JP2009117733A - Mounting device and mounting method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mounting device and mounting method that can mount a specified nozzle on a mounting head without reference to arrangement of nozzles in a nozzle stocker. <P>SOLUTION: The mounting device is equipped with the nozzle stocker which stores nozzles provided with unique two-dimensional codes 30 and 32, a nozzle information acquiring means of acquiring nozzle information from the two-dimensional codes 30 and 32, and a storage means of relating and storing arrangement information and nozzle information on the plurality of nozzles stored in the nozzle stocker, and mounts a nozzle having specified nozzle information selected out of the plurality of nozzles based upon nozzle information and arrangement information on the mounting nozzle. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a mounting apparatus and mounting method using a nozzle provided with an information code.

In the mounting field, a mounting apparatus having a plurality of nozzles (multiple nozzles) in a mounting head is widely used to mount various types of components on a substrate. The nozzle is required to have a function of sucking parts and holding the sucked parts during the transfer process to transfer them to the substrate, so a wide variety of nozzles with different suction hole shapes and sizes are available. A nozzle stored in a nozzle stocker and corresponding to the type of component is selected and mounted on the mounting head (see Patent Document 1).
JP 2005-66777 A

  By the way, in the conventional mounting apparatus, the nozzles are stored in a predetermined arrangement, for example, in the order of mounting, and the nozzles to be mounted on the mounting head are determined based on this arrangement. In the case of an unskilled person, there is a problem that human error is likely to intervene in the arrangement of nozzles that are difficult to identify with the naked eye such as micro nozzles. In addition, it takes a certain amount of time for an expert to store the nozzles in a predetermined arrangement while identifying individual nozzles, which is not a desirable method from the viewpoint of productivity.

  Accordingly, an object of the present invention is to provide a mounting apparatus and a mounting method that can mount a specific nozzle on a mounting head regardless of the arrangement of nozzles in a nozzle stocker.

  The mounting apparatus according to claim 1, a nozzle stocker for storing a nozzle provided with a unique information code, nozzle information acquisition means for acquiring nozzle information from the information code, and a plurality of nozzles stored in the nozzle stocker Storage means for associating and storing nozzle arrangement information and the nozzle information, and mounting a nozzle having specific nozzle information selected from a plurality of nozzles based on the nozzle information and the arrangement information to a mounting head .

  The mounting method according to claim 2 includes a step of storing a plurality of nozzles provided with unique information codes in a nozzle stocker, a step of acquiring nozzle information from the information codes, and an individual unit stored in the nozzle stocker. Storing a nozzle arrangement information and the nozzle information in association with each other, and mounting a nozzle having specific nozzle information selected from a plurality of nozzles on the mounting head based on the nozzle information and the arrangement information. .

  According to the present invention, since a nozzle having specific nozzle information can be selected from a plurality of nozzles randomly arranged in the nozzle stocker and mounted on the mounting head, the nozzles are arranged in the nozzle stocker in a predetermined arrangement. Thus, it is possible to save labor and time required for the work of storing side by side, and it is possible to prevent the occurrence of problems such as deterioration or deterioration in mounting quality due to erroneous mounting due to misplacement of nozzles.

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing a configuration of a mounting apparatus according to an embodiment of the present invention, FIG. 2 is a side view showing a configuration of a mounting head and a nozzle attaching / detaching portion according to the embodiment of the present invention, and FIG. FIG. 4 is a block diagram showing the control configuration of the mounting apparatus according to the embodiment of the present invention, and FIG. 5 is a plan view showing the configuration of the nozzle according to the embodiment of the present invention. FIG. 6 is a flowchart showing a mounting method according to the embodiment of the present invention.

  First, FIG. 1 shows the configuration of the mounting apparatus. The mounting device 1 is a device that picks up an electronic component supplied from the supply device 2 with the nozzle 3 and mounts it on the substrate 4. The supply device 2 is disposed opposite to both sides of the mounting device 1, and a substrate transfer device 5 that transfers the substrate 4 is disposed therebetween. The substrate transfer device 5 is a device that carries the substrate 4 before mounting into the mounting device 1 and unloads the substrate 4 after mounting from the mounting device 1. Further, the substrate transfer device 5 has a function of temporarily fixing the substrate 4, and when mounting, the substrate 4 is positioned and fixed at the approximate center of the mounting device 1. The orthogonal robot 6 is a device that horizontally moves the mounting head 7 above the supply device 2 and the substrate transfer device 5. A plurality of nozzles 3 are mounted on the mounting head 7 and move between the supply device 2 and the substrate 4 to mount electronic components. The nozzle 3 can be attached to and detached from the mounting head 7, and a plurality of replacement nozzles 3 are accommodated in the nozzle stocker 8 disposed between the supply device 2 and the substrate transport device 5. The mounting head 7 is also provided with a camera 9 for imaging the lower side, and a position identification mark (not shown) provided on the substrate 4 and an identification mark (described later) provided on the nozzle 3. Image.

  FIG. 2 shows a configuration of a mounting head and a nozzle attaching / detaching portion. The nozzle 3 includes an attachment portion 3a attached to the mounting head 7, an adsorption portion 3b that adsorbs and holds components, and a flange portion 3c provided between the attachment portion 3a and the adsorption portion 3b. The attachment portion 3a is formed in a cylindrical shape with a groove 3d provided on the outer periphery. The attachment member 10 is provided below the mounting head, and a convex portion 10a that fits with a concave portion 3e provided in the attachment portion 3a of the nozzle 3 is provided at the lower end thereof. Further, claw portions 10b that fit into grooves 3d provided in the attachment portion 3a of the nozzle 3 are provided on both sides of the convex portion 10a at the lower end of the attachment member 10. The claw portion 10b is urged by the elastic member 10c in a direction approaching each other, and can maintain a state of being fitted to the groove 3d.

  The mounting of the nozzle 3 is performed by lowering the mounting head 7 with respect to the nozzle 3 housed in a posture in which the suction portion 3b faces downward in the nozzle stocker 8 and the mounting portion 3a faces upward. The claw portion 10b contacts and separates from the upper portion of the attachment portion 3a, and comes close again at the groove 3d to be fitted therewith. On the other hand, when the nozzle 3 is detached, the mounting head is raised with the nozzle 3 fixed, and the nozzle 3 is separated from the mounting head 7 by releasing the fitting between the claw portion 10b and the groove 3d.

  FIG. 3 shows the configuration of the nozzle stocker. The nozzle stocker 8 stores a plurality of nozzles 3 in a regular arrangement (in this embodiment, a matrix arrangement of 4 rows × 8 columns), and a position at which the stored nozzles 3 can be taken out from the case 8a. The stopper 8b is movable to a position to be disabled. The nozzle 3 is housed in the case 8a in a posture that allows the nozzle 3 to be mounted on the mounting head 7 (posture with the suction portion 3b facing downward and the mounting portion 3a facing upward as shown in FIG. 2). The stopper 8b is a horizontally movable plate that covers the upper portion of the case 8a, and has an opening 8c having the same arrangement as the nozzle 3 housed in the case 8a and having an inner diameter larger than the diameter of the flange 3c. An opening 8d having a width smaller than the diameter of the flange 3c and larger than the diameter of the mounting portion 3a of the nozzle 3 is formed between the opening 8c adjacent to each other in the column direction and the opening 8c. ing.

When the stopper 8b is at the position shown in FIG. 3A, each opening 8c is positioned vertically above the flange 3c, so that the nozzle 3 can be taken in and out of the nozzle stocker 8. . In this state, the mounting head 7 can be lowered and attached to the desired nozzle 3 by itself, and the operator can store the nozzle 3 necessary for replacement in the nozzle stocker 8. On the other hand, as shown in FIG. 3B, when the stopper 8b is moved in the row direction and the opening 8d smaller than the opening 8c is positioned vertically above each flange 3c, the nozzle 3 is moved relative to the nozzle stocker 8. It becomes impossible to put in and out. When replacing the nozzle 3 mounted on the mounting head 7 with another nozzle 3 housed in the nozzle stocker 8, it is necessary to separate the mounted nozzle 3 from the mounting head 7. When the mounting head 7 is lifted after the nozzle 3 is temporarily stored in the case 8a and the stopper 8b is moved so that the opening 8d is positioned vertically above the flange 3c of the nozzle 3, the opening 8d is opened. The nozzle 3 that cannot pass through is dropped from the mounting head 7 and completely stored in the nozzle stocker 8. Although not shown in FIG. 3, the stopper 8b is configured to be movable in the column direction by driving an actuator.

  FIG. 4 shows a control configuration of the mounting apparatus. The drive unit 20 controls driving of the supply device 2, the substrate transfer device 5, the orthogonal robot 6, the mounting head 7, the nozzle stocker 8, and the camera 9 based on a predetermined control program. The control program is stored in the storage unit 21 together with data relating to electronic components and boards. The image processing unit 22 performs analysis processing on image data captured by the camera 9. When the imaging target is a position identification mark provided on the substrate, the arithmetic processing unit 23 calculates the position of the electronic component mounting location on the substrate from the position of the mark recognized by the analysis processing. When the imaging target is an identification mark provided on the nozzle, the nozzle information obtained from the image processing result of the mark is stored in the nozzle information storage unit 24 in association with the nozzle arrangement information in the nozzle stocker 8. Nozzle information is unique to each nozzle, and includes basic information such as production serial number and nozzle type and type, as well as more detailed information such as nozzle length and suction port shape and area. . The nozzle arrangement information in the nozzle stocker 8 is acquired from the position information of the camera 9 (position of the mounting head 7) when the marks of the individual nozzles are photographed.

  As a result, nozzles having specific nozzle information are arranged at any location in the nozzle stocker 8 even if the nozzles are randomly arranged as long as the conditions and the types of nozzles necessary for replacement are satisfied. Therefore, it is possible to save the labor and time required for the work of arranging and storing them in the order of nozzle replacement, which has been conventionally performed. In addition, it is possible to prevent the occurrence of problems such as deterioration or deterioration of mounting quality due to erroneous mounting due to nozzle misplacement.

  The mounting apparatus is always in the state of grasping the nozzle information related to the nozzles mounted on the mounting head 7 and the nozzle information and arrangement information of the replacement nozzles stored in the nozzle stocker 8, and is mounted on the mounting head 7. When mounting an electronic component that cannot be properly mounted with the nozzle, the mounting head 7 is moved to a location where a nozzle having nozzle information corresponding to the electronic component is housed to replace the nozzle. For the nozzles used for mounting, the nozzle information storage unit 24 stores the history of the number of times used for mounting and the board, electronic component, etc. on which mounting was performed. From this history, it is possible to easily know which nozzle has been used to mount a board having a defect in the mounting quality of the electronic component, so that an improvement in the reliability of the quality control including traceability can be expected.

FIG. 5 shows an example of a nozzle provided with an identification mark. In this example, a two-dimensional code 30 is provided as an identification mark on the attachment portion 3a side of the flange portion 3c. Two-dimensional codes are roughly classified into a stack type and a matrix type, and either type can be used as a mark for identification. FIG. 5 schematically illustrates a matrix type two-dimensional code in which information is displayed in a vertical and horizontal mosaic pattern in alternating black and white cells. By recognizing the angle and size of the black-and-white pattern included in the display area a based on the shooting data and collating with the nozzle data stored in the storage unit 21, nozzle information specific to each nozzle such as type and production serial is obtained. read. The two-dimensional code 30 is directly stamped on the flange portion 3c by a laser, and the two-dimensional code 3
A region b surrounding the display region a in which 0 is stamped is also smoothed by a laser. The flange portion 3c is often formed by a lathe process, so that concentric machining marks 31 due to a bite often remain and are likely to cause noise during image recognition. However, at least the display area a and the machining marks By providing a blank smooth region b that does not include any information between the two, the reading error of the two-dimensional code 30 is eliminated, and the time required for processing such as noise removal in image recognition is unnecessary.

  The two-dimensional code has a feature that the information capacity is large, but the display area a cannot be sufficiently secured in a limited area such as the flange portion of the nozzle, and the information capacity is limited in one two-dimensional code. Therefore, it is possible to ensure a larger amount of information capacity by appropriately securing the display area a in an area that falls within the photographing field c unique to the camera 9 and providing a two-dimensional code for each. Thus, for example, the two-dimensional code 30 handles basic information such as the production serial number and the nozzle type and type, and the other two-dimensional code 32 has more details such as the nozzle length and the shape and area of the suction port. Can handle a lot of information.

  In the above configuration, the two-dimensional code is one form of an information code for acquiring unique nozzle information. As another form, the information capacity is reduced, but a one-dimensional code may be used. Character codes and numerical codes can also be used, and these codes are excellent in that they have a small information capacity but can be identified with the naked eye. Further, an RF tag (IC tag) that reads by a radio wave can be used unlike the above-described form (a light is identified) that reads a code by light. In this case, as the nozzle information acquisition means for acquiring nozzle information from the information code of each nozzle, a radio wave transmission / reception device called a reader / writer is used instead of the camera used in the case of the above embodiment. The RF tag has an advantage that information can be written unlike other forms that can only read information, and the history and the like are stored not only in the nozzle information storage unit of the mounting apparatus but also in the RF tag itself provided in the nozzle. It is possible. Therefore, there is an advantage that the history can be shared when the same nozzle is used in another mounting apparatus having a compatible reader / writer.

  FIG. 6 is a flowchart showing a mounting method in the mounting apparatus. First, the nozzle provided with the two-dimensional code is stored in the nozzle stocker in a random arrangement by the operator or the like (ST1). In this storage operation, it is only necessary to satisfy the conditions for the type and number of nozzles necessary for replacement, so that labor and time required for storage in the order in which nozzles are conventionally replaced can be saved. Next, the individual nozzles stored in the nozzle stocker are identified (ST2). This identification operation is performed by acquiring nozzle information for all replacement nozzles while moving the camera above the two-dimensional code of each nozzle and storing it in association with the arrangement information in the nozzle stocker. Next, the electronic component is attracted to the nozzle mounted on the mounting head and mounted on the substrate (ST3). At this time, with respect to the nozzles used for mounting, the number of times of mounting, the history regarding the mounted board, electronic components, etc. are stored in the nozzle information storage unit in association with the nozzle information (ST4). When mounting an electronic component that cannot be mounted properly with the nozzles mounted on the mounting head, an electronic component is selected from a plurality of nozzles stored in the nozzle stocker based on the nozzle information stored in the nozzle information storage unit. A nozzle having nozzle information corresponding to a component is selected, and the mounting head is moved to the housed position to perform nozzle replacement (ST5). The history of mounting with the replaced nozzle is also stored in the nozzle information storage unit in association with the nozzle information. Thereafter, the operations of ST3 to ST5 are repeated until a predetermined production amount is reached.

According to the present invention, according to the present invention, by selecting a nozzle having specific nozzle information from a plurality of nozzles randomly arranged in the nozzle stocker and mounting the nozzle on the mounting head, the nozzle is stored in the nozzle stocker. This eliminates the labor and time required for the work of arranging and storing them in a predetermined arrangement, and prevents the occurrence of problems such as deterioration or deterioration in mounting quality due to incorrect mounting due to misplacement of nozzles. This is useful in the field of mounting electronic components while replacing

The perspective view which shows the structure of the mounting apparatus of embodiment of this invention The side view which shows the structure of the mounting head and nozzle attachment / detachment part of embodiment of this invention The top view which shows the structure of the nozzle stocker of embodiment of this invention The block diagram which shows the control structure of the mounting apparatus of embodiment of this invention The top view which shows the structure of the nozzle of embodiment of this invention The flowchart which shows the mounting method of embodiment of this invention

Explanation of symbols

3 Nozzle 3a Mounting part 3b Adsorption part 3c Flange part 7 Mounting head 8 Nozzle stocker 9 Camera 24 Nozzle information storage part 30, 32 Two-dimensional code a Display area b Smooth area c Field of view

Claims (2)

A nozzle stocker for storing nozzles provided with a unique information code, nozzle information acquisition means for acquiring nozzle information from the information code, and arrangement information of a plurality of nozzles stored in the nozzle stocker and the nozzle information are associated with each other. Storage means for storing
A mounting apparatus for mounting a nozzle having specific nozzle information selected from a plurality of nozzles on the mounting head based on the nozzle information and the arrangement information.   The step of storing a plurality of nozzles provided with unique information codes in the nozzle stocker, the step of acquiring nozzle information from the information codes, and the arrangement information of the individual nozzles stored in the nozzle stocker are associated with the nozzle information. And a step of mounting a nozzle having specific nozzle information selected from a plurality of nozzles based on the nozzle information and the arrangement information on a mounting head.

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