JP2002368499A - Pair circuit board working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve working efficiency while inhibiting the apparatus costs of a pair circuit board working machine. SOLUTION: A wiring board carry-in confirmation sensor 150 is provided at the upstream end of a wiring board conveyor 18 of a plurality of side-by-side electronic component-fitting machines 2 for composing an electronic component- fitting line. A printed-wiring board is passed from a wiring board conveyor 18 at the upstream side electronic component-fitting machine 2 to the downstream side electronic component-fitting machine 2, and the wiring board carry-in conformation sensor 150 detects the carry-in of the printed-wiring board when the printed-wiring board passes the upper section of the wiring board carry-in confirmation sensor 150. According to the detection, a control apparatus allows the fitting apparatus to perform preceding operation to be executed before a printed-wiring board 20 arrives at a component-fitting position. The preceding operation includes an operation where a CCD camera for imaging the reference mark of the printed-wiring board moves to the imaging position of the reference mark, an operation where a component retention head receives electronic components to be fitted first from the component-supplying apparatus, and the like.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a circuit board working machine for performing work such as mounting electric parts (including electronic parts) on a circuit board, and more particularly to improvement of work efficiency. It is.

[0002]

2. Description of the Related Art In a type of a circuit board working machine, a board conveyor receives a circuit board from an upstream device, directly conveys the circuit board to a working position, and holds the circuit board in the working position. Some perform predetermined operations.
For example, operations such as mounting of electric components, printing of creamy solder, and application of an adhesive are performed. In this type of circuit board working machine, conventionally, the completion of the transfer of the circuit board to the working position is detected by, for example, a board arrival confirmation sensor provided on the board conveyor, and the working device is operated in response to the detection. Work had to be started.

[0003]

Problems to be Solved by the Invention, Problems to be Solved and Effects Among the operations by the working device of the circuit board working machine, there are operations that can be executed in parallel with the loading of the circuit board by the board conveyor. This work is referred to as “preceding work” in the sense that the work can be performed prior to the circuit board reaching the work position. Conventionally, however, this work also requires the circuit board to reach the work position. It started only after it was detected, which contributed to a decrease in work efficiency.

In the case where the working machine for circuit boards has an in-conveyor and a main conveyor, when the carrying-in of the circuit board by the in-conveyor is completed (the board arrival confirmation sensor provided on the in-conveyor is used). ), The preceding work on the circuit board can be started. However, it is necessary to provide an in-conveyor separately from the main conveyor as a work station, which increases the size of the entire work machine, requires a large installation area, and increases the equipment cost.

[0005] Still another circuit board working machine is one that can communicate with an upstream device by a communication device. For example, when the board conveyor of the circuit board working machine is in a state in which a circuit board can be carried in, a board carrying enable signal is output from the working machine to the upstream device. Further, when the upstream device is ready to carry out the circuit board, a board carry-out signal is output to the downstream circuit board working machine. Then, based on the output of both the substrate unloadable signal from the upstream device and the substrate unloadable signal from the working machine, the board conveyor is operated, and the circuit board is carried into the working machine. In the case of such a circuit board working machine, by monitoring the board unloading enable signal and the board unloading enable signal, it is possible to recognize the timing of starting the board loading into the working machine, and based on the recognition, advance the working device. Work can be started. However, this technique cannot be applied when the upstream device does not have a communication device.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and it is an object of the present invention to improve work efficiency while minimizing an increase in equipment cost of a circuit board working machine. Is obtained. As in the case of the claims, each aspect is divided into sections, each section is numbered, and if necessary, the other sections are cited in a form in which the numbers are cited. This is for the purpose of facilitating the understanding of the present invention, and should not be construed as limiting the technical features and combinations thereof described in the present specification to those described in the following sections. . In addition, when a plurality of items are described in one section, the plurality of items need not always be adopted together. It is also possible to select and adopt only some of the items.

[0007] In each of the following items, (1) corresponds to claim 1, (2) to claim 2, and (3) to claim 3.
(4) corresponds to claim 4.

(1) A circuit board is received from an upstream apparatus and is directly conveyed to a work position, and a board conveyor that holds the work position and performs a predetermined work on the circuit board held at the work position. A work device, a board detection device that detects that the circuit board has reached a board detection position set on the board conveyor upstream of the work position, or detects that the circuit board has passed the board detection position; A precedent work for causing the work device to perform a precedent work that can be executed prior to reaching the work position of the circuit board, among the works to be performed by the work device, in response to the detection of the arrival or passage of the circuit board of the device; A circuit board working machine including a control device. If some kind of preceding work is performed before the circuit board reaches the work position according to the detection of the board detection device, part of the work to be performed on the circuit board is performed in parallel with the loading of the circuit board. As a result, the effect of improving work efficiency is obtained. Since this effect often increases as the detection by the board detection device is performed earlier, it is desirable that the board detection device is provided near the upstream end of the board conveyor, and that the arrival of the circuit board is detected. It is desirable to be done. However, if the passage of the circuit board is detected, there is an advantage that it is possible to more reliably detect that the circuit board has been transported toward the work position. The above "operations to be performed by the work equipment"
The work may be performed only on the first circuit board of one lot or on a predetermined number of circuit boards, but is performed every time one circuit board is carried in by a board conveyor. In this case, a particularly large effect can be obtained.
This is because, even though the time shortened per one circuit board is relatively short, the total shortened time obtained for each of a large number of circuit boards becomes large. (2) The work device includes a component supply device that supplies an electric component, and a mounting device that receives the electric component from the component supply device and mounts the electric component on a circuit board held at the work position. A circuit board working machine according to item 1. The circuit board working machine in this section is an electric component mounting machine. Among various types of working machines constituting an electric circuit manufacturing line, an electric component mounting machine often requires the longest time, and if the present invention is applied to the electric component mounting machine, the electric circuit manufacturing line In many cases, an overall efficiency improvement effect can be obtained. In particular, 1
A plurality of electric component mounting machines for mounting a relatively small number of electric components are arranged side by side, and are actually mounted on an electric component mounting line for mounting electric components on one circuit board in cooperation with each other. This is more effective because the ratio of the substrate transport time to the operation time is increased. (3) a mark imaging device for imaging a substrate reference mark provided on a circuit board, and an imaging device moving device for moving the mark imaging device to a predetermined imaging position; (2) The circuit board working machine according to (2), further including an imaging device movement control unit that operates the imaging device moving device so as to position the mark imaging device at the imaging position. For example, an XY robot-type electric component mounting machine in which a component holding head for holding an electric component is moved by an XY robot to an arbitrary position in an XY coordinate plane parallel to the surface of a circuit board held at a working position. Some of the widely used XY robot type electric component mounting machines include a mark image pickup device that picks up a reference mark provided on a circuit board and detects a position error of the circuit board. In this electric component mounting machine, when a circuit board is carried in and held at a predetermined position, a reference mark is imaged by a mark image pickup device, and data of an image obtained thereby is processed, whereby the circuit board is mounted. A holding position error is detected. However, when the mark imaging device is held by a common moving member with the component holding head, it is impossible to simultaneously perform the imaging of the reference mark and the reception of the electric component. In that case, one method is to first image the reference mark. (4) The preceding operation control device includes a component receiving control unit that causes the mounting device to perform, as the preceding operation, an operation of receiving an electric component to be first mounted on the circuit board from the component supply device. ) Or (3). An XY robot-type electric component mounting machine that does not include a mark imaging device or that is held by an imaging device holding member that is different from the head holding member that holds the component holding head. In (the imaging device holding member may be a moving member or a stationary member), it is effective that the operation of receiving the first electrical component to be mounted on the circuit board from the component supply device is a preceding operation. is there. Also, in an XY robot type electric component mounting machine in which the mark imaging device and the component holding head are held by a common moving member, first, the component holding head receives the electric component from the component supply device. Then, it is possible to position the mark imaging device at the imaging position of the reference mark, in which case, the preceding work control device includes both the component receiving control unit and the imaging device movement control unit. . In addition, after the component holding head receives the electric component, before the mark imaging device is positioned at the imaging position of the reference mark, the component imaging device detects the electric component holding position error by the component holding head. It is also possible to image
The preceding work control device also includes the component imaging control unit. Further, in a head swiveling type electric component mounting machine in which a plurality of component holding heads are pivoted around a pivot axis, an electric component is received at a predetermined component receiving position and mounted at a predetermined component mounting position. It is effective that the operation of receiving an electric component to be first mounted on the board from the component supply device is a preceding operation. (5) The mounting device includes: a plurality of component holding heads; and a head moving device that positions each of the plurality of component holding heads at a component receiving position for receiving an electrical component from the component supply device. A receiving control unit, in order to position a component holding head to receive an electrical component first among the plurality of component holding heads at the component receiving position,
The working machine for circuit boards according to item (4), further including a head movement control unit that operates the head movement device. (6) a plurality of suction nozzles, wherein the mounting device sucks and holds the electric component by negative pressure, and a nozzle selection device that selectively positions one of the plurality of suction nozzles at a predetermined operation position. Wherein the component receiving control unit includes a nozzle selection control unit that operates the nozzle selection device so as to position the suction nozzle to first suction the electric component at the operation position. (4) or (5) The circuit board working machine according to the paragraph. In a circuit board working machine including both the nozzle selection control section of this section and the head movement control section described in the preceding section, selection of a suction nozzle and parts Both the movement of the holding head to the component receiving position is performed. For example, first, a suction nozzle is selected, and the component holding head provided with the selected suction nozzle is moved to the component receiving position. (7) The mounting device includes a suction nozzle that suctions and holds an electric component by negative pressure, and a component imaging device that captures an image of the electric component held by the suction nozzle. Including a component receiving / imaging control unit for causing the suction nozzle to hold an electric component and causing the component imaging device to image the held electric component, the circuit board operation according to any one of (2) to (6). Machine. The preceding operation control device according to this aspect can also be considered to include a component receiving control unit that causes the suction nozzle to hold the electric component, and a component imaging control unit that causes the component imaging device to image the electric component held by the suction nozzle. . (8) The component supply device accommodates a plurality of electric components of one type each, and a plurality of feeders that position the electric components one by one in the component supply unit, and supplies the plurality of feeders to the feeders. And a component table for holding the units in a state of being arranged along one line, such that one of the plurality of feeders is located at a predetermined component supply position along the one line. The component receiving control unit includes a table moving control unit that operates the table moving device to position a feeder to which an electric component is to be supplied first at the component supply position. A working machine for circuit boards according to any one of the modes (7) to (7). (9) The working machine for circuit boards according to (1), wherein the working device includes a coating device that applies a high-viscosity fluid for temporarily fixing an electric component to the circuit board held in the working position.
The circuit board working machine of this section is a high-viscosity fluid applicator. (10) a mark imaging device for imaging a substrate reference mark provided on a circuit board, and an imaging device moving device for moving the mark imaging device to a predetermined imaging position;
(9) The circuit board working machine according to (9), wherein the preceding work control device includes an imaging device movement control unit that operates the imaging device movement device to position the mark imaging device at the imaging position. If the mark image pickup device is positioned at the image pickup position in advance, the image of the reference mark can be picked up immediately after the circuit board reaches the work position. (11) The coating device moves along a screen holding device that holds a screen having a plurality of through holes and a screen held by the screen holding device, and holds the screen at the work position through the through holes. A squeegee for applying the high-viscosity fluid to the circuit board thus formed, and a squeegee moving device for moving the squeegee along the screen. The circuit board working machine in this section is a screen printing machine. Screen printers are particularly suitable for applying creamy solder to circuit boards. (12) The circuit board working machine according to (11), wherein the preceding work control device includes a squeegee movement control unit that operates the squeegee moving device to position the squeegee at a printing start position. If the squeegee is positioned at the printing start position in advance, printing can be started immediately after the circuit board reaches the work position. (13) The applicator is provided with a container for containing the high-viscosity fluid and a discharge nozzle for discharging the high-viscosity fluid in the container, and the applicator is held at the working position. And an applicator moving device for moving the applicator to an arbitrary position within a plane parallel to the surface of the circuit board. The circuit board working machine of this section is a dispenser. Dispensers are particularly suitable for applying adhesive to circuit boards. Since the dispenser takes a relatively long time to apply one point, if the number of applied points is large, the dispenser may become a bottleneck in improving the efficiency of the entire electric circuit manufacturing line. Is particularly effective. (14) The preceding operation control device includes an applicator movement control unit that operates the applicator moving device so as to position the applicator at a position where the high-viscosity fluid is to be applied first.
The circuit board working machine according to (13). (15) The board detection device includes a non-contact type sensor that detects the circuit board without contacting the circuit board.
The working machine for circuit boards according to any one of the above (14). For example,
A transmission type or reflection type photoelectric switch, a proximity switch of a magnetic type, a capacitance type, or the like can be employed. (16) The board detection device includes a contact-type sensor that detects the circuit board by contacting the circuit board.
The working machine for circuit boards according to any one of the above (14). For example,
A microswitch having a detector and a switch unit whose ON / OFF state changes according to the movement of the detector can be used as a contact-type sensor, and another operating device can be used for the microswitch. In addition, it is also possible to use, as a contact-type sensor, a sensor which detects that the contact member of the operating device has contacted the circuit board and the operating device has been operated and the microswitch has operated.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an electronic component mounting machine which is an embodiment of a circuit board working machine according to the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, a plurality of electronic component mounting machines 2 according to an embodiment of the present invention are provided side by side in a transport direction of a circuit board (in the present embodiment, a printed wiring board described later). And an electronic component mounting line 4. These electronic component mounting machines 2
One of them is shown in FIG. Electronic component mounting machine 2
In, the circuit boards are transported one by one in the transport direction, and the electronic components are sequentially provisionally attached. A screen printing system 6 which is a kind of coating system and prints paste-like solder as a high-viscosity fluid on the circuit board is provided upstream of the electronic component mounting machine 2 located on the most upstream side in the circuit board transport direction. A reflow system 8 (a system for melting solder to electrically connect electronic components to a circuit board) is provided downstream of the electronic component mounting machine 2 located at the most downstream side. The screen printing system 6 and the reflow system 8 together with the electronic component mounting line 4 constitute an electronic circuit manufacturing line. Hereinafter, the electronic component mounting machine 2 will be described.

As shown in FIG. 2, the electronic component mounting machine 2 includes a mounting device 12, a component supply device 14, and a printed wiring board transport device 16 disposed on a base 10. The printed wiring board transport device 16 includes a wiring board conveyor 18 as a board conveyor disposed in the X-axis direction (vertical direction in FIG. 2), and a printed wiring board 20 which is a kind of circuit board is controlled by the wiring board conveyor 18. While being conveyed, it is positioned at a component mounting position as a predetermined work position by the stopper device 22, and is held by the printed wiring board holding device 24.

In the horizontal plane of the wiring board conveyor 18, X
On both sides in the Y-axis direction orthogonal to the axial direction, the component supply device 1
4 are provided. The component supply device 14 has a feeder holding base 26 and a number of feeders 28 arranged thereon and arranged in the X-axis direction, and is provided at a fixed position. The mounting device 12 is configured such that the component holding head 30 (see FIG. 3) is linearly moved in the X-axis direction and the Y-axis direction, and the electronic component 32 received from the component receiving position of the feeder 28.
And mounted on the printed wiring board 20 held at the component mounting position. Therefore, the mounting device 12
Is provided with an XY robot 34 as an XY moving device.
The XY robot 34 is supported by a support 35 and has a base 10
Is held by an upper frame 36 disposed above the.
The upper frame 36 is removed in FIG. 2 for easy understanding, and only the position is indicated by a two-dot chain line. X
The Y robot 34 includes a Y-axis slide 44 guided by a pair of guides 38 fixed to the upper frame 36 horizontally and parallel to the Y-axis direction, and fed by a feed screw 40 and a Y-axis motor (servo motor) 42. ing. On the Y-axis slide 44, an X-axis slide 50 guided by a pair of guides 46 (only one of which is shown in FIG. 2) and fed by a feed screw and an X-axis motor (servo motor) 48.
Is provided. The X-axis slide 50 is provided with a plurality of (three in the illustrated example) component holding heads 30 arranged in the X-axis direction. The component holding head 30 is moved to an arbitrary position in a horizontal plane by the XY robot 34.

The X-axis slide 50 is provided with the plurality of component holding heads 30 so as to be vertically movable and rotatable, respectively, and as shown in FIG.
Elevating device 54 for raising and lowering 0 and component holding head 30
There is provided a rotating device 56 for rotating the rotating member about the axis. The X-axis slide 50 also has a plurality of (two in the example of FIG. 2) reference marks 57 provided on the printed wiring board 20.
A CCD camera 58 is provided as a mark image pickup device for picking up images.

The plurality of component holding heads 30 all have the same structure, and as shown in FIG.
A suction nozzle 60 that sucks the suction nozzle 2 by a negative pressure and a holder 62 that detachably holds the suction nozzle 60 are provided.
The holder 62 is spline-fitted to the sleeve 66. The sleeve 66 is fitted to an arm 70 provided on the X-axis slide 50 via a bearing so as to be rotatable around the vertical axis and immovable in the axial direction.
A driven gear 74 of a backlash elimination type is provided at the lower end protruding from the arm 70 of the sixth gear 6. The driven gear 74 is meshed with a driving gear 78 fixed to the output shaft of a θ-axis motor (servo motor) 76. By rotating 74, holder 62 is rotated about a vertical axis. The holder 62, the driven gear 74, the θ-axis motor 76, and the driving gear 78 constitute a rotating device 56.

An elevating member 80 is attached to the upper end of the holder 62 so as to be relatively rotatable and relatively immovable in the axial direction. The lifting member 80 is provided with a pair of guides (not shown), and is fitted to a guide block (not shown) provided on the X-axis slide 50. Guided by a guide device including these guides and guide blocks,
The elevating member 80 is moved up and down by a feed screw 84 and a Z-axis motor (servo motor) 86. Reference numeral 87 denotes a timing pulley, which constitutes a transmission device for transmitting the rotation of the Z-axis motor 86 to the feed screw 84 via the timing belt 89 and the timing pulley 88. The feed screw 84, the timing belt 89, the timing pulleys 87, 88, and the Z-axis motor 86 constitute the elevating device 54. The Z-axis motor 86 may be a drive motor such as a stepping motor instead of the servo motor. Alternatively, a fluid pressure cylinder including an air cylinder may be used.

A passage 94 penetrating along the axis is formed in the holder 62, and is connected to a negative pressure source (not shown) through a rotary joint, a hose, and an electromagnetic directional control valve 102 (see FIG. 6). Have been. The supply and cutoff of the negative pressure to the passage 94 is performed by switching the electromagnetic directional control valve 102.

In the course of transporting the electronic component 32 from the component supply device 14 to the printed circuit board 20 held by the printed circuit board holding device 24, the component holding head 30 and the component supply device 14 in the Y-axis direction. As shown in FIG. 2, a CCD camera 110 as an image pickup device is provided at a position between the plate conveying device 16. In the present embodiment, two CCD cameras 110 are provided on both sides of the wiring board conveyor 18 separated in the Y-axis direction. These CCD cameras 110 include the component holding head 30.
An image of the electronic component 32 held in the device is captured from below. Also,
An illuminating device (not shown) is provided corresponding to the CCD camera 110, and illuminates the subject and its surroundings during imaging. Instead of a CCD camera, it is also possible to use a line scan camera.

As shown in FIGS. 4 and 5, the wiring board conveyor 18 has a pair of guide rails extending parallel to each other. In the present embodiment, one is a fixed guide rail 114 and the other is a movable guide rail 116.
It has been. The fixed guide rail 114 and the movable guide rail 116 are provided horizontally and parallel to the X-axis direction. The fixed guide rail 114 is provided at a fixed position on the base 10. , And can be moved away in the Y-axis direction.

As shown in FIG. 4, pulleys 120 are provided at both ends in the longitudinal direction of the fixed guide rail 114 and the movable guide rail 116, respectively.
Are rotatably mounted, and an endless conveyor belt 124 (see FIG. 5) is wound therearound. As shown in FIG. 5, the conveyor belt 124 is further wound around a plurality of pulleys 125 and 126 rotatably attached to the fixed guide rail 114 and the movable guide rail 116, and is also wound around a driven pulley 128. I have. The driven pulley 128 on the fixed guide rail 114 side includes the fixed guide rail 114 and the support member 12.
9, both ends are fixed to a spline shaft 130 rotatably supported. A sprocket 131 is fixed to the spline shaft 130, and is connected to a sprocket 133 fixed to an output shaft of a transfer motor 132, which is a kind of drive source, by a chain 134. The driven pulley 128 on the movable guide rail 116 side is attached to the movable guide rail 116 so as to be rotatable and immovable in the axial direction, and is spline-fitted to the spline shaft 130. Therefore, if the transport motor 132 is activated, the sprocket 133,
131 is rotated and the spline shaft 130 is rotated.
Is rotated, the driven pulley 128 is rotated, and the pair of conveyor belts 124 are rotated synchronously.

The printed wiring board 20 is placed on each linear portion of the pair of conveyor belts 124 at both edges thereof, and is parallel to the X-axis direction with the movement of the conveyor belt 124 due to friction with the conveyor belt 124. Transported in different directions. Fixed guide rails 114 provided horizontally,
Each conveyor belt 124 provided on the movable guide rail 116 supports the printed wiring board 20 in a horizontal position, and feeds the printed wiring board 20 along the fixed guide rail 114 and the movable guide rail 116.

Further, the movable guide rail 116 is moved toward and away from the fixed guide rail 114 by the distance changing device, so that the distance between the two guide rails 114 and 116 is changed and the width of the wiring board conveyor 18 is changed. It has become. Since this interval changing device is not directly related to the present invention, a detailed description thereof will be omitted.
Sprocket 13 provided rotatably at 4,116
5, 136, a rotation transmission device including a chain wound around these sprockets 135, 136, a feed screw 137, a nut 138, a width changing motor 139 as a driving source, and the like.

As shown in FIG. 4, the deceleration start position sensor 14 is located downstream of the wiring board conveyor 18 in the transport direction.
2 and a wiring board arrival confirmation sensor 144 are provided. The deceleration start position sensor 142 and the wiring board arrival confirmation sensor 144 are constituted by a reflection type photoelectric sensor having a light emitting unit and a light receiving unit, and the reflection of light from the printed wiring board 20 causes the printed wiring board 20 to move to the deceleration start position. The arrival and the arrival at the wiring board arrival confirmation position (component mounting position) are detected. The deceleration start position sensor 142 and the wiring board arrival confirmation sensor 144 are not limited to the reflection type photoelectric sensor, and may be configured by a transmission type photoelectric sensor, a proximity switch, a limit switch, and the like. The stopper device 22 is provided downstream of the sensors 142 and 144. The stopper device 22 includes a stopper member (not shown) and an elevating device that moves the stopper member up and down. The drive source of the lifting device can be constituted by a fluid pressure cylinder such as an air cylinder. The stopper member is, by the elevating device, protruded upward from the conveying surface of the conveyor belt 124 to stop the movement of the printed wiring board 20;
The printed circuit board 20 is retracted below the transport surface and moved to a non-operating position where the printed wiring board 20 is allowed to pass.

Further, as shown in FIG. 4, near the upstream end of the wiring board conveyor 18 in the conveying direction upstream of the component mounting position, as shown in FIG. A wiring board carry-in confirmation sensor 150 for detecting arrival at the position is provided. The wiring board carry-in confirmation sensor 150 is constituted by a reflection type photoelectric sensor having a light emitting portion and a light receiving portion.
The arrival of the printed wiring board 20 at the wiring board carry-in confirmation position is detected based on the reflection of light from the substrate. Wiring board loading confirmation sensor 1
The reference numeral 44 is not limited to a reflection type photoelectric sensor, and may be constituted by a transmission type photoelectric sensor, another non-contact type sensor such as a proximity switch, or a contact type sensor such as a micro switch or a limit switch.

The electronic component mounting machine 2 is controlled by a control device 160 shown in FIG. The control device 160 includes a processing unit (PU) 162, a read-only memory (ROM) 164, and a random access memory (RAM).
166 and a computer 170 having a bus connecting them. An input / output interface 172 is connected to the bus, and the deceleration start position sensor 14
2, various sensors such as a wiring board arrival confirmation sensor 144 and a wiring board carry-in confirmation sensor 150 are connected, and a Y-axis motor 42, an X-axis motor 48,
θ-axis motor 76, Z-axis motor 86, electromagnetic directional control valve 10
2. The transport motor 132 and the like are connected. The rotation angles of the Y-axis motor 42, the X-axis motor 48, the Z-axis motor 66, the θ-axis motor 76, and the like are detected by an encoder, and the motor 42 and the like are controlled based on the detection result. The CCD cameras 58 and 110 are connected to the input / output interface 172 via a control circuit 176. Also,
The ROM 164 stores a program for controlling a general operation of the electronic component mounting machine 2 including a routine for mounting the plurality of electronic components 32 on the printed wiring board 18. The RAM 166 also stores a program for moving the component holding head 30 according to the type, mounting position, mounting order, and the like of the electronic components 32 mounted on the printed wiring board 18.

Electronic component mounting machine 2 configured as described above
In the electronic component mounting line 4 including a plurality of electronic component mounting machines 2, a plurality of
Mounting the electronic components 32 on the two printed wiring boards 20;
Assemble one electronic circuit board (printed circuit board). Next, after the work such as component mounting is completed in the electronic component mounting machine 2 (upstream device) located on the upstream side in the transport direction from the electronic component mounting machine 2 where the component mounting work is to be performed, the printed wiring board 20 is located downstream. Conveyed. Next, the printed wiring board 20 is placed on the wiring board conveyor 18 of the electronic component mounting machine 2 to be operated.
Whether or not can be carried can be determined by, for example, whether or not the wiring board arrival confirmation sensor 144 detects the printed wiring board 20. When the printed wiring board 20 is carried into the wiring board conveyor 18, the printed wiring board 20 is connected to the wiring board conveyor 1 based on the detection signal of the wiring board arrival confirmation sensor 144.
8 is determined. Therefore, if the printed circuit board arrival confirmation sensor 144 does not detect the printed circuit board 20, the printed circuit board 20 is placed on the circuit board conveyor 18.
It can be seen that the printed wiring board 20 can be carried into the wiring board conveyor 18.

When the printed wiring board 20 is carried in, the transport motor 132 of the wiring board conveyor 18 is started, the conveyor belt 124 is rotated, and the printed wiring board 20 is carried in. The printed wiring board 20 is passed directly from the wiring board conveyor 18 of the electronic component mounting machine 2 on the upstream side to the wiring board conveyor 18 of the electronic component mounting machine 2 on the downstream side, and the transported printed wiring board 20 is checked by a wiring board loading confirmation sensor. 150, the light from the light emitting portion is reflected by the printed wiring board 20 and enters the light receiving portion of the sensor 150.
Is detected, and a detection signal is sent to the control device 160.
To supply. If it is detected that the printed wiring board 20 has reached the wiring board carry-in confirmation position, the control device 160 performs a preparatory operation that can be performed by the mounting device 12 or the like before the printed wiring board 20 reaches the component mounting position. Controlled to do so.

A description will now be given of a preceding operation which can be executed before the printed wiring board 20 reaches the component mounting position. As an example of the preceding work, there is a work in which the CCD camera 58 moves to an imaging position located above the predetermined reference mark 57 so as to image the reference mark 57 of the printed wiring board 20. The CCD camera 58 is held on the X-axis slide 50 together with the plurality of component holding heads 30, and is operated by the XY robot 34.
8 is moved to the imaging position. If you do this,
If it is detected that the printed wiring board 20 has been transported to the component mounting position, the reference mark 57 can be imaged by the CCD camera 58 as it is, and the printed wiring board 20 reaches the component mounting position as in the related art. The time required to move the CCD camera 58 to the imaging position for the first time after the is detected can be omitted, and work efficiency is improved. In this case, the CCD camera 58 functions as a mark imaging device,
The XY robot 34 that moves the CCD camera 58 to an arbitrary position in the XY coordinate plane functions as an imaging device moving device. The mounting device 12 provided with the CCD camera 58 is an example of a working device, and the portion of the control device 160 that operates the XY robot 34 to position the CCD camera 58 at the imaging position is an example of an imaging device movement control unit. is there.

As another example of the preceding operation, before the printed wiring board 18 reaches the component mounting position, the electronic component 32 to be mounted on the printed wiring board 20 is firstly moved by the component supply head 14 by the component holding head 30. There is a work to be received from the feeder 28. Electronic component 32 to be mounted first
Is read out. This data includes information on the type of the electronic component 32, the take-out position and the mounting position of the electronic component 32. According to this information, the movement of the XY robot 34 positions one of the plurality of component holding heads 30 at the component receiving position above the component supply unit of the feeder 28 from which the electronic component 32 is to be taken out. Then, the component holding head 30 is lowered, and the electronic component 32 in the component supply unit is sucked and taken out by the suction nozzle 60. Next, the component holding head 30 from which the electronic component 32 is to be taken out is positioned above the component supply unit of the feeder 28 from which the electronic component 32 is to be taken out,
The electronic component 32 is taken out in the same manner. As described above, the plurality of component holding heads 30 sequentially take out the electronic components 32. The illustrated electronic component mounting machine 2 includes three component holding heads 30, and the operation in which the three component holding heads 30 sequentially receive the electronic components 32 from the feeder 28 as described above may be a preceding operation, The operation in which at least one of the three component holding heads 30 receives the electronic component 32 may be the preceding operation. In any case, the XY robot 34 that moves the component holding head 30 to the component receiving position functions as a head moving device. The mounting device 12 including the plurality of component holding heads 30 is an example of a working device, and the control device 160
The part of the component holding head 30 that operates the XY robot 34 to position the component holding head 30 that should receive the electronic component 32 first at the component receiving position functions as a head movement control unit. The component receiving control unit includes the above-described head movement control unit.

Still another example of the preceding work is that the electronic component 32 to be first mounted on the printed wiring board 20 is held by the suction nozzle 60 of the component holding head 30, and the held electronic component 32 is imaged by the CCD camera 110. Work. By the operation of the XY robot 34, the plurality of component holding heads 30 are passed above the CCD camera 110, and the electronic components 32 held by the component holding heads 30 are moved.
Is imaged from below. By comparing the image data acquired at this time with the image data when the electronic component 32 is held at a regular position, the holding position error of the electronic component 32 by the component holding head 30, that is, the reference position of the electronic component 32 Are calculated on the XY coordinate plane, and a phase shift Δθ centered on a vertical line passing through the reference position. In this case, the CCD camera 110 that images the electronic component 32 held by the suction nozzle 60 functions as a component imaging device. The mounting device 12 is an example of a working device, and the electronic component 3 is attached to the suction nozzle 60 of the control device 160.
The portion that holds the electronic component 2 and causes the CCD camera 110 to image the held electronic component 32 functions as a component receiving / imaging control unit.

Although several examples of the preceding work have been described above, these can be combined as appropriate and executed as a series of preceding work. For example, the plurality of component holding heads 30 respectively take out the electronic components 32 from the feeder 28, and the electronic components 32 are imaged from below by the CCD camera 110, and then the CCD camera 58
Can be a series of preceding operations until the is moved to the imaging position. In this case, after the printed wiring board 20 has reached the wiring board loading confirmation position by the wiring board loading confirmation sensor 150, it has been confirmed by the wiring board arrival confirmation sensor 144 that it has reached the component mounting position, During the time when it is positioned by the stopper device 22 and held by the printed wiring board holding device 24,
All of the predecessors may not be completed. But,
That's fine. Wiring board arrival confirmation sensor 14
When a part of the preceding work remains when the arrival at the component mounting position is confirmed by step 4, after the remaining part is completed, the operation is started after the printed wiring board 20 reaches the component mounting position. All you have to do is create a program to start the work you need to do. In the present embodiment, this is actually the case, and the operation is performed by the CCD camera 58 moved to the imaging position.
Of the reference mark 57 is taken. Conventionally, the printed wiring board 20 is a printed wiring board holding device 24.
Since none of the preceding work was performed until the work was held by the above, the work efficiency was improved for a time corresponding to the work performed before holding the printed wiring board 20 in the preceding work. Is obtained.

Before the printed wiring board 20 reaches the component mounting position, for example, when the printed wiring board 20 starts being carried in, the stopper member of the stopper device 22 is moved to the operating position. If the printed wiring board 20 being carried in is detected by the deceleration start position sensor 142, the transport speed is reduced. If the printed wiring board 20 is detected by the wiring board arrival confirmation sensor 144, the transport motor 132 is stopped. At this time,
Although the printed wiring board 20 has already stopped moving by contacting the stopper member, the printed wiring board 20 comes into contact with the stopper member with less impact due to the reduction in the transport speed.

At the time when the printed wiring board 20 is positioned and held at the component mounting position, if all of the preceding work has been completed, if not, the completion is awaited. Imaging is performed. Thereafter, the CC of the XY robot 34 is activated by the operation of the XY robot 34.
The D camera 58 is moved above another reference mark 57 to capture an image of the reference mark 57. The acquired image data is compared with the image data of the reference mark 57 when the printed wiring board 18 is positioned and supported at a regular position, and the positioning error of the printed wiring board 18 held by the printed wiring board holding device 24 is reduced. Is calculated. Subsequently, one of the plurality of component holding heads 30, to which the electronic component 32 is to be mounted first, is moved above the predetermined component mounting position, during which the positioning error of the printed wiring board 18 and the previous The component holding head 30 is rotated based on the holding position error of the electronic component 32 obtained by the imaging by the CCD camera 110, and the movement amount is corrected. Therefore, the electronic component 32 is mounted at a correct position in a correct direction. Thereafter, the other electronic components 32 are mounted in the same manner as in the related art, and when they are completed, the printed wiring board 20 is carried out to the downstream side.

The board loading confirmation sensor 150 constitutes a board detection device, and the control device 160 controls the board loading confirmation sensor 15
It includes a preceding work control device that causes the working device to perform the preceding work in response to the detection of 0.

According to the present embodiment, as described in the section of the related art, an in-conveyor is provided separately from the main conveyor, or the upstream-side electronic component mounting machine 2 (upstream-side device) is connected to the communication device. The various preceding operations can be executed in parallel with the transfer of the printed wiring board 20 to the component mounting position by the wiring board conveyor 18 without enabling communication, and the mounting operation can be performed while minimizing the increase in apparatus cost. Efficiency can be improved. If the in-conveyor is not provided, the electronic component mounting machine 2 can be reduced in size accordingly. Further, the present invention can be applied even when the upstream device does not include a communication device.

In this embodiment, one component holding head 30 has one suction nozzle 60.
As shown in (1), one component holding head 190 may be provided with a plurality (for example, six) of suction nozzles 192. In this embodiment, a plurality of suction nozzles 192 are used.
Is positioned at a predetermined operation position by the nozzle selection device, and sucks the electronic component 32. Such a component holding head 190 is disclosed in, for example, Japanese Patent Laid-Open No. 6-342.
No. 998, the detailed illustration and description are omitted here.
By rotating the nozzle holder 194 holding the nozzle 2 around an axis perpendicular to the central axis of the suction nozzle 192 by the nozzle holder rotating device, the desired suction nozzle 192 can be positioned at the operation position. In this embodiment, first, the electronic component 3
In order to position the suction nozzle 192 at which the nozzle 2 is to be suctioned at the operation position, the part that operates the nozzle selection device may constitute a nozzle selection control unit.

The working machine for circuit boards according to the present invention may be a high-viscosity fluid applicator provided with an applicator for applying an adhesive as a high-viscosity fluid to a circuit board. FIG. 8 schematically shows a dispenser which is an embodiment of the high-viscosity fluid applicator. An adhesive application device 204 and a printed wiring board 2 as a circuit board are provided on a base 202 of the dispenser.
Circuit board transfer and holding device 21 for transferring and positioning and holding 0
0 is provided. The wiring board transfer and holding device 210 includes:
The printed circuit board 20 is provided with a wiring board conveyor 212 disposed in the X-axis direction (the left-right direction in the figure), and the printed wiring board 20 is transported by the wiring board conveyor 212 and positioned at a predetermined application position as a work position. Then, it is held by the wiring board holding device 214. In this state, the adhesive as a high-viscosity fluid, which is a kind of coating agent, is
Is applied to a predetermined location.

The adhesive coating device 204 is a known device, and detailed illustration and description thereof are omitted. However, the coating device includes a container for storing the adhesive and a discharge nozzle for discharging the adhesive in the container. The container 216 moves in a direction having components in the X-axis direction and the Y-axis direction orthogonal to each other to apply the adhesive to the surface of the printed wiring board 20 which is the work surface.
Therefore, the adhesive application device 204 includes the feed screw 220,
X-axis slide 222, nut and X-axis slide drive motor 224, and feed screw 226, Y-axis slide 228, nut and Y-axis slide drive motor 230
An XY robot 232 configured from the above is provided. The applicator 216 is moved by the XY robot 232 to an arbitrary position in a horizontal plane that is a plane parallel to the upper surface of the printed wiring board 20. The Y-axis slide 228 also has
A CCD camera 240, which is a kind of an imaging device, is provided. The XY robot 232, the CCD camera 240 and the like of the dispenser are controlled by the control device 250.

Also in this embodiment, the wiring board conveyor 2
A wiring board carry-in confirmation sensor 260 for detecting that the printed wiring board 20 has reached a wiring board carry-in confirmation position as a substrate detection position is provided on the upstream side in the carrying direction from the application position of the substrate 12 and near the upstream end. Have been. If the printed board 20 has reached the printed board carry-in confirmation position by the printed board carry-in confirmation sensor 260, the adhesive applicator 204 reaches the applied position of the printed wiring board 20 as in the above-described embodiment. Prior work that can be performed prior to the operation is performed.

The preparatory operation performed by the adhesive coating device 204 includes the following steps: the CCD camera 240 captures an image of the reference mark 57 provided on the printed wiring board 20;
There is an operation of moving the CCD camera 240 to a predetermined imaging position. In this case, the CCD camera 240 functions as a mark imaging device, and the XY robot 232 that moves the CCD camera 240 to the imaging position functions as an imaging device moving device. In the control device 250,
In order to position the CCD camera 240 at the imaging position,
The part that operates the XY robot 232 functions as an imaging device movement control unit.

The dispenser does not include the CCD camera 240 for imaging the reference mark 57, and
In the case where the positioning of the printed wiring board 20 is performed purely mechanically by inserting positioning pins into each of the plurality of positioning holes formed in the coating device 0, for example, the applicator 2 is used.
The operation of locating 16 at the position where the adhesive is to be applied first can be a preceding operation. In this case, in the control device 250, the part that operates the XY robot 232 as the applicator moving device functions as the applicator movement control unit in order to position the applicator 216 at the above position. In the present embodiment, the adhesive application device 204
Constitute a working device for performing a predetermined work on the printed wiring board 20 held at the application position. The control device 250 includes a preceding work control device that causes the work device to perform a preceding work in response to detection of the wiring board carry-in confirmation sensor 260 as a substrate detection device.

The present invention can be applied to an index-type electronic component mounting apparatus as described in Japanese Patent Application Laid-Open No. 6-342998. Further, for example, Japanese Patent Application Laid-Open No. 8-48
The present invention can also be applied to the screen printing machine described in Japanese Patent Application Publication No. 024.

Although some embodiments of the present invention have been described in detail above, these are merely examples, and the present invention is described in the above section [Problems to be solved by the invention, means for solving problems and effects]. The present invention can be implemented in various modified and improved forms based on the knowledge of those skilled in the art, including the described embodiment.

[Brief description of the drawings]

FIG. 1 is a plan view schematically showing an electronic circuit manufacturing line including an electronic component mounting line including a plurality of electronic component mounting machines, which is one embodiment of a circuit board working machine according to the present invention.

FIG. 2 is a plan view schematically showing the electronic component mounting machine.

FIG. 3 is a front view (partial cross section) showing a component holding head which is a component of a mounting device of the electronic component mounting machine.

FIG. 4 is a plan view showing a wiring board conveyor of the electronic component mounting machine.

FIG. 5 is a side view showing the wiring board conveyor.

FIG. 6 is a block diagram schematically showing a control device for controlling the electronic component mounting machine.

FIG. 7 is a front view showing a part of a component holding head which is a component of a mounting device of an electronic component mounting machine which is another embodiment of the circuit board working machine according to the present invention.

FIG. 8 is a plan view schematically showing a high-viscosity fluid applicator which is still another embodiment of the circuit board working machine according to the present invention.

[Explanation of symbols]

12: Mounting device 14: Component supply device 16: Printed wiring board transport device 18: Wiring board conveyor 20: Printed wiring board 3
0: component holding head 32: electronic component 34: XY robot 57: fiducial mark 58: CCD camera 150: board loading confirmation sensor 160: control device 190: component holding head 204: adhesive coating device 210: wiring board transfer device 212: Wiring board conveyor 216: Coater 232: XY robot 240: CCD camera 250: Control device 260: Wiring board loading confirmation sensor

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Minoru Yoriki 19, Chausuyama, Yamamachi, Chiryu-shi, Aichi F-term in Fuji Machinery Manufacturing Co., Ltd. (reference) 5E313 AA11 CC03 DD01 DD02 DD03 DD12 EE02 EE03 EE24 EE50 FF24 FF28 FG06 FG10

Claims (4)

[Claims] 1. A board conveyor for receiving a circuit board from an upstream apparatus and directly transporting the circuit board to a work position, and holding the circuit board at the work position, and performing a predetermined work on the circuit board held at the work position. An apparatus, a board detection apparatus for detecting that a circuit board has reached a board detection position set upstream of the work position on the board conveyor or has passed the board detection position; and a board detection apparatus for the board detection apparatus. Precedent work control for causing the work device to perform a precedent work that can be executed prior to reaching the work position of the circuit board, among works to be performed by the work device, in response to detection of arrival or passage of the circuit board An apparatus and a circuit board working machine including the apparatus. 2. The work apparatus includes: a component supply device that supplies an electric component; and a mounting device that receives the electric component from the component supply device and mounts the component on a circuit board held at the work position. 2. The circuit board working machine according to 1. 3. A control device comprising: a mark image pickup device for picking up a substrate reference mark provided on a circuit board; and an image pickup device moving device for moving the mark image pickup device to a predetermined image pickup position. 3. The circuit board working machine according to claim 2, wherein the apparatus includes an imaging device movement control unit that operates the imaging device movement device to position the mark imaging device at the imaging position. 4. The preceding work control device includes a component reception control unit that causes the mounting device to perform, as the preceding work, a work of receiving an electrical component to be first mounted on the circuit board from the component supply device. The circuit board working machine according to claim 2 or 3.