detection or by electronic component WE phases Suction nozzle 922 is positioned.When stopping on the 4th straw line position S4 after the intermittent rotation of suction nozzle 922, pass through head 920 Decline in the regulation installation site that electronic component WE is mounted on electronic circuit board BD along z-axis.

[advanced technical literature]

[patent document 1] tekiaki 62-85491 bulletin

However, in the apparatus for mounting component 900 documented by patent document 1, to the electricity for being mounted with electronic component WE When sub-circuit substrate BD carries out material, in order to ensure the safety of operation, it is necessary to make intermittent rotary supporter 930, mechanical arm 934 and head 920 etc. (these are referred to as " intermittent rotary portion " below) stop operating.Further more, electronics will be not installed with When the electronic circuit board BD polarity feed of component WE, also need that intermittent rotary portion is made to stop operating.Like this, in order to more Change electronic circuit board BD to make intermittent rotary portion stop in a period of, can not continuously carry out electronic component WE extraction, The master operations such as the installation of electronic component WE.So, there is: the production efficiency of apparatus for mounting component entirety is low to ask Topic.

In recent years, soft based on the considerations of the flexibility and substrate thinning to substrate shape as electronic circuit board Property substrate (FPC substrate) has been widely deployed.But the flexibility and thinness due to FPC substrate itself make it necessary to pair Part of it is reinforced.In general, the stiffening plate for having metal material to constitute is attached on substrate to add to substrate By force.

Above-mentioned apparatus for mounting component is suitable for by the operation on attaching component (such as FPC substrate) being attached to stiffening plate When 900, it is low equally to lead to the problem of above-mentioned production efficiency.

Therefore, the present invention is in view of the above subject, it is therefore an objective to provide and a kind of be able to produce high-efficient stiffening plate adhering device.

Summary of the invention

Stiffening plate is attached to by attaching component by [1] stiffening plate adhering device of the invention, it is characterised in that: is being incited somebody to action The face parallel with the upper surface of base station is defined as the x/y plane comprising orthogonal x-axis and y-axis, will be with the x/y plane Perpendicular defined axis is defined as first axle, will be located at the imaginary circumference on the x/y plane centered on the first axle On divided with one week trisection after division position be circumferentially successively defined as the first straw line position, the second straw line position and the When three straw line positions, comprising: the base station；Attaching head is provided with the stiffening plate for capturing the stiffening plate and captures means, can By the stiffening plate capture means along the z-axis parallel with the first axle move up and down to by the stiffening plate extract with And crimping, and θ side of the means around the z-axis can be captured by the stiffening plate and be rotated up to change the reinforcement The posture of plate；Rotor, on the imaginary circumference centered on the first axle, after by trisection segmentation in one week Equiangularly spaced multiple attaching heads, intermittently rotated centered on the first axle, to make the attaching head Successively briefly stop on the first straw line position on the base station, the second straw line position and third straw line position；Reinforce Plate provides device, and configuration has the stiffening plate of the stiffening plate from storage in the first straw line position corresponding The stiffening plate of the extraction object as the attaching head is supplied to the attaching head in receptacle (Stocker)；Reinforce Plate image processing apparatus, have for obtains include and the stiffening plate in the second straw line position corresponding First camera of image obtains the image of the stiffening plate by first camera and carries out image procossing, to count It calculates with the attaching head relative to the position of the stiffening plate and the related information of posture；And by attaching component holding meanss, With configuration in the third straw line position corresponding, protected to described by attaching component on upper surface It holds, the first xy platform moved by attaching component along the x/y plane that can will be kept, and in the quilt kept Attach and receive to crimp from the stiffening plate of the attaching head on the specified position of component, wherein when capture it is described plus When the attaching head of strong plate is stopped on third straw line position, pasted according to the described of stiffening plate should be attached The information of the specified position on attached component and calculated with the stiffening plate by the stiffening plate image processing apparatus The related information in position, the mobile first xy platform is to carry out school to position of the stiffening plate on the x/y plane Just, also, according to by the calculated information related with the posture of the stiffening plate of the stiffening plate image processing apparatus, make The attaching head is rotated up to be corrected the posture of the stiffening plate in the side θ, then, by making the attaching head edge Z-axis decline is described to be protected by attaching component to which the stiffening plate to be crimped on the specified position by attaching component Holding device further comprises: the 2nd xy platform, has the composition same with the first xy platform；And xy platform configures switch unit, It is placed with the first xy platform and the 2nd xy platform, the configuration of the first xy platform and the 2nd xy platform is cut It changes, so that the first xy platform and the 2nd xy platform be made alternatively to be configured in third straw line position and by attaching structure Part is replaced between position.

In stiffening plate adhering device of the invention, further comprise by attaching component holding meanss: the 2nd xy platform has The same composition with the first xy platform；And xy platform configures switch unit, the first xy platform and the 2nd xy platform is placed with, to the first xy The configuration of platform and the 2nd xy platform switches over, so that the first xy platform and the 2nd xy platform be made alternatively to be configured in third straw line Position and by between attaching component replacement position.Therefore, it will be able to which in the master operation attached with stiffening plate, (stiffening plate is mentioned Take, the detection of the posture of stiffening plate and crimping) in the state of phase independence, on by attaching component replacement position with it is above-mentioned Master operation concurrently carries out being attached the replacement of component.

That is, for above-mentioned master operation, it is not necessary to again in order to replace suspended by attaching component process and to Machine, so as to cut down the stand-by time (loss of time) for being terminated the master operation until replacement by attaching component.In other words, energy It is enough to carry out in the case where not influencing the circulation time of master operation by the replacement of attaching component.Therefore, stiffening plate of the invention Adhering device is a kind of stiffening plate adhering device of high production efficiency.

It is recited herein to be referred to " by attaching component " for by the component of attaching stiffening plate, such as what can be enumerated have FPC substrate." by the replacement of attaching component " refer to by be pasted with stiffening plate by attaching component from stiffening plate adhering device The operation (going to expect) removed, and the operation put by attaching component on stiffening plate adhering device that will not attach stiffening plate One or both in (feed).

[2] in stiffening plate adhering device of the invention, it is also desirable to: the xy platform configuration switch unit is can By with the upper surface of the base station it is perpendicular as defined in the turntable (Turntable) that rotates centered on the second axis, described first Xy platform and the 2nd xy platform are positioned in respectively on the upper surface of the turntable, the rotation pair centered on second axis On the position of title.

Due to using above-mentioned composition, when rotating turntable, such as the first xy platform is moved to third straw line position, And the 2nd xy platform is also linkedly moved to therewith by attaching component replacement position.Therefore, only turntable need to be rotated 180 °, just It can be replaced (by attaching component replacement position) to by attaching component on same position.So reinforcement of the invention Plate adhering device is a kind of stiffening plate adhering device that operating efficiency is high, still further, it is a kind of stiffening plate of high production efficiency attaches Device.

[3] in stiffening plate adhering device of the invention, it is also desirable to: on the attaching head, configured with being used for The heater (Heater) that the stiffening plate captured is heated.

When stiffening plate attaches, heat curing adhesive is used sometimes.In this case, for example adhesive is coated in advance By the specified position of attaching component (for attaching the position of stiffening plate.Hereinafter referred to as " sticking position ") on, and by stiffening plate It is loaded in a manner of covering on the adhesive, by softening adhesive after heating or dissolving to crimp stiffening plate On by attaching component.

It, can be by the heating from configuration on attaching head according to stiffening plate adhering device documented in above-mentioned [3] The heat of device, which is conducted to stiffening plate, captures means, heats to capture means to stiffening plate.Therefore, it will be able to from attaching head The stage that stiffening plate is extracted is started to heat the stiffening plate by (specially stiffening plate capture means), thus being crimped The stiffening plate can be made to rise to enough temperature in advance before process.Also, in the stage of crimping process, it will be able to logical The enough heats put aside in the stiffening plate are crossed, make to be pre-coated with to glue by the thermmohardening on the specified position of attaching component Mixture softens or dissolves.Like this, due to that stiffening plate can be made in advance to rise to enough temperature, such that effectively coming It is crimped, promotes specific yield.So the stiffening plate that stiffening plate adhering device of the invention is a kind of high production efficiency attaches Device.

In addition, according to stiffening plate adhering device documented in above-mentioned [3], due to can with master operation (stiffening plate Extract, the detection of the posture of stiffening plate and crimping) concurrently stiffening plate is heated, therefore just need not again in order to Heated and suspend master operation and standby, therefore, stiffening plate adhering device of the invention be a kind of high production efficiency plus Strong plate adhering device.

[4] in stiffening plate adhering device of the invention, it is also desirable to, further comprise: by attaching component image Processing unit has for obtaining the first xy when watching the stiffening plate adhering device from plane along the first axle In the movable range of platform or the 2nd xy platform, described pasted by what the first xy platform or the 2nd xy platform were kept The second camera of the image of attached component obtains the first xy platform or the 2nd xy platform institute by the second camera Keep the image by attaching component, and calculate and this by attaching component relative to the first xy platform or described second The position of xy platform and the related information of posture.

Due to using such composition, so even the first xy platform or the 2nd xy platform relative to by the position of attaching component with And there are deviations between posture and scheduled position and posture, can also calculate according to by attaching component image processing apparatus Out move the first xy platform or the 2nd xy platform suitably towards the direction xy to by the position of attaching component and the relevant information of posture It is dynamic, and move attaching head suitably towards the direction θ, thus to be corrected.So, it will be able in correct position and Stiffening plate is attached to by attaching component under posture.

Therefore, according to stiffening plate adhering device documented in [4], it will be able to improve the success rate of attaching.And then it is promoted Specific yield is a kind of stiffening plate adhering device of high production efficiency.

In addition, even by attaching component it is whole by the first xy platform or the 2nd xy platform be maintained at scheduled position and In the case where in posture, position after also causing an other stiffening plate to attach because of foozle and as defined in exist between position Deviation.In this case, pass through above-mentioned running, it will be able to be corrected respectively when being attached every time, thus can be Stiffening plate is attached to by attaching component under correct position and posture.

[5] in stiffening plate adhering device of the invention, it is also desirable to: it is described by attaching component image processing apparatus Lighting device is included, the light emitting component comprising that can issue the mutually different a variety of light of peak wavelength can be from described a variety of At least one light is issued in light, so that this kept to the first xy platform or the 2nd xy platform is shone by attaching component It is bright.

Due to using such composition, so even being sent out by attaching component itself or the environmental condition locating for attaching component Changing, also can by light emitting component according to physical condition selection issue the light of most suitable type to by attaching component into Row illumination.

In this way, it will be able to inhibit by the deviation of the style of shooting of attaching component image, to improve by attaching component Image procossing precision.So, it will be able to improve and attach success rate, and then promote specific yield, be a kind of production efficiency High stiffening plate adhering device.

[6] in stiffening plate adhering device of the invention, it is also desirable to, further comprise: the measurement of stiffening plate thickness Means, the thickness for capturing the object that means are captured to the stiffening plate of the attaching head measure, the stiffening plate Adhering device measures the information that means are exported by the stiffening plate thickness, captures hand to the stiffening plate of the attaching head The piece number for the stiffening plate that section is captured is detected extremely.

Pass through stiffening plate thickness measurement means, it will be able to which the stiffening plate that means are captured is captured to the stiffening plate of attaching head The piece number abnormal (for example, when capturing two panels stiffening plate) is detected.So, it will be able to according to testing result, to control Aftermentioned process is made to be allowed to without processes such as crimping, to prevent from producing defective products in possible trouble.

So, it will be able to improve and attach success rate, and then promote specific yield, be a kind of reinforcement of high production efficiency Plate adhering device.

[7] in stiffening plate adhering device of the invention, it is also desirable to: when the attaching head stops at described first When on straw line position, the attaching head the stiffening plate capture means capture stored in stiffening plate receptacle described in plus After strong plate, it is rotated up by making the stiffening plate capture θ side of the means around the z-axis, to keep the stiffening plate opposite It is subjected to displacement on the direction θ in the next stiffening plate that should be extracted next time.

After capturing stiffening plate, (carried out whole by being rotated up θ side of the stiffening plate capture means around z-axis Flat running), it will be able in the case where even assuming that two panels stiffening plate mutually sticks together, effectively by stiffening plate a piece of one It is extracted again after separating to piece.

Due to extracting again after capable of separating one by one stiffening plate, success rate is attached such that improving, And then specific yield is promoted, it is a kind of stiffening plate adhering device of high production efficiency.

[8] in stiffening plate adhering device of the invention, it is also desirable to, further comprise: defective products discharge unit, when It is judged as that the stiffening plate captures means and do not capture the stiffening plate normally or be judged as that the stiffening plate captures means and mentioned When the object taken and non-normal stiffening plate, the attaching head belonging to the stiffening plate capture means can be arranged in the defective products It is temporarily ceased at portion out, and the object that stiffening plate capture means are captured is transferred to the defective products discharge unit.

It is judged as that stiffening plate capture means do not capture stiffening plate normally or are judged as that stiffening plate captures means institute by working as When the object of extraction and non-normal stiffening plate, the object that stiffening plate capture means are captured is transferred to defective products row Portion out, it will be able to avoid the object being transferred to crimping process, to can prevent from producing defective products in possible trouble.

Therefore, it will be able to improve and attach success rate, and then promote specific yield, be a kind of stiffening plate patch of high production efficiency Adsorption device.

[9] in stiffening plate adhering device of the invention, it is also desirable to: configuration is centered on the first axle Multiple attaching heads on the imagination circumference add with that can capture the different types of of different types of stiffening plate respectively Strong plate captures means, and the stiffening plate receptacle is the case (Magazine) that multiple stiffening plates can be stacked to storage, institute Stiffening plate offer device is provided and includes multiple cases；And case switch means, multiple storages can be loaded Box captures means according to the stiffening plate incidental on the attaching head temporarily ceased on first straw line position Type makes a case in multiple cases enter first straw line position on one side, makes other cases on one side Leave first straw line position.

As recorded in above-mentioned [9], since stiffening plate adhering device has multiple cases, it can store in advance Different types of stiffening plate (stiffening plate of different shape, thickness and homework type).In addition, due to switching with case Means, such that capturing means according to stiffening plate incidental on the attaching head temporarily ceased on the first straw line position Type makes a case in multiple cases enter the first straw line position on one side, other cases is made to leave first on one side Straw line position.So, it will be able to according to stiffening plate capture means stiffening plate to be captured type, to operate case Switch means, to provide the stiffening plate of suitable type.

That is, the stiffening plate adhering device according to documented by above-mentioned [9], as long as having prepared in advance for corresponding preparatory The stiffening plate for the different types of stiffening plate mapped out captures means 22 and case 43, it will be able to not need additionally to replace In the case where tooling and replacement attaching head, concurrently different types of stiffening plate Wa, Wb, Wc are attached.Therefore, energy The operating rate of enough lifting device entirety, is a kind of stiffening plate adhering device of high production efficiency.

[10] in stiffening plate adhering device of the invention, it is also desirable to: the rotor is with 120 ° of angle After interval is repeated twice progress positive direction rotation, opposite direction rotation is carried out with 240 ° of angle interval.

In the stiffening plate adhering device documented by above-mentioned [10], rotor the angle interval with 120 ° be repeated twice into After the rotation of row positive direction, opposite direction rotation is carried out with 240 ° of angle interval.It, can due to using this function mode It eliminates wiring and comb is wrapped in the problem in first axle.In this way, it will be able to prevent wiring and comb from breaking.

[11] in stiffening plate adhering device of the invention, it is also desirable to: it is seen from plane along the first axle When seeing the stiffening plate adhering device, connect the first axle and third straw line position imaginary line and the stiffening plate The positive side of adhering device is parallel.

In this way, it will be able to the stiffening plate being configured on the first straw line position be provided device and be configured at second and drawn Stiffening plate image processing apparatus on rope position relative to device width direction (being left and right directions when in terms of front) compactly It is configured.It therefore, is a kind of stiffening plate adhering device that space efficiency utilization is high on the whole.

Detailed description of the invention

Fig. 1 is for illustrating an example plan view by attaching component RM and stiffening plate W.

Fig. 2 is oblique view when watching the stiffening plate adhering device 1 that embodiment one is related to from right rear ramp.

Fig. 3 is the plan view for illustrating stiffening plate adhering device 1 that embodiment one is related to.

Fig. 4 is the main portions side view for illustrating the attaching head 20 of embodiment one.

Fig. 5 is for illustrating that the stiffening plate of embodiment one provides the main portions side view of device 40.

Fig. 6 is the figure for illustrating stiffening plate receptacle 42 and stiffening plate abstraction process.

Fig. 7 is the main portions side view for illustrating the stiffening plate image processing apparatus 50 of embodiment one.

Fig. 8 be for illustrate embodiment one by attaching component holding meanss 60 and for illustrating position and posture school Positive main portions side view.

Fig. 9 is the figure for illustrating stiffening plate crimping process.

It is related that Figure 10 is that the running and stiffening plate for illustrating stiffening plate adhering device 1 that embodiment one is related to attach The flow chart of process.

Figure 11 is the figure for illustrating stiffening plate adhering device 2 that embodiment two is related to.

It is related that Figure 12 is that the running and stiffening plate for illustrating stiffening plate adhering device 2 that embodiment two is related to attach The flow chart of process.

Figure 13 is the block diagram for illustrating the lighting device 75 of embodiment three.

Figure 14 is the main portions side view for illustrating stiffening plate adhering device 4 that embodiment four is related to.

Figure 15 is the main portions side for illustrating the leveling running of stiffening plate adhering device 5 that embodiment five is related to Figure.

Figure 16 is the plane for illustrating the defective products discharge unit 83 of stiffening plate adhering device 6 that embodiment six is related to Figure.

Figure 17 is the plan view for illustrating stiffening plate adhering device 7 that variation one is related to.

Figure 18 is the ideograph for illustrating stiffening plate adhering device 8 that variation two is related to.

Figure 19 is the ideograph for illustrating stiffening plate adhering device 9 that variation three is related to.

Figure 20 is the figure for the apparatus for mounting component 900 recorded in patent document 1.

Specific embodiment

Hereinafter, embodiment shown in reference to the accompanying drawings is illustrated stiffening plate adhering device of the invention.Below Each figure in attached drawing is schematic diagram, might not scrupulously reflect actual size.

[embodiment one]

1. by attaching component and stiffening plate

Firstly, being illustrated by attaching component and stiffening plate to the extraction object as stiffening plate adhering device 1.Figure 1 is for illustrating an example plan view by attaching component RM and stiffening plate W.

As long as if the component reinforced by attaching component RM, can be made of any material.It is typical Be in tabular by attaching component RM, and the upper of the first xy platform 62 (aftermentioned) or the 2nd xy platform 64 (aftermentioned) can be positioned in On end face.

As by the specific example of attaching component RM, what can be enumerated is single FPC substrate.

At this point it is possible to prepare the flat FPC folder for being provided with multiple recess portions for falling into every FPC substrate in advance Have (the illustration is omitted).And as preparation, fall into FPC substrate in advance in these recess portions (the illustration is omitted).By by phase It closes pallet (Tray) to be positioned in by each pallet on the upper surface of the first xy platform 62 or the 2nd xy platform 64, it will be able to by multiple FPC Substrate configures on the first xy platform 62 or the 2nd xy platform 64 simultaneously.

In addition, being for example also possible between multiple FPC substrates by attaching component RM by polyimides shown in Fig. 1 (Polyimide) etc. materials connection, multiple FPC substrates (FPC1, FPC2, FPC3, FPC4 etc.) are formed integrated " multiple The complex of FPC substrate ".

On by attaching component RM, multiple specified positions (sticking position) for attaching stiffening plate W are provided with (referring to figure Symbol Pa, Pb and Pc shown in 1 this dotted line).

On the other hand, stiffening plate W is for the component reinforced by attaching component RM.Attach the purpose of stiffening plate W It can be and carry out mechanical reinforce, for radiating and for electronic shield etc. to by attaching component RM.In addition, also not only It is limited to these, as long as being suitable for these above-mentioned purposes, stiffening plate W can be any component, and made of metal can be used for example (no Become rusty steel, aluminium etc.) plate.

The shape and thickness of stiffening plate W can also be reinforced as needed other than can be according to above-mentioned purpose The shape at position carries out suitable change.It can also be pasted with shape on monolithic FPC substrate and thickness is mutually different a variety of Stiffening plate W (symbol Wa, Wb and Wc in referring to Fig.1).

2. the composition for the stiffening plate adhering device 1 that embodiment one is related to

(1) basic process of stiffening plate adhering device 1

Fig. 2 is oblique view when watching the stiffening plate adhering device 1 that embodiment one is related to from right rear ramp.Fig. 3 is to use In the plan view for illustrating stiffening plate adhering device 1 that embodiment one is related to.Wherein, Fig. 3 (a) is viewed from above stiffening plate patch Plan view when adsorption device 1, Fig. 3 (b) are front elevations when watching stiffening plate adhering device 1 from front.

Stiffening plate adhering device 1 is the device being attached to stiffening plate W by attaching component RM.

As shown in FIG. 2 and 3, the stiffening plate adhering device 1 that embodiment is related to includes: base station 10；With stiffening plate The attaching head 20 of capture means 22；Rotor 30；Stiffening plate provides device 40；Stiffening plate image processing apparatus 50；And it is pasted Attached component holding meanss 60.

Base station 10 is with the first straw line position IX1, the second straw line position IX2, third straw line position IX3, x/y plane, first Platform on the basis of axis AX1, the second axis AX2, z-axis (will be aftermentioned).

Base station 10 can be metal, be also possible to the platform using natural materials such as marbles.In addition, base station 10 Ground itself be can be (i.e., it is possible to provide rotor 30, stiffening plate to the ground that device 40 etc. is set up directly on factory as be described hereinafter On face).

Here, the face parallel with the upper surface 10a of base station 10 is defined as to include orthogonal x-axis and y-axis The defined axis perpendicular with x/y plane is defined as first axle AX1 by x/y plane, will be located at the xy centered on first axle AX1 Division position after being divided on the circumference of imaginary circle C1 in plane with one week trisection is circumferentially successively defined as the first straw line Position IX1, the second straw line position IX2 and third straw line position IX3 (referring to Fig. 2 and Fig. 3).

In addition, being the direction+x by direction definition when being viewed from the front stiffening plate adhering device 1, vertical direction is defined as The direction+z will be perpendicular to the direction in the direction+x and the direction+z, and fixed towards the direction moved right when being viewed from the front device Justice is the direction+y, and clockwise direction when watching along the direction+z is defined as the direction+θ.The opposite direction of all directions respectively will Symbol+replace with symbol-is called (for example, the direction-x).

(2) attaching head 20

There is attaching head 20 stiffening plate for capturing stiffening plate W to capture means 22, can capture means 22 by stiffening plate Along the z-axis parallel with first axle AX1 (aftermentioned) move up and down that stiffening plate W is extracted and crimped.In addition, attaching head 20 Means 22 can be also captured by stiffening plate to rotate to change stiffening plate W on the direction θ (direction+θ or the direction-θ) around z-axis Posture.

In the following, the specific composition for using Fig. 4 to capture means 22 and attaching head 20 to stiffening plate is illustrated.

Stiffening plate captures the means that means 22 are suitable for capturing stiffening plate W.As long as can suitably extract stiffening plate W, protect If holding stiffening plate W and decontroling stiffening plate W, it can be any composition that stiffening plate, which captures means 22,.Vacuum suction is used herein Head (Vacuum chuck) 23.The front end (lower end surface in Fig. 4) of vacuum cups 23 is provided with suction inlet 23a.By by attaching First 20 main body side sucks air from suction inlet 23a via gas flow path 23b, thus at suction inlet 23a to stiffening plate W into Row absorption (captures (Catch)).In addition, (being released by the sucking (or going out air extrusion) for releasing air to decontrol stiffening plate W Put (Release)).

In addition, capturing means 22 as the stiffening plate in embodiment one, it is not limited in suction inlet 23a.Such as.Example Such as, can also use the mechanical grappling fixture for stiffening plate W being held in a manner of mechanically.

Attaching head 20 is configured on the specified position of rotor 30 (imaginary round C1's centered on first axle AX1 On circumference.Constituting in detail will be aftermentioned).

Firstly, the attaching head matrix 20a of the base portion as attaching head 20 is configured as and the front end of rotor 30 (machinery Arm front end 35) it is connected.On the top of attaching head matrix 20a, it is configured with servo motor M1.Output shaft as servo motor M1 Axis SH1 on be connected with ball screw (Ball screw) BS.The rotation axis of ball screw BS is equal with first axle AX1 (aftermentioned) Row.

It is connected with attaching head main body 20b on ball screw BS, ball screw BS rotation is driven by servo motor M1, from And attaching head main body 20b will be moved up and down along the z-axis parallel with first axle AX1 (aftermentioned).

The top of attaching head main body 20b is configured with servo motor M2, and lower part captures (the vacuum suction of means 22 configured with stiffening plate It is first 23).The axis of output shaft as servo motor M2 SH2's and rotation axis constitutes the z-axis parallel with first axle AX1.It should The front end of axis SH2 is connected with stiffening plate and captures means 22 (vacuum cups 23), and is rotated by servo motor M2 drive shaft SH2, It will be rotated up in the side θ around z-axis to which stiffening plate captures means 22 (vacuum cups 23).

In addition, can be configured with speed reducer between servo motor M1, M2 and axis SH1, SH2.

Like this, it is moved up and down by the attaching head main body 20b of attaching head 20 along z-axis, it will be able to carry out mentioning for stiffening plate W It takes and crimps.It captures the side θ of means 22 (vacuum cups 23) around z-axis by strong plate to be rotated up, it will be able to change and add Strong plate captures the posture for the stiffening plate W that means 22 are captured.

In addition, as the specific means for moving up and down attaching head main body 20b along z-axis, it is usually desirable to using above-mentioned Servo motor M1.By servo motor M1, for example, can make stiffening plate W with contacted by attaching component RM after attaching head 20 under Reduction of speed degree is lower than decrease speed until contact, so that the decrease speed to attaching head 20 is suitably adjusted, also, Can also to crimping when pressing amplitude (stiffening plate W with contacted by attaching component RM after further progress pressing amplitude) into Row suitably adjusts.

In addition, the direction the θ rotation that strong plate captures means 22 (vacuum cups 23) is preferably capable of in positive direction (direction+θ) And 180 ° are at least rotated on opposite direction (direction-θ) respectively.As long as (360 °) can be appointed like this in any angle with using The posture of meaning, such as even in the case where the different FPC substrate of configuration mode (by attaching component RM), it also can be to FPC Substrate is maked corrections by θ with stiffening plate W to be corrected.

" the different FPC substrate of configuration mode " mentioned here refers to: although in shape with the FPC substrate phase of benchmark It together, but on configuring posture relative to the FPC substrate of benchmark is in the FPC substrate of the rotational symmetry posture centered on providing axis. For example, FPC2 is the different FPC substrate of configuration mode relative to FPC1 in Fig. 1.

(3) rotor 30

It is third by one week configured on the circumference of the imaginary circle C1 centered on first axle AX1 on rotor 30 Equiangularly spaced multiple attaching heads 20 after segmentation.When rotor 30 is intermittently rotated centered on first axle AX1, Attaching head 20 understands successively the first straw line position IX1, the second straw line position IX2 and the third straw line position IX3 on base station 10 On briefly stop (referring to Fig. 3 (a) etc.).

In the following, Fig. 2 and Fig. 3 will be used to be illustrated an example specific composition of rotor 30.

Rotor matrix 32 is configured on base station 10.Intermittent driving motor is equipped on rotor matrix 32 (to be omitted Diagram).The dynamic axis (the illustration is omitted) of the turn that is connected like this with the output shaft of intermittent driving motor is opened in rotor The top of matrix 32, and be connected with rotor 30.In addition, deceleration can also have been intervened between intermittent driving motor and axis Machine.

Rotor 30 is configured to three mechanical arms 34 and is spaced from each other and is kept for 120 ° and be in put centered on first axle AX1 Shape extension is penetrated, and is interconnected near first axle AX1.In the front end (mechanical arm front end 35) of each mechanical arm 34 On, it is each configured with the above-mentioned attaching head 20 in three, equiangularly spaced (120 ° of intervals) by trisection segmentation in one week.

Once being driven to intermittent driving with motor, it will be able to make mechanical arm 34 and attaching head 20 along the circumference of circle C1 Direction rotation.By intermittently driving intermittent driving motor and suitably being controlled, it will be able to make 20 interval of attaching head Property rotation to successively the first straw line position IX1, the second straw line position IX2 and the third straw line position on base station 10 It is temporarily ceased on IX3.

Here " rotation " is to refer to rotate towards any one of positive and negative both direction direction.

In addition, three attaching heads 20 are configured to attaching head 20 (especially stiffening plate captures means 22) and first axle The distance between AX1 is equal.In other words, configured with three mechanical arms 34 tool for the attaching head 20 for capturing means 22 with stiffening plate There is equal brachium.

In this way, when attaching head 20 temporarily stops at the first straw line position IX1, the second straw line position IX2 and third When on the IX3 of straw line position, affiliated stiffening plate captures means 22 on which mechanical arm 34 in either three mechanical arms 34, It can stop in same position.Therefore, it there is no need to operate the attaching head 20 on the direction xy, only relies in the side θ It upward rotation and is moved up and down along z-axis, it will be able to implement the abstraction process and crimping process (aftermentioned) of stiffening plate.Due to this Sample simplifies process, therefore just shortens circulation time, is a kind of easy stiffening plate adhering device for maintaining precision.In addition, by There is simple construction in attaching head 20, therefore be also a kind of stiffening plate adhering device for saving space and cost.

In addition, although the specific configuration of rotor 30 has been described in the explanation of above-mentioned mechanical arm 34, but simultaneously not only limit In this.For example, it can be the constructions that attaching head is configured on discoid platform.

(4) stiffening plate provides device 40

Fig. 5 is for illustrating that the stiffening plate of embodiment one provides the main portions side view of device 40, stiffening plate in figure Lifting unit 45 has carried out simple mark by arrow.Fig. 6 is for illustrating that stiffening plate receptacle 42 and stiffening plate extract The figure of process.

Stiffening plate provides the configuration of device 40 on position corresponding with the first straw line position IX1, has stiffening plate W from storage Stiffening plate receptacle 42 in the stiffening plate W as the extraction object of attaching head 20 is supplied to attaching head 20 (referring to Fig. 5).

Stiffening plate provides device 40 and includes stiffening plate receptacle 42；And it will be as attaching from stiffening plate receptacle 42 The stiffening plate W of first 20 extraction object is supplied to the offer means (symbol is omitted) of attaching head 20.

As long as multiple stiffening plate W can be stored, stiffening plate receptacle 42 can be any structure.

The ideal structure of stiffening plate receptacle 42 is that the cell type receptacle for capableing of multiple stiffening plate W stacking storages (is stored Box).This is because case is suitable for the operations such as the preservation, carrying and extraction of stiffening plate W.Such as it can be shown in Fig. 6 (a) The case 43 of form.The case 43 is substantially cylindrical in shape, and multiple stiffening plate W are stacked storage along the inner wall of cylinder.In addition, depositing Box 43 is put to be preferably able to be divided into storage box framework 43a and storage box framework 43b along stacking direction.This is to be able to easily It is put into stiffening plate W.

Substantially, storage has the identical multiple stiffening plates (stiffening plate of same type) of shape, thickness in a case 43.

As " from stiffening plate receptacle 42 the stiffening plate W of the extraction object as attaching head 20 being supplied to attaching head 20 offer means (symbol is omitted) ", such as stiffening plate lifting unit 45 can be used.

The structure of stiffening plate lifting unit 45 may is that with the function of raising stiffening plate W upwards, such as by upper Prominent bar (Stick) 46, the stiffening plate group stacked in case 43 is raised from the bottom up.When upper prominent bar 46 is upward by stiffening plate group After side raises, the stiffening plate W of top layer can be exposed on the upper surface of case 43 (referring to Fig. 5 and Fig. 6 (a)).Attaching head 20 (specially stiffening plate captures means 22) can successively extract the stiffening plate W of the top layer after a piece of exposing (referring to Fig. 6 (c) And Fig. 6 (d)).In this way, stiffening plate, which provides device 40, to provide the stiffening plate W of the extraction object as attaching head 20 To attaching head 20.

In addition, stiffening plate lifting unit 45 can be made by the construction (diagram of omission) of servo motor and ball screw Upper prominent 46 raising and lowering of bar.By using servo motor, it will be able in the case where reinforcing plate thickness difference, neatly change The amount of raising.

Stiffening plate provides device 40 and preferably includes multiple cases 43；And it is placed with the storage of multiple cases 43 Box switch means 44.

Multiple cases 43, which are respectively used to storage, different types of stiffening plate W.

Case switch means 44 are placed with multiple cases 43, according to what is temporarily ceased on the first straw line position IX1 Incidental stiffening plate captures the type of means 22 on attaching head 20, on one side enters a case in multiple cases 43 First straw line position IX1 makes other cases leave the first straw line position IX1 on one side.

Case switch means 44 for example can be Fig. 3 (a) and structure shown in fig. 5.That is, being arranged on end face on it There is case setting unit 44a that can load and three cases 43 can be loaded₁、43₂、43₃, and can be along these three cases 43₁、43₂、43₃The direction (direction parallel with x-axis) arranged is mobile.Also, it is deposited in for example, assuming that this has been extracted Case 43₁In stiffening plate W, and should extract next time and deposit in case 43₃In stiffening plate W when, then control on one side The case 43 of stiffening plate has been provided in this₁Towards the movement of the direction+x thus away from the first straw line position IX1, under controlling on one side The case 43 of stiffening plate will be once provided₃It moves right to make it into the first straw line position IX1.

In addition, though be with case 43 in above description as stiffening plate receptacle 42, it is not limited to this.Example Such as, loader (Parts feeder) can also be used.

(5) stiffening plate image processing apparatus 50

Stiffening plate image processing apparatus 50 has for obtaining comprising on position corresponding with the second straw line position IX2 First camera 52 of the image of stiffening plate W obtains the image of stiffening plate W by the first camera 52 and carries out image procossing, To calculate with the attaching head 20 relative to the position of stiffening plate W and the related information of posture (referring to Fig. 7).

In the following, Fig. 2, Fig. 3 (a) and Fig. 7 will be used, the specific composition example of stiffening plate image processing apparatus 50 is said It is bright.

The main composition element of stiffening plate image processing apparatus 50 is configured in position corresponding with the second straw line position IX2 It sets.The lower section of second straw line position IX2 is configured with the first camera 52.It includes to reinforce that first camera 52 obtains from below Plate captures the image for the stiffening plate W that means 22 are captured.The optical axis of first camera 52 and temporarily stop at the second straw line position The axis (z-axis) that attaching head 20 on IX2 moves up and down is preferably the same axis.First camera 52 captures means 22 with stiffening plate Between be configured with the first eyeglass (Lens) 56.Configured with the first illumination 55 between first camera 52 and the first eyeglass 56.First The stiffening plate that 55 pairs of illumination temporarily stops on the second straw line position IX2 captures the object that means 22 are captured and illuminates. First 55 preferably circular illuminations of illumination.

Stiffening plate image processing apparatus 50 captures the object that means 22 are captured to stiffening plate by the first camera 52 Image carry out image (image for being equivalent to stiffening plate W) processing.Specifically mentioned by processing such as binary scale codings Take out the profile of object.Stiffening plate image processing apparatus 50 calculates and object (the stiffening plate W) according to the image procossing Relative to the position of the attaching head 20 and the related information of posture.Specifically, it such as calculates object (the stiffening plate W) Relative to capture object (the stiffening plate W) the attaching head 20 is there are the position deviation of which kind of degree or there are which kind of journeys The departure of the posture deviation of degree.Once calculating departure, it will be able to immediately by the value of departure be reflected as position correction with And the correcting value of posture correction (aftermentioned).

In addition, the 50 calculated information of institute of stiffening plate image processing apparatus is not limited in departure (relative quantity).For example, Absolute position (x-axis and y-axis coordinate) and the posture (θ axial coordinate) of object (the stiffening plate W) can also be calculated.

(6) by attaching component holding meanss 60

Fig. 8 be for illustrate embodiment one by attaching component holding meanss 60 and for illustrating position and posture school Positive main portions side view.Fig. 9 is the figure for illustrating stiffening plate crimping process.It is A-A dotted line in Fig. 1 shown in Fig. 9 The sectional view in region.Fig. 9 (a) shows the situation before stiffening plate crimping, and Fig. 9 (b) shows feelings when stiffening plate crimping Condition, Fig. 9 (c) show the situation after stiffening plate crimping.In addition, attaching head 20 is omitted in Fig. 9 (b) (comprising stiffening plate Capture means 22) diagram.

As shown in Fig. 8 and Fig. 3, have configuration opposite with third straw line position IX3 by attaching component holding meanss 60 On the position answered, to what is kept by attaching component RM on upper surface, it can will be kept by attaching component RM along xy First xy platform 62 of planar movement, in the adding from attaching head 20 by receiving on the specified position of attaching component RM kept Strong plate W crimping.

First xy platform 62 can be kept on end face to by attaching component RM on it.By attaching component RM once by the One xy platform 62 is kept, and position and posture relationship (will will not occur partially in stationary state between the first xy platform 62 Difference).

First xy platform 62 can be moved along x/y plane.

Specifically, it such as constitutes are as follows: prepare the y guide rail (Rail) that can be slided along y-axis, (do not schemed using y servo motor Show) y-axis to the first xy platform 62 apply driving force.Prepare the x guide rail that can be slided along x-axis, utilizes x servo motor (not shown) x-axis Driving force is applied to the first xy platform 62, and is positioned on x guide rail.By making x servo motor and y servo motor suitably It is rotated towards forward and reverse or opposite direction, it will be able to move the first xy platform 62 arbitrarily along x/y plane (referring to Fig. 3).

When the first xy platform 62 is moved along x/y plane, what the first xy platform 62 was kept also can be therewith along xy by attaching component RM Planar movement, so as to be changed to by the position of attaching component RM and posture.

Also, it can be while keeping by attaching component RM, by attaching component RM by attaching component holding meanss 60 Specified position on Pa, Pb, Pc (together with Fig. 1 reference) receive aftermentioned stiffening plate W crimping.

(7) stiffening plate adhering device 1 correction and attach function more

When the attaching head 20 for capturing stiffening plate W stops on third straw line position IX3, stiffening plate adhering device 1 According to by the information of the specified position (sticking position) on attaching component RM and stiffening plate image should be passed through by attaching stiffening plate W The calculated information related with the position of stiffening plate W of processing unit 50, mobile first xy platform 62 is to flat in xy to stiffening plate W Position on face is corrected (referring to Fig. 8).

" position correction " mentioned here refers to: the position for the stiffening plate W for capturing attaching head 20, adds with that should attach Strong plate W's is consistent by the specified position (sticking position) on attaching component RM.

Also, when the attaching head 20 for capturing stiffening plate W stops on third straw line position IX3, stiffening plate attaches dress 1 is set according to by the calculated information related with the posture of stiffening plate W of stiffening plate image processing apparatus 50, attaching head 20 is made to exist (direction+θ or the direction-θ) rotation is on the direction θ to be corrected the posture of stiffening plate W.

" posture correction " mentioned here refers to: the posture (i.e. gradient) for the stiffening plate W for capturing attaching head 20, with The consistent by gradient of the specified position (sticking position) on the direction θ on attaching component RM of stiffening plate W should be attached.

Also, stiffening plate adhering device 1 is by making attaching head 20 along z-axis decline (referring to Fig. 9 (a)), thus by stiffening plate W To cover from above specified position (sticking position) Pa, Pb, the Pc's by attaching component RM for being pre-coated with adhesive Rs Mode is loaded (referring to Fig. 9 (b)), and further makes the decline of attaching head 20 to be crimped on stiffening plate W by attaching structure On part RM.

In addition, when stiffening plate adhering device 1 captures means 22 to stiffening plate W by stiffening plate using aftermentioned heater 81 When being heated, under this stage, adhesive Rs is set to soften or dissolve by the heat that stiffening plate W is held, and make adhesive Rs is hardened while adapting to stiffening plate W-shape.

In this way, stiffening plate W has just been crimped on the specified position (sticking position) by attaching component RM (referring to Fig. 9 (c))。

In addition, stiffening plate provides device 40, stiffening plate image processing apparatus 50, by attaching component holding meanss 60, rotation The mutual friendship of relevant information to the relevant signal of running cooperation and with correction between the devices such as body 30 and attaching head 20 Stream is carried out by whole control unit (not shown).Whole control unit for example can be (programmable to patrol by being mounted on upper PLC Volume controller) it realizes.

In embodiment 1, it is not limited in being exchanged by whole control unit, is also possible to mention in stiffening plate It is filled for device 40, stiffening plate image processing apparatus 50, by attaching component holding meanss 60, rotor 30 and attaching head 20 etc. Between two devices that the needs set exchange directly just to the relevant signal of running cooperation and with correction relevant information into Row exchange.

(8) xy platform configures switch unit 66

Next, Fig. 2 and Fig. 3 will be used, xy platform configuration switch unit 66 is illustrated.

It may further comprise: the 2nd xy platform with the composition same with the first xy platform 62 by attaching component holding meanss 60 64；And xy platform configures switch unit 66.

Be placed with the first xy platform 62 and the 2nd xy platform 64 on xy platform configuration switch unit 66, and to the first xy platform 62 and The configuration of 2nd xy platform 64 switches over, so that the first xy platform 62 and the 2nd xy platform 64 be made alternatively to be configured in third straw line Position IX3 and by between attaching component replacement position SRP.

It is single by attaching component holding meanss 60 and the xy platform wrapped in it configuration switching as long as can satisfy above-mentioned function Member 66 can be achieved by any structure.

For example, ideal situation are as follows: xy platform configuration switch unit 66 is can be with perpendicular with the upper surface 10a of base station 10 Defined second axis AX2 centered on the turntable 66a that rotates, the first xy platform 62 and the 2nd xy platform 64 are positioned in turntable respectively On the upper surface of 66a, (referring to Fig. 3) on the position of the rotational symmetry centered on the second axis AX2.

When the first xy platform 62 is configured on third straw line position IX3, the 2nd xy platform 64 is then configured in the second axis The opposite side that AX2 is clamped by attaching component replacement position SRP.After so that turntable 66a is rotated 180 ° in this case, first Xy platform 62 will leave third straw line position IX3 and enter by attaching component replacement position SRP.In this ground that is connected, the 2nd xy Platform 64 will leave by attaching component replacement position SRP and enter third straw line position IX3.

In addition, when the side in the first xy platform 62 or the 2nd xy platform 64 is configured on third straw line position IX3, the xy The movable range of platform range as shown in R1 in Fig. 3 (a).The movable range R1 of the xy platform be designed to will not be configured in by The xy platform for attaching another party on the SRP of component replacement position interferes.

(9) heater 81

Be preferably configured on attaching head 20 for being heated to the stiffening plate W captured heater 81 (referring to Fig. 4 with And Fig. 9 (c)).

Heater 81 captures the path between the part being in contact in means 22 with stiffening plate W for example by metal with stiffening plate Prepared material is constituted, and can conduct heat.In this way, it will be able to make to configure the heat of the heater 81 on attaching head 20 Conduction to stiffening plate captures means 22, heats to capture means 22 to stiffening plate.

Heater 81 is normally open.

In addition, in Fig. 4 and Fig. 9 (c), although heater 81 is configured in the inside of attaching head main body 20b, not It is only limitted to this.For example, it is also possible to be configured in stiffening plate capture means 22 (vacuum cups 23) inside or its around.

(10) layout of device

As shown in Fig. 3 (a), when watching stiffening plate adhering device 1 from plane along first axle AX1, first axle AX1 is connected (also comprising substantially parallel) parallel with the positive side of stiffening plate adhering device 1 with the imaginary line of third straw line position IX3.

In other words, when rotor 30 temporarily ceases, a mechanical arm 34 in three mechanical arms 34 passes through first axle AX1 And it is parallel with the positive side of stiffening plate adhering device 1.This mechanical arm 34, third straw line position IX3, the second axis AX2, with And it is roughly arranged on same straight line by attaching component replacement position SRP.Remaining two mechanical arm 34 is respectively relative to reinforce The positive side of plate adhering device 1 is separated by 60 ° of angles.

3. the running for the stiffening plate adhering device 1 that embodiment one is related to and with stiffening plate attach concerned process steps

It is related that Figure 10 is that the running and stiffening plate for illustrating stiffening plate adhering device 1 that embodiment one is related to attach The flow chart of process.In the following, by the running and stiffening plate of the stiffening plate adhering device 1 for using Figure 10 to be related to embodiment one Concerned process steps are attached to be illustrated.In addition, following explanation is to use the rotor 30 of mechanical arm type for condition.

(1) the single straw line amount rotation of rotor 30

After making rotor 30 by (120 °) rotations of single straw line amount (S500), it is arranged respectively at the machinery of three mechanical arms Attaching head 20 on arm front end 35 will temporarily stop at the first straw line position IX1, the second straw line position IX2 and respectively (together referring to Fig. 3 (a)) on three straw line position IX3.

(2) abstraction process of stiffening plate

Stiffening plate provides device 40 and can carry out providing the preparation of stiffening plate in advance, thus in fact can be by the reinforcement of top layer Plate W exposes and is supplied (S120).For example, according to appended on the attaching head 20 temporarily ceased on the first straw line position IX1 The stiffening plate of band captures the type of means 22, and a case in multiple cases 43 is made to enter the first straw line position on one side IX1 makes other cases leave the first straw line position IX1 on one side.Also, by the stiffening plate group stacked in case 43 from lower past On raise that the stiffening plate W1 of top layer is made to expose (together reference Fig. 5).

After waiting the offer of stiffening plate to prepare S120, make the attaching head 20 stopped on the first straw line position IX1 Decline (S130) along z-axis.

As long as adding for top layer can be captured by the decline of attaching head 20 to be moved to stiffening plate capture means 22 Behind the position of strong plate W1, (S140) is captured to stiffening plate W.For example, when it is vacuum cups 23 that stiffening plate, which captures means 22, The stiffening plate W1 of top layer is adsorbed on suction inlet 23a from the attaching head side main body 20b by vacuum attraction by vacuum cups 23 (together referring to Fig. 6).

It then, is attaching head 20 along z-axis rising (S150).

(3) heating process of stiffening plate

After attaching head 20 (specially stiffening plate captures means 22) extracts stiffening plate W, start to carry out stiffening plate W Heating.Persistently stiffening plate W is heated before subsequent stiffening plate crimping process starts.

(4) posture of stiffening plate detects process (stiffening plate image procossing)

The attaching head 20 stopped on the second straw line position IX2 judges whether that having captured object (is not limited only to add Strong plate W) (S210).For example, being judged by the vacuum transducer of vacuum cups 23.

Then, in the case where attaching head 20 captures stiffening plate W, obtained by the first camera 52 include and second The image (S220) of stiffening plate W on the corresponding position straw line position IX2.

Then, stiffening plate image processing apparatus 50 captures the stiffening plate W that means 22 are captured to stiffening plate and carries out at image It manages (S230).

Then, stiffening plate image processing apparatus 50 is calculated with stiffening plate W according to the image procossing relative to the patch The position of attached head 20 and the related information of posture (S240).Information related with the position of stiffening plate W and posture can be with Certain form is stored in first memory MEM1, and is transferred to subsequent stiffening plate crimping process.

(5) crimping process of stiffening plate

The attaching head 20 stopped on third straw line position IX3 judges whether to have captured stiffening plate W (S310).

A) correction of posture and position

Then, in the case where attaching head 20 captures stiffening plate W, posture correction (S320) is carried out to stiffening plate W.Specifically For, information related with the posture of stiffening plate W is read first from first memory MEM1.Then, according to read with The related information of the posture of stiffening plate W, rotates servo motor M2 according to necessary amount, so that stiffening plate be made to capture means 22 on the direction θ (direction+θ or the direction-θ) rotated according to necessary correction amount, thus to carry out stiffening plate W and be attached Posture correction between the sticking position of component RM.

Then, the position correction (S330) of stiffening plate W is carried out.Specifically, it is read from first memory MEM1 first Information related with the position of stiffening plate W.Then, according to the information related with the position of stiffening plate W read, make the first xy The xy platform being configured on third straw line position IX3 in platform 62 or the 2nd xy platform 64 is moved along x/y plane by necessary correction amount It is dynamic, thus to carry out stiffening plate W and by the position correction between the sticking position of attaching component RM.

Stiffening plate posture correction S320 and stiffening plate position correction S330 can also be carried out in the opposite order.In addition, Even if stiffening plate image processing apparatus 50 calculated result be the correction amount of position be 0, also the same be included in carries out position In the range of correction.Even if likewise, stiffening plate image processing apparatus 50 calculated result be the correction amount of posture be 0, It is also the same to be included in the range of progress posture correction.

B) practical pressurization

Then, decline attaching head 20 along z-axis.Decline captured stiffening plate W by attaching head 20 once to reach By the specified position (sticking position) of attaching component RM, then by applying the suitable pressure towards the direction+z, by stiffening plate W phase For being crimped (S340) by attaching component RM.At this point, being heated in advance when adhesive Rs is thermmohardening type adhesive from Stiffening plate W heat is conducted to adhesive Rs, soften adhesive Rs or after dissolving, making the shape of itself and stiffening plate W on one side Shape is adapted makes its hardening on one side.In this way, stiffening plate W has just closely been crimped on together (one with by attaching component RM And referring to Fig. 9 (c)).

As it appears from the above, stiffening plate W has been crimped on attaching component RM.

(6) the single straw line amount rotation of rotor 30

Stiffening plate on the stiffening plate abstraction process being respectively completed on the first straw line position IX1, the second straw line position IX2 After posture work detects the stiffening plate crimping process on sequence and third straw line position IX3, make again rotor 30 according to Single straw line amount (120 °) turns to next position (S500).

To be configured at this time on third straw line position IX3 by attaching component RM repeat implement above-mentioned (1)~(6) until Complete the attaching of all stiffening plates.The information that the specified position (sticking position) of stiffening plate W should be attached passes through certain form quilt It is stored in second memory MEM2.

(7) the configuration switching of xy platform

When be judged as all stiffening plate W be attached to be configured on third straw line position IX3 by attaching component RM Afterwards, (S600) is switched over to the configuration of the first xy platform 62 and the 2nd xy platform 64.Specifically, the first xy platform 62 or the 2nd xy A side in platform 64 is moved to from third straw line position IX3 by attaching component replacement position SRP, and another party is then from by attaching structure Part replacement position SRP is moved to third straw line position IX3.

Being pasted for stiffening plate attaching is completed due to being moved to be maintained on the xy platform on attaching component replacement position SRP Attached component RM ', such that completion stiffening plate attaching expect from the xy platform by attaching component RM ', then, also It will can not be pasted with being fed on the xy platform by attaching component RM " for stiffening plate.In this way, it will be able to by attaching component It replaces and carries out on the SRP of position by the replacement (S700) of attaching component.In addition, can be by people (operator by the replacement of attaching component Member) it carries out, it can also be carried out by machinery such as robots.

Each process (master operation that stiffening plate attaches) in above-mentioned (2)~(5) is configured on three mechanical arms 34 Parallel practice simultaneously on each attaching head 20.(1) (6) are rotated by the single straw line amount of rotor 30, stiffening plate W will be by It is carried to next straw line position, and implements every process on new straw line position.By repeating running in this way, to come Multiple stiffening plates are attached to by attaching component.

During this period, on attaching component replacement position SRP, material/feed operation can will be gone independent by attaching component It is carried out other than the master operation that above-mentioned stiffening plate attaches.

(8) control of rotor 30

Rotor 30 the angle interval with 120 ° be repeated twice carry out positive direction rotation after, with 240 ° of angle interval into The rotation of row opposite direction.

Here it will be illustrated referring to Fig. 3 (a).For example, when a mechanical arm being conceived in three mechanical arms 34 When (being disposed on the attaching head 20 on mechanical arm front end 35 for scrupulously), when make attaching head 20 from the first straw line position When IX1 is moved on the second straw line position IX2, rotor 30 is made to rotate counterclockwise 120 °.Then, from the second straw line position When IX2 is moved on third straw line position IX3, rotor 30 is equally made to rotate counterclockwise 120 °.Then, from third straw line position When setting IX3 and being moved on the first straw line position IX1, then rotor 30 is made to rotate clockwise 240 °.

(9) other

In addition, the heating of stiffening plate W, being obtained and examined by the position of attaching component and posture by the image of attaching component It surveys, the θ of stiffening plate W correction (rotation on the direction θ), maked corrections (movement on the direction xy), defective products by the xy of attaching component RM Discharge (aftermentioned) and to by the inspection (practical for check stiffening plate W whether attached) of attaching component, these processes are most It is to be carried out when rotor 30 carries out the rotation of single straw line amount well.This is because if carrying out single straw line amount in rotor 30 These above-mentioned processes are carried out when rotation, it will be able to the waiting time of reduction or completely left out master operation.

4. the effect for the stiffening plate adhering device 1 that embodiment one is related to

(1) the stiffening plate adhering device 1 that embodiment one is related to further comprises: the first xy platform 62；2nd xy platform 64, tool There is the composition same with the first xy platform 62；And xy platform configures switch unit 66, is placed with the first xy platform 62 and the 2nd xy platform 64, to the first xy platform with 62 and the 2nd the configuration of xy platform 64 switch over, to make the first xy platform 62 and 64 quilt of the 2nd xy platform It alternatively configures in third straw line position IX3 and by between attaching component replacement position SRP.

Therefore, it will be able to the master operation of stiffening plate adhering device 1 (extraction of stiffening plate, stiffening plate position Posture detection and crimping) in the state of phase independence, on by attaching component replacement position SRP concurrently with above-mentioned master operation Attached the replacement of component RM ', RM ".

That is, for above-mentioned master operation, it is not necessary to again in order to replace suspended by attaching component process and to Machine, so as to cut down the stand-by time (loss of time) for being terminated the master operation until replacement by attaching component.In other words, energy It is enough to carry out in the case where not influencing the circulation time of master operation by the replacement of attaching component (by the preparation of attaching component).Cause This, stiffening plate adhering device of the invention is a kind of stiffening plate adhering device of high production efficiency.

(2) in the stiffening plate adhering device 1 that embodiment one is related to, it is turntable 66a that xy platform, which configures switch unit 66, the One xy platform 62 and the 2nd xy platform 64 are positioned in respectively on the upper surface of turntable 66a, the rotation pair centered on the second axis AX2 On the position of title.

Thus, for example the first xy platform 62 is moved to third straw line position AX3 when rotating turntable 66a, and 2nd xy platform 64 is also linkedly moved to therewith by attaching component replacement position SRP.Therefore, turntable 66a need to only be rotated 180 °, it will be able to be replaced (by attaching component replacement position SRP) to by attaching component on same position.So this The stiffening plate adhering device of invention is a kind of stiffening plate adhering device that operating efficiency is high, still further, it is a kind of high production efficiency Stiffening plate adhering device.

In addition, the third straw line position IX3 moved up and down by attaching component replacement position SRP and attaching head 20 and rotation The second axis AX2 is clipped between the rotor movable range R1 that body 30 is rotated and is located on the position of opposite side.Therefore, It can be completely carried out on the position for being sufficiently far from the position with mechanicalness movement by the replacement of attaching component.

(3) in the stiffening plate adhering device 1 that embodiment one is related to, on attaching head 20, configured with for capture To the heater 81 that is heated of stiffening plate W.

Therefore, it will be able to the heat of the heater 81 from configuration on attaching head 20 be conducted to stiffening plate and capture hand Section 22 heats to capture means 22 to stiffening plate.So, it will be able to which from attaching head 20, (specially stiffening plate is caught Catch means 22) the stiffening plate W stage extracted is started to heat stiffening plate W, thus until carry out crimping process it It is preceding that stiffening plate W can be made to rise to enough temperature in advance.Also, in the stage of crimping process, it will be able to through this The enough heats put aside in stiffening plate W make to be pre-coated with to bond by the thermmohardening on the specified position of attaching component Agent softens or dissolves.Like this, due to that stiffening plate W can be made in advance to rise to enough temperature, such that effectively coming It is crimped, and then promotes specific yield.So the stiffening plate that stiffening plate adhering device 1 is a kind of high production efficiency attaches dress It sets.

In addition, the stiffening plate adhering device 1 being related to according to embodiment one, due to can be with master operation (stiffening plate Extraction, stiffening plate posture detection and crimping) concurrently stiffening plate W is heated, therefore just need not be again Suspend master operation and standby in order to be heated, therefore, stiffening plate adhering device 1 is a kind of stiffening plate of high production efficiency Adhering device.

In addition, the stiffening plate adhering device 1 that embodiment one is related to is heated using the side to stiffening plate W, It and is not to the structure heated by the side of attaching component RM.That is, it is not necessary to add to by attaching component RM Heat simultaneously gets higher its temperature.Therefore, carry out by attaching component RM ' go material when, due to by the temperature of attaching component RM ' not Height, therefore operator can fully implement to expect operation.

It is assumed that in the case where using to the structure heated by the side of attaching component RM, although it is contemplated that waiting The method for carrying out material again to after being reduced by the temperature of attaching component RM ', but so, just necessarily expend waiting temperature Corresponding stand-by time needed for reducing.In contrast, the stiffening plate adhering device 1 being related to due to embodiment one using To the structure that the side of stiffening plate W is heated, therefore the required stand-by time of above-mentioned waiting temperature reduction would not be produced, It therefore is a kind of stiffening plate adhering device of high production efficiency.

(4) it in the stiffening plate adhering device 1 that embodiment one is related to, configures in the imagination centered on first axle AX1 Multiple attaching heads 20 on the circumference of circle C1 have the variety classes that can capture different types of stiffening plate Wa, Wb, Wc respectively Stiffening plate capture means 22.In addition, stiffening plate receptacle 42 is the case 43 that multiple stiffening plates can be stacked to storage.And And stiffening plate provides device 40 and includes multiple cases 43；And case switch means 44, multiple cases can be loaded 43, the type of means 22 is captured according to stiffening plate incidental on the attaching head 20 temporarily ceased on the first straw line position IX1, So that a case in multiple cases 43 is entered the first straw line position IX1 on one side, other cases is made to leave first on one side Straw line position IX1.

Since the stiffening plate adhering device 1 that embodiment one is related to has multiple cases 43, can store in advance Different types of stiffening plate (stiffening plate of different shape, thickness and homework type) Wa, Wb, Wc.In addition, being deposited due to having Box switch means 44 are put, such that capturing the type of means 22 according to stiffening plate, deposit one in multiple cases 43 It puts box 43 and enters the first straw line position IX1.So, it will be able to which 22 institute's stiffening plate to be captured of means is captured according to stiffening plate Type, to operate case switch means 44, to provide the stiffening plate of suitable type.

That is, the stiffening plate adhering device 1 that embodiment one is related to, as long as having prepared in advance by corresponding to based in advance The stiffening plate of the different types of stiffening plate pulled captures means 22 and case 43, it will be able to not need additionally to replace work In the case where being filled with and replacing attaching head, concurrently different types of stiffening plate Wa, Wb, Wc are attached.Therefore, it will be able to The operating rate of lifting device entirety is a kind of stiffening plate adhering device of high production efficiency.

(5) on the attaching head 20 configured with rotor 30, motor, heater and sensor usually can be all connected to Deng electric wire and comb.

In the stiffening plate adhering device 1 that embodiment one is related to, rotor is repeated twice with 120 ° of angle interval After carrying out positive direction rotation, opposite direction rotation is carried out with 240 ° of angle interval.That is, will do it the electric wire solution of winding The running opened.Therefore, it will be able to the problem of elimination wiring and comb are wrapped in first axle AX1.To prevent the disconnected of electric wire etc. Line.

Opposite, it is the stiffening plate adhering device 1 for carrying out above-mentioned running just because of rotor 30, such that giving In the case where being not concerned about the broken string that electric wire etc. can occur, implement z-axis movement and the rotation of θ axis using servo motor, to pass through Servo motor realizes high-precision attaching (crimping).So, it will be able to which the success rate for improving attaching is a kind of production effect The high stiffening plate adhering device of rate

(6) when watching the stiffening plate adhering device 1 that embodiment one is related to from plane along first axle AX1, connection the One axis AX1 is parallel with the positive side of stiffening plate adhering device 1 with the imaginary line of third straw line position IX3.

In other words, a mechanical arm 34 in three mechanical arms 34 is parallel with the positive side of stiffening plate adhering device 1. The positive side that remaining two mechanical arm 34 is respectively relative to stiffening plate adhering device 1 is separated by 60 ° of angles.Like this, due to remaining Two mechanical arms 34 are not parallel with the positive side of stiffening plate adhering device 1, therefore are considering to provide for configuring stiffening plate When the dedicated place of device 40 and stiffening plate image processing apparatus 50, it will be able to will be configured on the first straw line position IX1 Stiffening plate provides device 40 and the stiffening plate image processing apparatus 50 being configured on the second straw line position IX2 relative to device Width direction (being left and right directions when in terms of front) is compactly configured.

Draw just because of can provide device 40 by the stiffening plate being configured on the first straw line position IX1 and be configured at second Stiffening plate image processing apparatus 50 on the IX2 of rope position is tight relative to the width direction (being left and right directions when in terms of front) of device It is configured with gathering, so it is a kind of stiffening plate adhering device that space efficiency utilization is high on the whole.

[embodiment two]

Next, Figure 11 and Figure 12 will be used to be illustrated the stiffening plate adhering device 2 that embodiment two is related to.

Figure 11 is the figure for illustrating stiffening plate adhering device 2 that embodiment two is related to.Figure 12 is for illustrating to implement The running for the stiffening plate adhering device 2 that mode two is related to and stiffening plate attach the flow chart of concerned process steps.

The stiffening plate adhering device that the stiffening plate adhering device 2 that embodiment two is related to substantially is related to embodiment one 1 have it is same constitute, but it is different from implementing on this point of further comprising being attached component image processing apparatus 70 The stiffening plate adhering device 1 that mode one is related to.

Specifically, second camera 72 is had by attaching component image processing apparatus 70, is used to obtain along first axle The first xy platform 62 when AX1 watches stiffening plate adhering device 2 from plane or in the movable range of the 2nd xy platform 64, passes through The image by attaching component that one xy platform 62 or the 2nd xy platform 64 are kept.And it is also logical by attaching component image processing apparatus 70 Second camera 72 is crossed to obtain the image by attaching component RM that the first xy platform 62 or the 2nd xy platform 64 are kept, to calculate With the related information in position and posture by attaching component RM relative to the first xy platform 62 or the 2nd xy platform 64.

Second camera 72 is generally configured on position corresponding with third straw line position IX3.Specifically, second Camera 72 is configured in the top (when from plane) of the inside of the movable range of the first xy platform 62 or the 2nd xy platform 64, from And the image (referring to Fig.1 1) by attaching component RM that the first xy platform 62 or the 2nd xy platform 64 are kept can be obtained.Second Camera 72 and by between attaching component RM configured with the second eyeglass 76 for being incorporated in lens barrel 77.As image acquisition pair The top by attaching component RM of elephant, configured with lighting device 75 for being illuminated to this by attaching component RM.Lighting device 75 are preferred (referring to Fig.1 1 (b)) with ring illumination.

It is as follows by the related running of attaching component image processing apparatus 70.

Mainly obtained centered on the calibration marker (not shown) configured on by attaching component RM to by attaching component RM shot after image (S810).

Then, image procossing (S810) can be carried out to by attaching component RM by attaching component image processing apparatus 70.Specifically For be that the profile (calibration marker etc.) at position for needing to pay close attention to is extracted by processing such as binary scale codings.In addition, needing The position to be paid close attention to is not limited in calibration marker, should be in the specified position (patch attached next time for example, it is also possible to pay close attention to Attached position) shape.

Then, by attaching component image processing apparatus 70 according to the image procossing, calculate with this by attaching component RM phase Position and the related information of posture for the first xy platform 62 or the 2nd xy platform 64.In other words, it exactly calculates and practical quilt Keep by the position of attaching component RM and the related information of posture (S820).For example, calculating this by attaching component RM's Between current location and posture and the position that should be kept originally by the first xy platform 62 or the 2nd xy platform 64 and posture, deposit In the departure (position deviation and posture deviation) of which kind of degree.Once having calculated departure, it will be able to immediately by deviation The value of amount is reflected as the correcting value of position correction and posture correction.In addition, being calculated by attaching component image processing apparatus 70 Information out is not limited in departure (relative quantity).For example, it is also possible to calculate relative to the first xy platform 62 or the 2nd xy platform 64 absolute position (x-axis and y-axis coordinate) and posture (θ axial coordinate).

Then, in stiffening plate position correction S330, according to should be by attaching stiffening plate W by the rule on attaching component RM Position the information for setting (sticking position), information related with the position of stiffening plate W and by attaching component image processing apparatus 70 Calculated information related with the position by attaching component that is actually being kept, move the first xy platform 62 or the 2nd xy platform 64 It moves thus to be corrected to by the position of attaching component RM and stiffening plate W.

Likewise, according to information related with the posture of stiffening plate W and being pasted in stiffening plate posture correction S320 Attached component image processing apparatus 70 calculated information related with the posture by attaching component that is actually being kept, make to attach First 20 are rotated up (direction+θ or the direction-θ) thus to carry out school to by the posture of attaching component RM and stiffening plate W in the side θ Just.

In addition, when stiffening plate W new each time is attached, preferably both by by attaching component image processing apparatus 70 To implement image acquisition, image procossing, information meter related with image procossing and the position and posture by attaching component Calculate and carry out according to these information position and posture correction.This is because this makes it possible to realize adding for higher precision Strong plate attaches.

Since the stiffening plate adhering device 2 that embodiment two is related to uses above-mentioned composition, so even the first xy platform 62 Or the 2nd xy platform 64 relative between the position and posture and scheduled position and posture by attaching component RM there are deviation, Also the first xy platform 62 or the 2nd xy platform 64 can be made towards xy according to by the position of attaching component RM and the relevant information of posture Direction is suitably moved, and moves attaching head 20 suitably towards the direction θ, thus to be corrected.So, it will be able to Stiffening plate is attached to by attaching component under correct position and posture.

Therefore, according to stiffening plate adhering device 2, it will be able to improve the success rate of attaching.And then specific yield is promoted, it is one The stiffening plate adhering device of kind high production efficiency.

In addition, being even integrally maintained at scheduled position by the first xy platform 62 or the 2nd xy platform 64 by attaching component RM Set and posture in the case where, position position with as defined in after also causing an other stiffening plate to attach because of foozle it Between there are deviations.In this case, passing through above-mentioned running, it will be able to be corrected respectively when being attached every time, thus just Stiffening plate can be attached to by attaching component in correct position and under posture.

The stiffening plate adhering device 2 being related to due to embodiment two is in addition to further comprising being attached component image procossing The stiffening plate adhering device 1 being related to other than 70 this point of device with embodiment one has same composition, therefore also the same tool Relevant effect possessed by the stiffening plate adhering device 1 for thering is embodiment one to be related to.

[embodiment three]

Figure 13 is the block diagram for illustrating the lighting device 75 of embodiment three.In addition to stiffening plate adhering device 3 in figure In the illustration is omitted the part in addition to lighting device 75.

The stiffening plate adhering device that the stiffening plate adhering device 3 that embodiment three is related to substantially is related to embodiment two 2 have same composition, but it is different from embodiment two on by the internal structure of attaching component image processing apparatus 70 The stiffening plate adhering device 2 being related to.That is, as shown in figure 13, in the stiffening plate adhering device 3 that embodiment three is related to, being pasted Attached component image processing apparatus 70 includes lighting device 75, and it includes can issue the mutually different a variety of light of peak wavelength Light emitting component 74 can issue at least one light, to be kept to the first xy platform 62 or the 2nd xy platform 64 from a variety of light This illuminated by attaching component RM.For example, as shown in figure 13, lighting device 75 includes that can issue peak wavelength mutually not phase Three kinds of same light emitting components 74, and the hair by being connected respectively with three kinds of light emitting components 74 (LED1, LED2, LED3) Optic component control unit 78 issues at least one light from three kinds of light.

In by attaching component image processing apparatus 70, by the image of attaching component RM acquired in second camera 72, It changes due to the difference by attaching component RM itself or ambient enviroment sometimes.It specifically, can be because: by attaching component material The difference of material, need to carry out image procossing object type (calibration marker/should by attaching stiffening plate specified position (patch Attached position) etc.) difference, need to carry out image procossing the location of object (by attaching component it is centrally located/by near side (ns)/ Close to corner etc.) difference and need to carry out image procossing data collection state (for example, the metals figure such as surrounding copper foil More/less position etc. of case) difference cause to will be different on image acquisition mode.

The stiffening plate adhering device 3 being related to according to embodiment three, the lighting device 75 having by it includes can The light emitting component 74 for issuing the mutually different a variety of light of peak wavelength can issue at least one light from a variety of light, from And the first xy platform 62 or the 2nd xy platform 64 are kept this illuminated by attaching component RM, so even by attaching component RM Itself or the environmental condition locating for attaching component RM change, and can also be selected by light emitting component 74 according to physical condition It selects and issues the light of most suitable type and illuminated to by attaching component RM.

In this way, it will be able to inhibit by the deviation of the style of shooting of attaching component RM image, to improve by attaching structure The image procossing precision of part RM.So, it will be able to improve and attach success rate, and then promote specific yield, be a kind of production High-efficient stiffening plate adhering device.

The stiffening plate adhering device 3 being related to due to embodiment three is in addition to by the inside of attaching component image processing apparatus 70 The different stiffening plate adhering devices 2 being related in addition with embodiment two of structure have same composition, therefore also the same with real Apply relevant effect possessed by the stiffening plate adhering device 2 that mode two is related to.

[embodiment four]

Figure 14 is the main portions side view for illustrating stiffening plate adhering device 4 that embodiment four is related to.In figure into The dotted line of stiffening plate thickness measurement means 82 represents the reciprocal irradiation of laser out.In addition, in stiffening plate adhering device 4, to adding The diagram of part other than strong plate image processing apparatus 50 ', attaching head 20, rotor 30 etc. is omitted.

The stiffening plate that the stiffening plate adhering device 4 that embodiment four is related to substantially is related to embodiment one to three attaches Device 1,2,3 has same composition, but it is different from embodiment party in the internal structure of stiffening plate image processing apparatus 50 ' The stiffening plate adhering device 1,2,3 that formula one to three is related to.That is, as shown in figure 14, the stiffening plate that embodiment four is related to attaches dress Setting 4 further comprises: capturing the reinforcement that the thickness for the object that means 22 are captured is measured to the stiffening plate of attaching head 20 Plate thickness measures means 82.Also, stiffening plate adhering device 4 measures the information that means 82 are exported by stiffening plate thickness, right The piece number that the stiffening plate of attaching head 20 captures the stiffening plate W that means 22 are captured is detected extremely.

Stiffening plate thickness measurement means 82 are preferably configured on stiffening plate image processing apparatus 50 '.

Stiffening plate thickness measurement means 82 can for example use the equidistant sensor of laser sensor 82a.By laser sensing Device 82a is configured in the lower section of attaching head 20, and by capturing reflected light come to stiffening plate while projecting laser from below Thickness is detected.Specifically, the threshold value of laser sensor 82a is set as stiffening plate capture means 22 and captures a piece of add Distance when strong plate W is near the centre at a distance from when capturing two panels stiffening plate W.So, it is assumed that when stiffening plate captures When means 22 are extracted two panels stiffening plate, laser sensor 82a can detect the thickness more than threshold value, and can export and extract The signal of the opposite logic of the logic of the signal exported when a piece of stiffening plate.In this way, it will be able to which stiffening plate is captured The piece number for the stiffening plate W that means 22 are captured is measured extremely.

As reference, in general, carrying out for stiffening plate being attached to the operation by attaching component RM (FPC substrate) When, when from the stiffening plate group for be stacked with multiple stiffening plates one by one to extract stiffening plate, there are stiffening plates to be difficult to Isolated project.This is because extract top layer stiffening plate W1 when, such as on stiffening plate edge remaining flash (to gold The plates such as belong to and carry out after processing and forming generated flash when being fabricated to stiffening plate) or stiffening plate on the tackness material meeting adhered to It is entrained between the two panels stiffening plate of lamination, to hinder the separation between stiffening plate.In this case, will lead to multi-disc reinforcement Plate is extracted in the state of overlapped.

On the other hand, the electronic component (having passed through resin moulded completely isolated) recorded in patent document 1 carries out When extraction, then such project is not present.

The stiffening plate adhering device 4 being related to according to embodiment four is captured by that can capture means 22 to stiffening plate The piece number abnormal (for example, when capturing two panels stiffening plate) of stiffening plate W detected, such that being tied according to detection Fruit is allowed to control aftermentioned process without processes such as crimping, to prevent from producing defective products in possible trouble.

Internal junction of the stiffening plate adhering device 4 being related to due to embodiment four in addition to stiffening plate image processing apparatus 50 ' The stiffening plate adhering device 1,2,3 being related to other than structure is different with embodiment one to three has same composition, therefore also the same Relevant effect possessed by the stiffening plate adhering device 1,2,3 being related to embodiment one to three.

[embodiment five]

Figure 15 is the main portions side for illustrating the leveling running of stiffening plate adhering device 5 that embodiment five is related to Figure.In addition, in stiffening plate adhering device 5, to stiffening plate provide the diagram of the part other than device 40 and attaching head 20 into Omission is gone.

The stiffening plate that the stiffening plate adhering device 5 that embodiment five is related to substantially is related to embodiment one to four attaches Device 1,2,3,4 has same composition, but it is different from what embodiment one to four was related in the structure of attaching head 20 ' Stiffening plate adhering device 1,2,3,4.That is, the stiffening plate adhering device 5 that embodiment five is related to is as shown in figure 15, when attaching head stops Only when on the first straw line position IX1, captures in stiffening plate receptacle 42 and deposit in the stiffening plate capture means 22 of attaching head 20 After the stiffening plate W1 put, it is rotated up by making stiffening plate capture θ side of the means 22 around z-axis, to make stiffening plate W1 It is subjected to displacement on the direction θ relative to the next stiffening plate W2 that should be extracted next time.

Like this, after capture (such as vacuum suction) to stiffening plate W1, by making stiffening plate capture means 22 in z-axis week The side θ enclosed is rotated up and (carries out leveling running), it will be able to even assume that two panels stiffening plate (W1 and W2) is mutually glutinous In the case where together, extracted again after effectively separating stiffening plate one by one.

The stiffening plate adhering device 5 being related to due to embodiment five is other than the structure that stiffening plate provides device 40 is different The stiffening plate adhering device 1,2,3,4 being related to embodiment one to four has same composition, therefore similarly has and implement Relevant effect possessed by the stiffening plate adhering device 1,2,3,4 that mode one to four is related to.

[embodiment six]

The stiffening plate that the stiffening plate adhering device 6 that embodiment six is related to substantially is related to embodiment one to five attaches Device 1,2,3,4,5 has same composition, but it is further comprising embodiment one to five in defective products discharge unit 83 The stiffening plate adhering device 1,2,3,4,5 being related to.That is, the stiffening plate adhering device 6 that embodiment six is related to is as shown in figure 16, into One step includes defective products discharge unit 83, the first straw line position IX1 being located on the circumference of the circle C1 centered on first axle AX1 Between the second straw line position IX2.

When be judged as stiffening plate capture means 22 do not capture stiffening plate W normally or be judged as stiffening plate capture means 22 When extracted object and non-normal stiffening plate, which captures attaching head 20 belonging to means 22 and can arrange in defective products It is temporarily ceased at portion out, and the object that stiffening plate capture means 22 are captured is transferred to defective products discharge unit 83.

Defective products discharge unit 83 for example can be the cleaning box 83a in box-shaped and upper opening.As long as make rotor 30 with And stiffening plate captures attaching head 20 described in means 22 and temporarily stops on the position of cleaning box 83a, and captures stiffening plate Means 22 decontrol the object captured, it will be able to which object is transferred to cleaning box 83a.

Since the stiffening plate adhering device 6 that embodiment six is related to uses above-mentioned this structure, such that not Prevent from not capturing normally in so or and non-normal stiffening plate be transferred to crimping process, to can be prevented in possible trouble Produce defective products.Therefore, it will be able to improve and attach success rate, and then promote specific yield, be a kind of high production efficiency plus Strong plate adhering device.

In addition, the allocation position of defective products discharge unit 83 is not limited in the first straw line position IX1 and the second straw line position Between IX2.For example, it can be configurations between the second straw line position IX2 and third straw line position IX3.It is preferably positioned at Near one camera 52 and stiffening plate thickness measurement means 82.

The stiffening plate adhering device 6 being related to due to embodiment six is in addition to other than further comprising defective products discharge unit 83 The stiffening plate adhering device 1,2,3,4,5 being related to embodiment one to five has same composition, therefore also the same with real Apply relevant effect possessed by the stiffening plate adhering device 1,2,3,4,5 that mode one to five is related to.

More than, based on above embodiment, the present invention is described, and the present invention is not limited to the above embodiments. The present invention can be implemented under various forms without departing from the scope of the subject in the invention, for example, can be following Deformation.

(1) in the respective embodiments described above, although xy platform configuration switch unit 66 is turntable 66a, the present invention and not only It is limited to this.For example, it can be sliding stand (Slide table) (variations one).

Figure 17 is the plan view for illustrating stiffening plate adhering device 7 that variation one is related to.Wherein, Figure 17 (a) is indicated The case where when first xy platform 62 is configured on third straw line position IX3, Figure 17 (b) indicate that the 2nd xy platform 64 is configured in third The case where when on the IX3 of straw line position.In addition, the part in addition to xy platform configures switch unit 66 is omitted in Figure 17 (b) Diagram.

Xy platform configuration switch unit 66 in the stiffening plate adhering device 7 that variation one is related to is as shown in figure 17, structure For sliding stand 66b.Sliding stand 66b can for example be such that placed the first xy platform 62 and the 2nd xy platform 64 slides along x-axis.

It is placed on the first xy platform 62 third is configured in by attaching component RM to draw in the state of shown in Figure 17 (a) On the IX3 of rope position, and stiffening plate W is crimped on this by attaching component RM.On the other hand, the 2nd xy platform 64 be then configured in by It attaches on the SRP of component replacement position, material/feed can be carried out to by attaching component RM ', RM ".

When the whole sliding to the direction-x of placed the first xy platform 62 and the 2nd xy platform 64, as shown in Figure 17 (b) State as, the 2nd xy platform 64 will be configured on third straw line position IX3, and the first xy platform 62 can then be configured in and be pasted On attached component replacement position SRP.Later, by similarly being slided, it will be able to alternatively carry out stiffening plate crimping and By the replacement of attaching component.

(2) in the respective embodiments described above, although there are two sets of xy platform (the first xy platforms 62 by attaching component holding meanss 60 And the 2nd xy platform 64), but the present invention is not limited to this.For example, it is also possible to three sets or more of xy platform.This situation Under, it can configure in xy platform and suitably be configured three sets or more of xy platform on switch unit 66.

(3) in the respective embodiments described above, although used servo motor M1 as make attaching head main body 20b along z-axis The specific means moved up and down, but the present invention is not limited to this.For example, it is also possible to make to paste using cylinder, cam (Cam) etc. Attached head main body 20b is moved up and down.

(4) in the respective embodiments described above, although heater 81 is arranged to normally opened, the present invention is not limited to this. For example, it is also possible to capture the progress such as thermal capacity, the set temperature of means 22 suitably by the output to heater 81, stiffening plate Adjustment, to carry out opening/closing control when carrying out each master operation.In this way, it will be able to save stiffening plate attaching Electric power consumed by device.

(5) in the respective embodiments described above, it although straw line position is equipped at three altogether, and is configured on rotor 30 There are three attaching heads 20, but the present invention is not limited to this.

That is, the face parallel with the upper surface of base station is defined as putting down comprising the xy of orthogonal x-axis and y-axis The defined axis perpendicular with x/y plane is defined as first axle by face, will be located at the vacation on the x/y plane centered on first axle It, should when thinking to be defined as straw line position on circumference with division position at the n after one week n etc. points of segmentations (n is the entirety more than or equal to 3) The structure of rotor are as follows: on the imaginary circumference centered on first axle be configured with multiple attaching heads, centered on first axle between Rotate to having a rest property, thus make to need to pay close attention to first straw line position of the attaching head successively on base station, the second straw line position with And briefly stop on third straw line position.

By the way that the n in above-mentioned composition to be set greater than to the entirety equal to 4, it will be able to configuration there are four or more draw Rope position or configuration there are four or more attaching head in the state of carry out the attaching operation of stiffening plate.

This composition is similarly the equivalent of the stiffening plate adhering device in the present invention.

For example, it may be being provided with straw line position everywhere, and the knot there are two attaching head 20 is configured on rotor 30 Structure (variation two).

Figure 18 is the ideograph for illustrating stiffening plate adhering device 8 that variation two is related to.Wherein, Figure 18 (a) is shown Be straw line position definition and various devices configuration, Figure 18 (b) be show stiffening plate adhering device 8 rotation control signal Figure.Symbol W1, W2 respectively represent each stiffening plate in figure.

As shown in Figure 18 (a), by the circumference for the imaginary circle C1 that will be located on the x/y plane centered on first axle AX1 with Division position everywhere after quartering segmentation in one week is defined as straw line position.

Stiffening plate is provided device 40 configuration on the first straw line position IX1, by stiffening plate image processing apparatus 50 Configuration will configure this several points on third straw line position IX3 by attaching component holding meanss 60 on the second straw line position IX2 On, it waits from the stiffening plate adhering device 1 illustrated in embodiment first-class without different.

As shown in Figure 18 (b), on rotor 30, on the circumference configured with the imaginary circle C1 centered on first axle AX1 Two attaching heads Ha, Hb.When rotating rotor 30 intermittently centered on first axle AX1, make to need to pay close attention to one Attaching head (such as attaching head Ha) successively the first straw line position IX1, the second straw line position IX2 and the third straw line on base station Briefly stop on the IX3 of position.

Through this structure, attaching head Ha, Hb successively can provide device 40, stiffening plate figure close to stiffening plate respectively As processing unit 50 and by attaching component holding meanss 60, so as to successively carry out extraction, the stiffening plate position of stiffening plate Set the detection of posture and the crimping of stiffening plate.

Furthermore it is also possible to be to be provided with straw line position everywhere, and there are four attaching heads 20 for configuration on rotor 30 Structure (variation three).

Figure 19 is the ideograph for illustrating stiffening plate adhering device 9 that variation three is related to.Stiffening plate is illustrated in figure The rotation control of adhering device 9.Symbol W1, W2, W3, W4, W5, W6 respectively represent each stiffening plate.

The stiffening plate adhering device 9 that variation three is related to base for example in the definition of straw line position and the configuration of various devices The stiffening plate adhering device 8 being related in sheet with variation two has same composition (quoting Figure 18 (a)).But it is in attaching head It is different from the stiffening plate adhering device 8 that variation two is related in 20 quantity.

That is, as shown in figure 19, on rotor 30, on the circumference configured with the imaginary circle C1 centered on first axle AX1 Four attaching heads Ha, Hb, Hc, Hd.When rotating rotor 30 intermittently centered on first axle AX1, make to need to close One attaching head (such as attaching head Ha) of note successively the first straw line position IX1, the second straw line position IX2 on base station and Briefly stop on three straw line position IX3.

Through this structure, attaching head Ha, Hb, Hc, Hd successively can provide device 40 close to stiffening plate respectively, add Strong plate image processing apparatus 50 and by attaching component holding meanss 60, so as to successively carry out the extraction of stiffening plate, reinforce The detection of Board position posture and the crimping of stiffening plate.

Symbol description

1,2,3,4,5,6,7,8,9 ... stiffening plate adhering device；10 ... base stations；The upper surface of 10a ... base station；20,20'… Attaching head；20a ... attaching head matrix；20b ... attaching head main body；22 ... stiffening plates capture means；23 ... vacuum cups；23a… (vacuum cups) suction inlet；23b ... (vacuum cups) gas flow path；30 ... rotors；32 ... rotor matrixes；34 ... machines Tool arm；35 ... mechanical arm front ends；40 ... stiffening plates provide device；42 ... stiffening plate receptacles；43,43₁、43₂、43₃... storage Box；43a, 43b ... store box framework；44 ... case switch means；44a ... case setting unit；The lifting of 45 ... stiffening plates is single Member；46 ... above dash forward bar；50,50 ' ... stiffening plate image processing apparatus 50；52 ... first cameras；55 ... first illuminations；56 ... One eyeglass；60 ... by attaching component holding meanss；62 ... the first xy platforms；64 ... the 2nd xy platforms；66 ... xy platforms configure switch unit； 66a ... turntable；66b ... sliding stand；70 ... by attaching component image processing apparatus；72 ... second cameras；74 ... luminous first devices Part；75 ... lighting devices；76 ... second eyeglasses；77 ... lens barrels；78 ... light emitting component control units；81 ... heaters；82 ... add Strong plate thickness measurement means；82a ... laser sensor；83 ... defective products discharge units；83a ... cleaning box；900 ... components installation dress It sets；920 ... heads；922 ... suction nozzles；930 ... intermittent rotary supporters；934 ... mechanical arms；940 ... electronic components provide device； 943 ... components provide casket；945 ... the direction x mobile stations；960 ... electronic circuit board holding meanss；962 ... xy platforms.

Claims

1. stiffening plate is attached to by attaching component by a kind of stiffening plate adhering device, it is characterised in that:

The face parallel with the upper surface of base station is being defined as the x/y plane comprising orthogonal x-axis and y-axis, it will be with institute It states the perpendicular defined axis of x/y plane and is defined as first axle, will be located on the x/y plane centered on the first axle Division position after being divided on imaginary circumference with one week trisection is circumferentially successively defined as the first straw line position, the second straw line position It sets and when third straw line position, comprising:

The base station；

Attaching head is provided with the stiffening plate for capturing the stiffening plate and captures means, can capture means by the stiffening plate It along the z-axis parallel with the first axle moves up and down that the stiffening plate is extracted and crimped, and can be by described Stiffening plate captures θ side of the means around the z-axis and is rotated up to change the posture of the stiffening plate；

Rotor, on the imaginary circumference centered on the first axle, configured with after dividing by one week trisection etc. Multiple attaching heads at angle interval, are intermittently rotated centered on the first axle, to make the attaching head successively Briefly stop on the first straw line position, the second straw line position and third straw line position on the base station；

Stiffening plate provides device, configures in the first straw line position corresponding, has the stiffening plate from storage Stiffening plate receptacle in the stiffening plate of the extraction object as the attaching head is supplied to the attaching head；

Stiffening plate image processing apparatus, have for obtain comprising in the second straw line position corresponding described in First camera of the image of stiffening plate obtains the image of the stiffening plate by first camera and carries out at image Reason, to calculate with the attaching head relative to the position of the stiffening plate and the related information of posture；And

By attaching component holding meanss, have configuration in the third straw line position corresponding, in upper surface On kept to described by attaching component, first moved by attaching component along the x/y plane that can will be kept Xy platform, and in the stiffening plate pressure by receiving on the specified position of attaching component from the attaching head kept It connects,

Wherein, when the attaching head for capturing the stiffening plate stops on third straw line position, according to should be by Attach the described by the information of the specified position on attaching component and by the stiffening plate image procossing of the stiffening plate The calculated information related with the position of the stiffening plate of device, the mobile first xy platform is thus to the stiffening plate in institute The position stated on x/y plane is corrected, also, is added according to by the way that the stiffening plate image processing apparatus is calculated with described The related information of posture of strong plate makes the attaching head be rotated up to be corrected the posture of the stiffening plate in the side θ, Then, by making the attaching head decline the stiffening plate being crimped on the regulation by attaching component along z-axis On position,

Described to further comprise by attaching component holding meanss: the 2nd xy platform has the composition same with the first xy platform；With And xy platform configures switch unit, is placed with the first xy platform and the 2nd xy platform, to the first xy platform and described The configuration of 2nd xy platform switches over, so that the first xy platform and the 2nd xy platform be made alternatively to be configured described Three straw line positions and by between attaching component replacement position.

2. stiffening plate adhering device according to claim 1, it is characterised in that:

Wherein, xy platform configuration switch unit be can with the upper surface of the base station it is perpendicular as defined in the second axis be The turntable of center rotating,

The first xy platform and the 2nd xy platform are positioned in respectively on the upper surface of the turntable, are with second axis On the position of the rotational symmetry at center.

3. stiffening plate adhering device according to claim 1 or 2, it is characterised in that:

Wherein, on the attaching head, configured with the heater for being heated to the stiffening plate captured.

4. stiffening plate adhering device as claimed in any of claims 1 to 3, which is characterized in that further comprise:

By attaching component image processing apparatus, has and watch the stiffening plate attaching from plane along the first axle for obtaining In the movable range of the first xy platform or the 2nd xy platform when device, pass through the first xy platform or the 2nd xy The second camera for the image by attaching component that platform is kept,

The first xy platform is obtained by the second camera or the 2nd xy platform is kept described by attaching component Image, and calculate and the position and posture by attaching component relative to the first xy platform or the 2nd xy platform has The information of pass.

5. stiffening plate adhering device according to claim 4, it is characterised in that:

Wherein, described that lighting device is included by attaching component image processing apparatus, it is different comprising peak wavelength can be issued A variety of light light emitting component, at least one light can be issued from a variety of light, thus to the first xy platform or institute This for stating that the 2nd xy platform kept is illuminated by attaching component.

6. stiffening plate adhering device as claimed in any of claims 1 to 5, which is characterized in that further comprise:

Stiffening plate thickness measurement means, to the stiffening plate of the attaching head capture the thickness of the object that means are captured into Row measurement,

The stiffening plate adhering device measures the information that means are exported by the stiffening plate thickness, to the institute of the attaching head The piece number for stating the stiffening plate that stiffening plate capture means are captured is detected extremely.

7. stiffening plate adhering device as claimed in any of claims 1 to 6, it is characterised in that:

Wherein, when the attaching head stops on first straw line position,

After the stiffening plate capture means of the attaching head capture the stiffening plate stored in stiffening plate receptacle, lead to Crossing, which makes the stiffening plate capture θ side of the means around the z-axis, is rotated up, to make the stiffening plate relative to answering next time The next stiffening plate being extracted is subjected to displacement on the direction θ.

8. stiffening plate adhering device as claimed in any of claims 1 to 7, which is characterized in that further comprise:

Defective products discharge unit,

When being judged as that the stiffening plate captures means and do not capture the stiffening plate normally or be judged as that the stiffening plate captures hand The extracted object of section and when non-normal stiffening plate, the attaching head belonging to the stiffening plate capture means can it is described not It is temporarily ceased at non-defective unit discharge unit, and the object that stiffening plate capture means are captured is transferred to the defective products and is discharged Portion.

9. stiffening plate adhering device as claimed in any of claims 1 to 8, it is characterised in that:

Wherein, the multiple attaching heads configured on the imaginary circumference centered on the first axle have and can distinguish The different types of stiffening plate for capturing different types of stiffening plate captures means,

The stiffening plate receptacle is the case that multiple stiffening plates can be stacked to storage,

The stiffening plate provides device and includes

Multiple cases；And

Case switch means can load multiple cases, according to what is temporarily ceased on first straw line position The incidental stiffening plate captures the type of means on the attaching head, makes one in multiple cases to store on one side Box enters first straw line position, other cases is made to leave first straw line position on one side.

10. stiffening plate adhering device as claimed in any of claims 1 to 9, it is characterised in that:

Wherein, after the rotor is repeated twice progress positive direction rotation at the angle interval with 120 °, between 240 ° of angle Every progress opposite direction rotation.

11. stiffening plate adhering device as claimed in any of claims 1 to 10, it is characterised in that:

Wherein, when watching the stiffening plate adhering device from plane along the first axle, connect the first axle with it is described The imaginary line of third straw line position is parallel with the positive side of the stiffening plate adhering device.