JP2013004713A - Part mounting device and part mounting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide part mounting device and method that can shorten a mounting time required to mount each part to an electrode portion to enhance the productivity of a board.SOLUTION: When the angle of a part 3 adsorbed to an adsorbing tool 63a is made coincident with an electrode portion angle temporary set value φ1 on the basis of the set electrode portion angle temporary set value φ1, etc., it is determined whether it is necessary to perform an anti-backlash operation of rotating a driving shaft 68a in an opposite direction to a forward direction so as to prevent the absorbing tool 63a from non-following the driving shaft 68a due to backlash existing in a decelerator 69. When it is determined that it is necessary to perform the anti-backlash, the anti-backlash operation is performed in parallel to detection of an electrode portion angle φ, and the driving shaft 68a is rotated in the forward direction to position the absorbing tool 63a to a target rotation position after the electrode portion angle φ is detected.

Description

  The present invention relates to a component mounting apparatus and a component mounting method for sucking a component with a suction tool and mounting the component on an electrode portion of a substrate.

  In a liquid crystal panel manufacturing system in which a component (electronic component) such as a drive circuit is mounted on each of a plurality of electrode portions provided on a peripheral portion of a panel-like substrate, an ACF (ACF) attached to each electrode portion by an ACF mounting device. Anisotropic Conductive Film (Anisotropic Conductive Film) includes a temporary pressure bonding device as a component mounting device for temporarily pressure bonding a component to a piece of tape.

  The temporary crimping device has a substrate holding portion for holding a substrate having an electrode portion, a suction tool that is rotatably provided around a vertical axis and sucks components, and a drive shaft that rotates the suction tool via a power transmission mechanism. The rotation of the suction tool in a state where the rotation of the suction tool follows the rotation of the drive shaft in the first direction by finally rotating the drive shaft in one direction (the first direction). A rotating motor is provided for positioning in the direction. Then, after detecting the component angle, which is the rotation angle in the horizontal plane direction of the component sucked by the suction tool, with the camera whose imaging field of view is directed upward, the horizontal plane direction of the electrode portion of the substrate held by the substrate holding portion The rotation angle of the electrode part is detected, and the target rotation position (the angle of the part sucked by the suction tool is calculated based on the obtained result (the detected part angle and the detected electrode part angle)). The component is mounted on the electrode portion of the substrate by positioning the suction tool at the rotation position of the suction tool when matching the electrode portion angle and lowering the suction tool with respect to the substrate (for example, Patent Document 1).

  When positioning the above suction tool, if the angle of the part sucked by the suction tool is made to match the detected electrode part angle based on the relationship between the detected electrode part angle and the part angle, etc. If the motor drive shaft is rotated as it is in the direction in which the suction tool is positioned at the target rotation position, non-following of the suction tool to the drive shaft of the rotary motor due to backlash existing in the power transmission mechanism occurs. In the case where the position control in the rotation direction of the suction tool cannot be performed by the drive shaft of the rotary motor, first, the anti-backlash that rotates the drive shaft of the rotary motor in the second direction opposite to the first direction. The operation is executed, and then the drive shaft of the rotary motor is rotated in the first direction to position the suction tool at the target rotational position.

JP-A-10-190294

  However, as described above, in the conventional component mounting apparatus, whether or not the anti-backlash operation is necessary when positioning the suction tool at the target rotation position depends on the relationship between the component angle and the electrode portion angle. The anti-backlash operation is always performed after the detection of the electrode portion angle, and there is a problem that the mounting time to the electrode portion required for each part becomes long and the productivity of the substrate is lowered.

  Accordingly, an object of the present invention is to provide a component mounting apparatus and a component mounting method capable of improving the productivity of a substrate by shortening the mounting time required for each component.

  The component mounting apparatus according to claim 1, wherein a substrate holding portion that holds a substrate having an electrode portion, a suction tool that is rotatably provided around a vertical axis and sucks a component, and suction via a power transmission mechanism A drive shaft for rotating the tool, and finally rotating the drive shaft in the first direction so that the rotation of the suction tool follows the rotation of the drive shaft in the first direction. After the component angle is detected by the rotation motor that performs positioning in the rotation direction, the component angle detection unit that detects the component angle that is the rotation angle in the horizontal plane direction of the component sucked by the suction tool, and the component angle detection unit, An electrode portion angle detecting means for detecting an electrode portion angle which is an angle in a horizontal plane direction of an electrode portion of the substrate held by the substrate holding portion, and an electrode portion angle in parallel with the detection of the electrode portion angle by the electrode portion angle detecting means Provisional settings Based on the relationship between the electrode part angle temporary setting value setting means, the electrode part angle temporary setting value set by the electrode part angle temporary setting value setting means, and the component angle detected by the part angle detection means, etc. When the angle of the component sucked by the suction tool is made to coincide with the temporary setting value of the electrode portion angle, before the drive shaft of the rotary motor is rotated in the first direction, the backlash existing in the power transmission mechanism is reduced. In order to prevent non-following of the suction tool with respect to the drive shaft of the rotating motor, it is necessary to execute an anti-backlash operation for rotating the drive shaft of the rotary motor in the second direction opposite to the first direction. Based on the determination means for determining whether there is a component angle, the component angle detected by the component angle detection means, and the electrode portion angle detected by the electrode portion angle detection means, Anti-backlash operation is performed by the target rotation position calculation means that calculates the target rotation position, which is the rotation position of the suction tool when the product angle matches the electrode angle detected by the electrode angle detection means, and the determination means If it is determined that there is no need to perform this operation, the electrode section angle is detected by the electrode section angle detection means, and then the drive shaft of the rotary motor is rotated in the first direction to move the suction tool to the target rotational position calculation means. If the determination means determines that it is necessary to execute the anti-backlash operation, the rotation motor is driven in parallel with the detection of the electrode angle by the electrode angle detection means. An anti-backlash operation for rotating the shaft in the second direction, and after the electrode portion angle is detected by the electrode portion angle detecting means, the drive shaft of the rotary motor The suction tool positioning control means for positioning the suction tool at the target rotational position calculated by the target rotational position calculating means and the target rotational position calculated by the target rotational position calculating means. And a mounting control unit that lowers the suction tool with respect to the substrate and mounts the component sucked by the suction tool on the electrode portion of the substrate.

  The component mounting apparatus according to claim 2 is the component mounting apparatus according to claim 1, wherein the second and subsequent operations are performed with respect to an electrode part row composed of a plurality of electrode parts arranged in a line on the same substrate. When the component is mounted on the electrode unit, the electrode unit angle detected by the electrode unit angle detection unit at the previous mounting of the component is used as the temporary setting value of the electrode unit angle set by the electrode unit angle temporary setting value setting unit. It is done.

  According to a third aspect of the present invention, there is provided a component mounting method comprising: a substrate holding portion that holds a substrate having an electrode portion; a suction tool that is rotatably provided around a vertical axis; A drive shaft for rotating the tool, and finally rotating the drive shaft in the first direction so that the rotation of the suction tool follows the rotation of the drive shaft in the first direction. A component mounting method using a component mounting apparatus including a rotation motor that performs positioning in a rotation direction, a step of holding a substrate on a substrate holding unit, a step of sucking a component on a suction tool, and a suction tool A step of detecting a component angle that is a rotation angle in the horizontal plane of the component, and after detecting the component angle, an electrode portion angle that is an angle in the horizontal plane of the electrode portion of the substrate held by the substrate holding portion is detected. Process, In parallel with the detection of the pole part angle, the electrode part angle is temporarily set, and the suction tool is attached based on the relationship between the set electrode part angle temporarily set value and the detected part angle. When the angle of the part is made to coincide with the temporary setting value of the electrode section angle, the rotation motor is driven by the backlash existing in the power transmission mechanism before the drive shaft of the rotation motor is rotated in the first direction. Determination of whether or not it is necessary to execute an anti-backlash operation in which the drive shaft of the rotary motor is rotated in the second direction opposite to the first direction so that the suction tool does not follow the shaft. And the target rotation position that is the rotation position of the suction tool when the angle of the part sucked by the suction tool matches the detected electrode part angle based on the detected part angle and the detected electrode part angle of And when it is determined that it is not necessary to perform anti-backlash operation, after detecting the electrode section angle, rotate the drive shaft of the rotary motor in the first direction to rotate the suction tool to the target If it is determined that it is necessary to perform the anti-backlash operation by positioning the position, the anti-backlash operation is performed by rotating the drive shaft of the rotary motor in the second direction in parallel with the detection of the electrode portion angle. After detecting the part angle, rotating the drive shaft of the rotary motor in the first direction to position the suction tool at the target rotation position, and lowering the suction tool positioned at the target rotation position with respect to the substrate And mounting a component adsorbed by the adsorption tool on the electrode part of the substrate.

  The component mounting method according to claim 4 is the component mounting method according to claim 3, wherein the second and subsequent operations are performed on an electrode portion row composed of a plurality of electrode portions arranged in a row on the same substrate. When the component is mounted on the electrode unit, the electrode unit angle detected at the previous mounting of the component is used as a temporary setting value of the electrode unit angle to be set.

  In the present invention, the temporary setting value of the electrode section angle is set in parallel with the detection of the electrode section angle, and the suction tool is set based on the relationship between the set temporary setting value of the electrode section angle and the detected component angle. The second direction opposite to the first direction before rotating the drive shaft of the rotary motor in the first direction when the adsorbed component angle is made to coincide with the temporarily set value of the electrode portion angle. If it is determined that it is necessary to execute the anti-backlash operation, the anti-backlash operation is performed in parallel with the detection of the electrode section angle. After the electrode part angle is detected, the anti-backlash operation detects the electrode part angle by rotating the drive shaft of the rotary motor in the first direction and positioning the suction tool at the target rotational position. Not be performed after, it is possible to shorten the mounting time of the electrode portions required per one part, it is possible to improve the substrate productivity.

The block diagram of the liquid crystal panel manufacturing system in one embodiment of this invention The figure which shows the advancing procedure of the component mounting operation | work with respect to the board | substrate by the liquid crystal panel manufacturing system in one embodiment of this invention The perspective view of the temporary crimping | compression-bonding apparatus which comprises the liquid crystal panel manufacturing system in one embodiment of this invention The top view of the temporary crimping | compression-bonding apparatus in one embodiment of this invention The side view of the temporary crimping | compression-bonding apparatus in one embodiment of this invention The partial expanded front view of the temporary crimping | compression-bonding apparatus in one embodiment of this invention The partial expansion perspective view of the temporary crimping | compression-bonding apparatus in one embodiment of this invention The block diagram which shows the control system of the temporary crimping | compression-bonding apparatus in one embodiment of this invention (A) Plan view of part (b) Plan view of electrode part in one embodiment of the present invention (A) (b) The figure explaining the rotation direction of the adsorption | suction tool in one embodiment of this invention The flowchart of the main routine which shows the execution procedure of the temporary crimping operation which the temporary crimping apparatus in one embodiment of this invention performs The flowchart of the subroutine which shows the execution procedure of the temporary crimping operation which the temporary crimping apparatus in one embodiment of this invention performs

  Embodiments of the present invention will be described below with reference to the drawings. A liquid crystal panel manufacturing system 1 shown in FIG. 1 includes a component (electronic component) 3 such as a drive circuit in each of a plurality of electrode portions 2a provided at an end of a panel-shaped substrate 2 made of a rectangular transparent glass material. The ACF adhering device 11, the temporary pressure bonding device 12, the first main pressure bonding device 13, the second main pressure bonding device 14, and the inspection device 15 are connected in this order. These devices 11 to 15 operate under integrated control by the host computer 16, and when a production command is issued from the host computer 16, each of the devices 11 to 15 is a work for each person in the component mounting work. Execute the process.

  Here, as shown in FIG. 2, the plurality of electrode portions 2 a on the substrate 2 are provided in a line on each of one long side and one short side. That is, an electrode portion row 2L composed of a plurality of electrode portions 2a is formed on each of one long side and one short side of the substrate 2.

  The ACF adhering device 11 receives the substrate 2 supplied from the upstream process side, attaches a piece 4 of ACF tape to each electrode portion 2a on the substrate 2 as shown in FIG. It is carried out to the temporary pressure bonding device 12 on the downstream process side.

  The temporary crimping device 12 receives the substrate 2 carried out from the ACF sticking device 11, and attaches (temporarily presses) the component 3 onto the slice 4 of the ACF tape stuck to each electrode portion 2 a of the substrate 2. Then, the substrate 2 is carried out to the first final pressure bonding device 13 on the downstream process side.

  The first final crimping device 13 receives the substrate 2 carried out from the temporary crimping device 12, and after thermocompression bonding (main crimping) the component 3 temporarily crimped to each electrode portion 2 a on the long side of the substrate 2. Then, the substrate 2 is carried out to the second final crimping device 14 on the downstream process side.

  The second final crimping device 14 receives the substrate 2 carried out from the first final crimping device 13, and thermocompression-bonds the component 3 temporarily crimped to each electrode portion 2 a on the short side of the substrate 2 (final crimping). After that, the substrate 2 is carried out to the inspection apparatus 15 on the downstream process side.

  The inspection device 15 receives the substrate 2 carried out from the second final crimping device 14, performs inspection of the component 3 that is finally crimped to each electrode portion 2 a of the substrate 2, and performs various determination processes, and then the substrate. 2 is taken out of the liquid crystal panel manufacturing system 1.

  Next, the temporary pressure bonding apparatus 12 which is a component mounting apparatus in the liquid crystal panel manufacturing system 1 will be described. 3, 4, and 5, the provisional pressure bonding apparatus 12 includes a substrate holding / moving unit 22 that holds and moves the substrate 2 on a base 21, a component supply unit 23 that supplies components 3, and a component supply unit 23. The component transfer unit 24 that receives and transfers a plurality of components 3 supplied from the component 3 to a predetermined suction position, and the component 3 transferred to the suction position by the component transfer unit 24 is suctioned (pickup) and held in the substrate holding / moving unit 22. A component mounting portion 25 for mounting (temporary pressure bonding) on the substrate 2 is provided.

  Hereinafter, for convenience of explanation, the left-right direction of the base 21 viewed from the operator OP (FIGS. 3 and 4) is the X-axis direction, the front-rear direction of the base 21 viewed from the operator OP is the Y-axis direction, and the top-bottom of the base 21 Let the direction be the Z-axis direction. Further, the right side of the base 21 viewed from the operator OP is the right side and the left side is the left side, and the front side of the base 21 viewed from the operator OP is the front side and the back side is the rear side.

  4 and 5, the substrate holding / moving unit 22 is provided so as to be movable in the Y-axis direction with respect to the X table 31 provided relative to the base 21 in the X-axis direction and the X table 31. The Y table 32 includes a θ table 33 provided so as to be rotatable about the Z axis with respect to the Y table 32, and a substrate holding table 34 provided on the upper surface of the θ table 33. The substrate 2 is held in a horizontal posture on the upper surface of the substrate holding table 34.

  Thus, in the temporary press-bonding device 12 according to the present embodiment, the substrate holding / moving unit 22 functions as a substrate holding unit that holds the substrate 2 having the electrode unit 2a.

  3 and 6, the component supply unit 23 includes two left and right tape transport units 41 that transport the tape TP on which the component 3 is placed, and left and right punches the component 3 from the tape TP transported by the left and right tape transport units 41. Two part punching parts 42 are provided.

  3 and 6, the left and right tape transport units 41 are respectively a tape supply reel 41a for supplying (feeding out) the tape TP, and a tape take-up reel 41b for winding the tape TP supplied from the tape supply reel 41a. The cover tape take-up reel 41c is formed by removing the cover tape CT from the tape TP supplied from the tape supply reel 41a. In each tape transport section 41, the tape supply reel 41a, the tape take-up reel 41b, and the cover tape take-up reel 41c rotate synchronously, thereby supplying the tape TP from the tape supply reel 41a and using the tape take-up reel 41b. The tape TP is taken up and the cover tape CT is taken up from the tape TP by the cover tape take-up reel 41c, and a part of the tape TP from which the cover tape CT is peeled is conveyed in the horizontal plane direction (X-axis direction). Is done.

  5 and 6, the left and right component punching portions 42 are composed of a lower die 42a fixed to the base 21 and an upper die 42b that is moved up and down above the lower die 42a. Between the lower mold 42a and the upper mold 42b, the tape TP conveyed in the horizontal plane direction by the tape conveying unit 41 passes, and the upper mold 42b is lowered with respect to the lower mold 42a. Thus, the component 3 can be punched from the tape TP.

  3 and 6, the component transfer section 24 is provided so as to be relatively movable in the Y-axis direction with respect to the X-axis guide 51 provided on the base 21 so as to extend in the X-axis direction. Left and right Y-axis tables 52, left and right X-axis tables 53 provided so as to be movable in the X-axis direction with respect to each Y-axis table 52, and two left and right transfer heads 54 provided on each X-axis table 53 are provided. ing.

  Each transfer head 54 is rotatably provided around the Z axis with respect to the X axis table 53, and is driven by a table drive motor 55 (FIGS. 5 and 6) and rotated in a horizontal plane. 56 and a plurality (seven in this case) of receiving nozzles 57 (the above-described component receiving means) provided extending upward from the turntable 56. The plurality of receiving nozzles 57 can be moved up and down individually with respect to the turntable 56 by an actuator (not shown).

  Each transfer head 54 rotates the turntable 56 at a certain angle, so that any one of the plurality of receiving nozzles 57 is positioned below the lower die 42a of the component punching portion 42 (this position is hereinafter referred to as “ (Referred to as a receiving nozzle 57 indicated by a broken line in FIG. 5), and a receiving nozzle 57 raised at the component supplying position. Thus, after receiving and supporting the part 3 punched by the part punching part 42 from below, a series of movements including the operation of lowering the receiving nozzle 57 is repeated. In this way, the transfer head 54 receives the plurality of parts 3 continuously punched from the tape TP one after another by different receiving nozzles 57.

  Each of the transfer heads 54 moves to a predetermined position on the component mounting unit 25 side when receiving a plurality of components 3 punched by the component punching portion 42 by a plurality of receiving nozzles 57, and receives a plurality of receiving nozzles 3. By positioning one of the components 57 at a predetermined position (hereinafter referred to as “nozzle movement position”), the component 3 is adsorbed by the component mounting unit 25 (this adsorbing position is a left and right mounting head described later). There are two left and right parts corresponding to 63).

  The left and right transfer heads 54 are components 3 transferred to corresponding suction positions (the left transfer head 54 corresponds to the left suction position and the right transfer head 54 corresponds to the right suction position). When sucked (pick up) by a suction tool 63a (described later) of the mounting portion 25, the turntable 56 is rotated by a certain angle, and the component is brought to the suction position by the receiving nozzle 57 located next to the receiving nozzle 57 to which the component 3 is sucked. 3 is newly transferred.

  3, 4, and 5, the component mounting portion 25 includes a pair of left and right columns 61 a erected on the base 21, and a horizontal direction (X-axis direction) of the base 21 spanning the pair of columns 61 a. ), A left and right X-axis moving body 62 movably provided in the X-axis direction along the horizontal member 61b of the gate-shaped frame 61, and each X-axis moving body. The left and right mounting heads 63 provided movably in the Y-axis direction with respect to 62, a backup unit 64 provided on the base 21 and positioned below the mounting head 63, and 2 provided on the backup unit 64 It has two cameras 65 (see also FIG. 7).

  3 and 5, the mounting head 63 includes a single nozzle-like suction tool 63a extending downward. The suction tools 63a included in the two left and right mounting heads 63 receive vacuum pressure from an air supply source (not shown) and perform vacuum suction of the component 3 and release operation thereof.

  Each suction tool 63a can be moved up and down by a lifting motor 67 provided on a bracket 66 having an L-shaped cross section located below the X-axis moving body 62, and a vertical axis by a rotary motor 68 attached via the bracket 66. It can rotate freely. A reduction gear 69 comprising a gear type power transmission mechanism is interposed between the drive shaft 68a of the rotation motor 68 and the suction tool 63a. The rotation motor 68 drives the reduction gear 69 by the rotation operation of the drive shaft 68a. The suction tool 63a is rotated around the vertical axis.

  Thus, in the temporary press-bonding device 12 in the present embodiment, the suction tool 63a is provided so as to be rotatable about the vertical axis and sucks the component 3.

  Here, since there is a backlash between the gears constituting the speed reducer 69, when the drive shaft 68a of the rotary motor 68 is rotated, the suction tool 63a may not follow the drive shaft 68a of the rotary motor 68. However, after the drive shaft 68a of the rotary motor 68 is rotated in one direction (referred to as the first direction), the follow-up of the suction tool 63a with respect to the drive shaft 68a of the rotary motor 68 is obtained. As long as the drive shaft 68a of the rotary motor 68 is rotated in the first direction, the suction tool 63a can always follow the drive shaft 68a of the rotary motor 68, so that the drive shaft 68a of the rotary motor 68 is finally rotated in the first direction. Thus, the suction tool 63a is positioned (positioning in the rotation direction). In this embodiment, the rotation direction (first direction) of the drive shaft 68a of the rotary motor 68 is a direction in which the suction tool 63a is rotated counterclockwise when viewed from above, and this first direction. Is referred to as “forward”. On the other hand, the rotation direction of the drive shaft 68a of the rotary motor 68 that rotates in the clockwise direction when the suction tool 63a is viewed from above (the second direction) is the opposite direction to the forward direction. In the embodiment, this is referred to as “reverse direction”.

  Thus, in the temporary press-bonding device 12 in the present embodiment, the rotary motor 68 has the drive shaft 68a that rotates the suction tool 63a via the speed reducer 69 that is a power transmission mechanism. In particular, the suction tool 63a is positioned in the rotational direction by rotating in the first direction (forward direction).

  In FIG. 5, the backup unit 64 is provided so as to be horizontally movable along the X-axis member 64a and an X-axis member 64a provided extending in the X-axis direction between the substrate holding / moving unit 22 and the component supply unit 23. The slider 64b (see also FIG. 7) and a backup stage 64c (see also FIGS. 3 and 7) provided so as to project forward from the upper portion of the slider 64b in the Y-axis direction. A plurality of parts that secure the flatness of the substrate 2 by adsorbing a part of the lower surface of the substrate 2 held by the substrate holding table 34 and fixing the substrate 2 to the backup stage 64c are arranged on the upper part in the slider 64b. A suction part 64d is provided. The substrate holding / moving unit 22 holds the substrate 2 so that the electrode portion row 2L formed on the long side or the short side on the substrate 2 held by the substrate holding table 34 is positioned immediately above the backup stage 64c. (See the state shown in FIG. 5).

  The left and right mounting heads 63 are respectively corresponding suction positions by the corresponding transfer heads 54 of the component transfer unit 24 (the left mounting head 63 corresponds to the left transfer head 54 and the left suction position, and the right mounting head 63 The parts 3 transferred to the right transfer head 54 and the right suction position correspond to each other by vacuum suction by the suction tool 63a, and the parts 3 are attached to the electrode parts 2a of the substrate 2 held by the substrate holding and moving part 22. Wear. At this time, the backup stage 64c of the backup unit 64 is positioned below the electrode unit 2a of the substrate 2, and the mounting head 63 presses the component 3 together with the electrode unit 2a against the backup stage 64c (FIG. 5). An ACF adhering device installed on the upstream process side of the temporary crimping device 12 is provided on each of the long-side electrode portions 2a and short-side electrode portions 2a of the substrate 2 held by the substrate holding / moving portion 22. 11, the section 4 of the ACF tape is stuck (see FIG. 4).

  5 and 7, the two cameras 65 are supported in a state in which the imaging field of view is directed upward by a camera support portion 64e attached to the lower portion of the slider 64b provided in the backup portion 64 (below the backup stage 64c). . The backup stage 64c is provided with two through holes 64f extending in the vertical direction along the optical axis CJ of each camera 65. The two cameras 65 are electrode portions of the substrate 2 held by the substrate holding / moving portion 22. Two parts provided on the part 3 adsorbed by the two electrode part side marks 2m provided at both ends of the 2a (both ends along the extending direction of the electrode part row 2L) or the adsorption tool 63a of the mounting head 63 The side mark 3m can be viewed from below through the through hole 64f. Since the substrate 2 is made of a transparent glass material, the electrode part side mark 2m provided on the upper surface of the substrate 2 can be visually recognized by the camera 65 from below the substrate 2.

  Positioning operation of the substrate 2 held by the substrate holding / moving unit 22 (moving operation in the X-axis direction with respect to the base 21 of the X table 31 constituting the substrate holding / moving unit 22, Y-axis direction of the Y table 32 with respect to the X table 31 And the rotation of the θ table 33 about the Y table 32 with respect to the Y table 32) are controlled by the controller 70 (FIG. 8) of the temporary press-bonding device 12 (FIG. 8). This is done by performing the operation control of 8).

  The transport operation of the tape TP by the left and right tape transport units 41 constituting the component supply unit 23 is performed by the control device 70 controlling the operation of a tape transport mechanism 72 (FIG. 8) including an actuator (not shown). In the punching operation of the part 3 from the tape TP by the left and right part punching parts 42 constituting the part supply part 23, the control device 70 controls the operation of the part punching part drive mechanism 73 (FIG. 8) including an actuator (not shown). Is made by

  Transfer operation of the component 3 by the left and right transfer heads 54 constituting the component transfer unit 24 (movement operation of each Y-axis table 52 in the Y-axis direction with respect to the X-axis guide 51, X of the X-axis table 53 with respect to each Y-axis table 52 The control device 70 includes the table drive motor 55 described above for the movement operation in the axial direction, the rotation operation of the turntable 56 around the Z axis with respect to each X-axis table 53, and the lifting operation of each receiving nozzle 57 with respect to the turntable 56. This is done by controlling the operation of the component transfer unit drive mechanism 74 (FIG. 8) including an actuator or the like.

  Movement operation of the left and right mounting heads 63 in the component mounting unit 25 (moving operation of each X-axis moving body 62 in the X-axis direction relative to the lateral member 61b of the portal frame 61 and Y of the mounting head 63 relative to each X-axis moving body 62) The movement operation in the axial direction) is performed when the control device 70 controls the operation of the mounting head moving mechanism 75 (FIG. 8) including an actuator (not shown).

  The suction and release operation of the component 3 by each mounting head 63 is performed by controlling the operation of a vacuum suction operation control mechanism 76 (FIG. 8) including an actuator connected to the air supply source (not shown). This is done by supplying a vacuum pressure in 63a or by supplying a positive pressure in the suction tool 63a to break the vacuum in the suction tool 63a.

  As shown in FIG. 8, the control device 70 includes an image recognition unit 70a, a component angle calculation unit 70b, an electrode unit angle calculation unit 70c, an electrode unit angle temporary setting value setting unit 70d, a determination unit 70e, and a target rotational position calculation unit. 70f, a suction tool positioning control unit 70g, and a mounting control unit 70h are provided (FIG. 8).

  The imaging operation of each camera 65 is controlled by the control device 70 (FIG. 8), and the image data obtained by the imaging operation of each camera 65 is sent to the image recognition unit 70a of the control device 70 for image recognition.

  The component angle calculation unit 70b is used to detect a component angle that is an angle in the horizontal plane direction of the component 3 sucked by the suction tool 63a, and the electrode portion angle calculation unit 70c is a substrate held by the substrate holding / moving unit 22. 2 is used for detection of an electrode portion angle which is a rotation angle in the horizontal plane direction of the second electrode portion 2a (the electrode portion 2a in the electrode portion row 2L positioned immediately above the backup stage 64c).

  As shown in FIG. 9A, the component angle is the forward direction from the X axis of the line S1 connecting the two component side marks 3m provided on the component 3 (counterclockwise in FIGS. 9A and 9B). ), And hereinafter referred to as “component angle θ”. Based on the image recognition result of the two component side marks 3m obtained by the imaging operation of the two cameras 65, the component angle calculation unit 70b (FIG. 8) of the control device 70 can detect the component 3 having the component side mark 3m. The component angle θ is calculated.

  As shown in FIG. 9B, the electrode part angle is an angle φ taken in the forward direction from the X axis of the line S2 connecting the two electrode part side marks 2m provided at both ends of the electrode part 2a. Hereinafter, it is referred to as “electrode portion angle φ”. The electrode unit angle calculation unit 70c of the control device 70 is based on the image recognition result of the two electrode unit side marks 2m obtained by the imaging operation of the two cameras 65, and the electrode unit 2a including the electrode unit side mark 2m. The electrode portion angle φ is calculated. As will be described later, the electrode portion angle φ is detected after the component angle θ is detected in the procedure when the component 3 is mounted on the electrode portion 2a.

  As described above, in the present embodiment, the two camera 65 and the component angle calculation unit 70b of the control device 70 are rotation angles in the horizontal plane direction of the component 3 sucked by the suction tool 63a in the temporary press-bonding device 12. The two camera 65 and the electrode unit angle calculation unit 70c of the control device 70 function as a component angle detection unit that detects the component angle θ, and the component angle detection unit (two camera 65 and the component angle calculation unit 70b of the control device 70). ), The electrode portion angle detection means for detecting the electrode portion angle φ which is the angle in the horizontal plane direction of the electrode portion 2a of the substrate 2 held by the substrate holding and moving portion 22 is detected.

  The electrode part angle temporary setting value setting part 70d of the control device 70 is an electrode in parallel with the detection of the electrode part angle φ by the electrode part angle detection means (two cameras 65 and the electrode part angle calculation part 70c of the control device 70). A temporary setting value of the part angle φ (hereinafter referred to as an electrode part angle temporary setting value φ1) is set. Here, the electrode portion angle temporary setting value φ1 is set when the component 3 is mounted on the electrode portion 2a for the second and subsequent times for the electrode portion row 2L composed of a plurality of electrode portions 2a arranged in a row on the same substrate 2. Is set to the electrode portion angle φ detected by the electrode portion angle detecting means when the component 3 was previously mounted (details will be described later).

  The determination unit 70e (determination unit) of the control device 70 includes the electrode unit angle temporary setting value φ1 set in the electrode unit temporary setting value setting unit 70d and the component angle detection unit (two camera 65 and the component angle of the control unit 70). Based on the component angle θ detected by the calculation unit 70b) and the rotation direction immediately before the drive shaft 68a of the rotary motor 68, the angle of the component 3 sucked by the suction tool 63a matches the electrode portion angle temporary setting value φ1. In this case, before rotating the drive shaft 68a of the rotary motor 68 in the first direction (forward direction), the drive shaft of the rotary motor 68 caused by backlash existing in the speed reducer 69 that is a power transmission mechanism. Operation for rotating the drive shaft 68a of the rotary motor 68 in a second direction (reverse direction) opposite to the first direction in order to prevent the suction tool 63a from following the 68a. And it determines whether it is necessary to execute the anti-backlash operation).

  Here, the rotation immediately before the drive shaft 68a of the rotary motor 68 means that after the component 3 sucked by the suction tool 63a is mounted on the electrode portion 2a of the substrate 2, the drive shaft 68a of the rotary motor 68 is moved to a predetermined original position. The rotation when returning to the rotational position (the position where the rotational angle of the drive shaft becomes 0 °) is referred to, but the drive of the rotational motor 68 is determined in determining whether or not the anti-backlash operation is performed on the drive shaft 68a of the rotational motor 68. The rotation immediately before the shaft 68a is related to the fact that the suction tool 63a is positioned by finally rotating the drive shaft of the rotary motor in the forward direction (first direction) as described above. Therefore, the fact that the rotation direction immediately before the drive shaft 68a of the rotary motor 68 is the forward direction means that even if the drive shaft 68a of the rotary motor 68 is directly rotated from the current position in the forward direction, the backlash is reversed. This means that the non-following of the suction tool 63a due to the above does not occur, and the fact that the rotation direction immediately before the drive shaft 68a of the rotary motor 68 is the reverse direction (second direction) indicates that the drive shaft of the rotary motor 68 This is because if the 68a is rotated in the forward direction as it is from the current position, it means that the non-following of the suction tool 63a due to backlash may occur.

  The target rotation position calculation unit 70f (target rotation position calculation unit) of the control device 70 is based on the component angle θ detected by the component angle detection unit and the electrode unit angle φ detected by the electrode unit angle detection unit. The target rotational position that is the rotational position (rotational angle from the original rotational position) of the suction tool 63a when the angle of the part 3 sucked by the tool 63a is made to coincide with the electrode part angle φ detected by the electrode part angle detection means. Perform the calculation.

  When the determination unit 70e determines that the anti-backlash operation need not be executed by the determination unit 70e, the suction tool positioning control unit 70g (the suction tool positioning control unit) of the control device 70 has the electrode unit angle φ by the electrode unit angle detection unit. Is detected, the drive shaft 68a of the rotary motor 68 is rotated in the forward direction (first direction) to position the suction tool 63a at the target rotational position calculated by the target rotational position calculation unit 70f, and the determination unit If it is determined that the anti-backlash operation needs to be executed by 70e, the drive shaft 68a of the rotary motor 68 is moved in the reverse direction (second direction) in parallel with the detection of the electrode portion angle φ by the electrode portion angle detecting means. ) Is rotated, and after the electrode portion angle φ is detected by the electrode portion angle detecting means, the drive shaft 6 of the rotary motor 68 is detected. Rotate the a in the forward direction to position the target rotational position calculated suction tool 63a by the target rotational position calculating portion 70f.

  The mounting control unit 70h (mounting control means) of the control device 70 lowers the suction tool 63a positioned at the target rotation position calculated by the target rotation position calculation unit 70f with respect to the substrate 2 and is sucked by the suction tool 63a. The mounted component 3 is attached to the electrode portion 2 a of the substrate 2.

  After the component 3 is mounted on the electrode portion 2a of the substrate 2 by the mounting control unit 70h, the suction tool positioning control unit 70g controls the operation of the rotary motor 68 and uses the drive shaft 68a of the rotary motor 68 as the original. The operation to return to the rotation position is performed.

  In FIG. 8, a touch panel 77 as an input / output device is connected to the control device 70, and an operator OP can receive a message via the touch panel 77 and inputs a necessary command via the touch panel 77. be able to.

  As described above, the control device 70 finally rotates the drive shaft 68a of the rotary motor 68 in the forward direction, thereby moving the suction tool 63a in the forward direction (first direction) of the drive shaft 68a of the rotary motor 68. The suction tool 63a is positioned in the rotational direction while following the rotation. Therefore, the determination unit 70e of the control device 70 obtains an angle α1 (= φ1) obtained from the electrode portion angle temporary setting value φ1 set in the electrode portion angle temporary setting value setting portion 70d and the component angle θ detected by the component detection unit. −θ) is zero (“0”) or a positive value, that is, α1 ≧ 0 (FIG. 10A), and the rotation direction immediately before the drive shaft 68a of the rotary motor 68 is the forward direction. Exists in the speed reducer 69 even if the drive shaft 68a of the rotary motor 68 is rotated in the forward direction (first direction) by the angle α1 (this angle α1 is usually close to the target rotation position) as it is. Since the suction tool 63a does not follow the drive shaft 68a of the rotary motor 68 due to the backlash, the anti-backlash operation needs to be executed when the angle of the component 3 matches the set target rotation position. Judge that there is no.

  On the other hand, the determination unit 70e of the control device 70 obtains an angle α1 (= φ1) obtained from the electrode unit angle temporary setting value φ1 set in the electrode unit angle temporary setting value setting unit 70d and the component angle θ detected by the component detection unit. -Θ) is zero (“0”) or a positive value, that is, α1 ≧ 0 (FIG. 10A), but the rotation direction immediately before the drive shaft 68a of the rotary motor 68 is the reverse direction. If the drive shaft 68a of the rotary motor 68 is rotated in the forward direction (first direction) by the angle α1 as it is, the suction tool 63a with respect to the drive shaft 68a of the rotary motor 68 caused by backlash existing in the speed reducer 69 will be described. When the angle of the component 3 is made coincident with the target rotation position, the drive shaft 68a is rotated in the reverse direction before the drive shaft 68a is finally rotated in the forward direction (anti-backlash). It determines that it is necessary to perform the work).

  Further, the determination unit 70e of the control device 70 obtains an angle α1 (= φ1) obtained from the electrode portion angle temporary setting value φ1 set in the electrode portion angle temporary setting value setting portion 70d and the component angle θ detected by the component detection means. -Θ) is a negative value, that is, α1 <0 (FIG. 10B), when the drive shaft 68a of the rotary motor 68 is rotated in the reverse direction (second direction) as it is, the speed reducer 69, the suction tool 63a does not follow the drive shaft 68a of the rotary motor 68 due to the backlash existing in the 69. Therefore, when the angle of the component 3 is made to coincide with the target rotational position, the drive shaft 68a is finally moved forward. Before rotating in the direction, it is determined that it is necessary to execute an operation (anti-backlash operation) for rotating the drive shaft 68a in the reverse direction.

  When the determination unit 70e determines that the anti-backlash operation need not be performed by the determination unit 70e, the suction tool positioning control unit 70g of the control device 70 detects the electrode unit angle φ by the electrode unit angle detection means. The suction tool 68a rotates the drive shaft 68a of the rotary motor 68 in the forward direction (first direction) as it is from the current position, so that the angle of the part 3 sucked by the suction tool 63a matches the electrode portion angle φ. 63a is positioned at the target rotational position calculated by the target rotational position calculator 70f.

  On the other hand, when the determination unit 70e determines that the anti-backlash operation needs to be executed by the determination unit 70e, the suction tool positioning control unit 70g of the control device 70 performs the electrode unit angle detection by the electrode unit angle detection unit. An anti-backlash operation is performed in which the drive shaft 68a of the rotary motor 68 is rotated in the reverse direction (second direction). In the anti-backlash operation performed here, the suction tool 63a is driven by the drive shaft 68a during the rotation of the drive shaft 68a in the final forward direction (first direction) after the anti-backlash operation. 68a (that is, the rotational position of the suction tool 63a can be controlled by the rotational position of the drive shaft 68a of the rotary motor 68) by the angle β (FIG. 10B) in the reverse direction (second Direction). Then, after this anti-backlash operation, the suction tool positioning control unit 70g of the control device 70 moves the drive shaft 68a of the rotary motor 68 forward ( The target rotation calculated by the target rotation position calculation unit 70f so that the angle of the part 3 sucked by the suction tool 63a coincides with the detected electrode angle φ. Position to position.

  Next, using the flowchart of the main routine of FIG. 11 and the flowchart of the subroutine of FIG. 12, the temporary crimping operation procedure for temporarily crimping (mounting) the component 3 to the electrode portion 2a on the substrate 2 by the temporary crimping apparatus 12 ( A component mounting method using the temporary pressure bonding device 12 will be described. To this end, first, the control device 70 sends the substrate 2 sent from the ACF adhering device 11 which is the device on the upstream process side (the section 4 of the ACF tape is adhered to each electrode portion 2a of the substrate 2). Is carried into the temporary press-bonding device 12 by a substrate carry-in device (not shown), and the substrate 2 is held in a horizontal position on the substrate holding table 34 of the substrate holding and moving unit 22 (step ST1 shown in FIG. 11). The operation of the substrate holder drive mechanism 71 is controlled to position the substrate 2 as described above (step ST2 shown in FIG. 11).

  Thus, step ST1 is a substrate holding step in which the substrate 2 is held by the substrate holding / moving unit 22 which is a substrate holding unit in the component mounting method using the temporary pressure bonding apparatus 12.

  The control device 70 receives the component 3 by the left and right transfer heads 54 in parallel with the loading of the substrate at step ST1 and the holding and positioning of the substrate 2 at step ST2 (step ST3 shown in FIG. 11). In receiving the component 3 by the left and right transfer heads 54, first, the control device 70 moves the left and right transfer heads 54 to the component supply unit 23 side, and among the plurality of receiving nozzles 57 provided in each transfer head 54. A component supply position corresponding to the transfer head 54 that has not received the component 3 (the left component supply position for the left transfer head 54 and the right component supply position for the right transfer head 54) To be located. Then, while operating the left and right tape transport sections 41 to transport the tape TP, the corresponding component punching sections 42 (the left-side component punching section 42 and the right-side tape transport section 41 with respect to the left tape transport section 41). In response to this, by operating the right part punching part 42) and punching out the part 3 from the tape TP, the part supply part 23 supplies the part 3 to the left and right parts supply positions. The component 3 (punched by the component punching unit 42) supplied to the left and right component supply positions is received by the receiving nozzles 57 of the left and right transfer heads 54 positioned at the respective component supply positions.

  When the control device 70 receives the component 3 by the left and right transfer heads 54, the control device 70 moves the left and right transfer heads 54 toward the component mounting portion 25, and the plurality of receiving nozzles 57 in a state of receiving the component 3. One is located at the aforementioned nozzle movement position, and the component 3 is transferred to the suction position (step ST4 shown in FIG. 11).

  When the control device 70 transfers the component 3 to the suction position by the left and right transfer heads 54, the control device 70 enters the mounting operation (the subroutine shown in FIG. 12) of the component 3 in step ST5 shown in FIG.

  In the mounting operation of the component 3, first, the left and right mounting heads 63 are moved directly above the corresponding suction positions, and the component 3 transferred to the suction position is picked up (pick up) by the suction tool 63a (step shown in FIG. 12). ST11).

  As described above, step ST11 is a component suction step in which the component 3 is sucked by the suction tool 63a in the component mounting method using the temporary pressure bonding device 12.

  When the component 3 is attracted to each mounting head 63, the control device 70 uses the suction tool 63 a that sucks the component 3 above the camera 65 without the substrate 2 above the two cameras 65 (ie, the component 3 ) Advance (step ST12 shown in FIG. 12), the two component side marks 3m provided on the component 3 are imaged by the two cameras 65, and based on the obtained position of the two component side marks 3m The component angle θ is detected by the angle calculation unit 70b (that is, by the component angle detection means) (step ST13 shown in FIG. 12).

  As described above, step ST13 is a component angle detection step of detecting the component angle θ which is the rotation angle in the horizontal plane direction of the component 3 sucked by the suction tool 63a in the component mounting method by the temporary pressure bonding device 12.

  After detecting the component angle θ, the control device 70 moves the suction tool 63a to move the component 3 away from the upper side of the camera 65 and advances the substrate 2 above the camera 65 (step ST14 shown in FIG. 12). ). And the control apparatus 70 images the two electrode part side marks 2m provided in the vicinity of the electrode part 2a which is the mounting object of the component 3 with the two cameras 65, and obtained two electrode part side marks. Based on the position of 2 m, the electrode portion angle calculation unit 70c detects the electrode portion angle φ (step ST15 shown in FIG. 12).

  As described above, in step ST15, in the component mounting method using the temporary crimping apparatus 12, the electrode portion that is the angle in the horizontal plane direction of the electrode portion 2a of the substrate 2 held by the substrate holding and moving portion 22 after detecting the component angle θ. This is an electrode part angle detection process for detecting the angle φ.

  When the electrode portion angle φ is detected in step ST15, the target rotational position calculation unit 70f of the control device 70 detects the component angle θ detected by the component angle detection unit and the electrode unit angle detected by the electrode unit angle detection unit. Based on φ, calculation of the target rotational position, which is the rotational position of the suction tool 63a when the angle of the component 3 sucked by the suction tool 63a is made to coincide with the electrode portion angle φ detected by the electrode portion angle detection means, is calculated. This is performed (step ST16 shown in FIG. 12).

  As described above, the electrode angle φ is detected after the component angle θ is detected, as described above, when the substrate 2 is supported by the backup unit 64. Since the flatness of the substrate is secured by attracting the lower surface side of the vicinity position by the attracting portion 64d, if the component angle θ is detected after detecting the electrode portion angle φ, the substrate by the attracting portion 64d is detected. 2 must be released once, the trouble of repeating the adsorption operation by the adsorption unit 64d and the position of the substrate 2 when the substrate 2 is adsorbed again by the adsorption unit 64d (the electrode portion angle φ is detected) This is for avoiding a deviation from the state when the operation is performed.

  In this way, step ST16 matches the detected electrode part angle φ with respect to the part 3 adsorbed by the adsorbing tool 63a based on the part angle θ detected in step ST13 and the electrode part angle φ detected in step ST15. This is a target rotational position calculation step for calculating the target rotational position that is the rotational position of the suction tool 63a when the suction tool 63a is used.

  After step ST13, control device 70 sets electrode portion angle temporary setting value φ1 in electrode portion angle temporary setting value setting portion 70d (step ST17 shown in FIG. 12). Then, in the determination unit 70e, the control device 70 uses the electrode angle temporary setting value φ1 set in step ST17, the component angle θ calculated by the component angle calculation unit 70b (detected by the component angle detection means), and the rotary motor 68. The anti-backlash operation needs to be executed when the angle of the component 3 sucked by the suction tool 63a is made to coincide with the electrode portion angle temporary setting value φ1 based on the rotation direction immediately before the drive shaft 68a. (Step ST18 shown in FIG. 12).

  As described above, step ST17 is an electrode part angle temporary setting value setting step for setting the electrode part angle temporary setting value φ1 in parallel with the detection of the electrode part angle φ. When the angle of the part 3 attracted to the suction tool 63a is made to coincide with the electrode part angle temporary set value φ1 based on the relationship between the part angle temporary setting value φ1 and the detected part angle θ, the rotation motor 68 Before the drive shaft 68a is rotated in the forward direction (in the first direction), the suction tool 63a does not follow the drive shaft 68a of the rotary motor 68 due to backlash existing in the speed reducer 69 as a power transmission mechanism. Is it necessary to execute an anti-backlash operation in which the drive shaft 68a of the rotary motor 68 is rotated in the opposite direction (second direction) to the forward direction (first direction) in order to prevent the rotation? This is a determination process for determining whether or not.

  The electrode part angle temporary setting value φ1 set by the electrode part angle temporary setting value setting part 70d of the control device 70 is applied to the electrode part row 2L composed of a plurality of electrode parts 2a arranged in a line on the same substrate 2. When the component 3 is mounted on the first (first) electrode portion 2a, the maximum value in the reverse direction that can be assumed is used (for this reason, the anti-backlash operation is always executed when the first component 3 is mounted. ) When mounting the component 3 on the electrode portion 2a for the second and subsequent times performed on the electrode portion row 2L composed of a plurality of electrode portions 2a arranged in a row on the same substrate 2, the previous mounting of the component 3 is performed. Sometimes the electrode portion angle φ detected by the electrode portion angle detecting means is used.

  When the component 3 is mounted on the electrode portion 2a for the second and subsequent times, the electrode portion angle φ detected by the electrode portion angle detecting means when the component 3 was previously mounted is used as the electrode portion angle temporary setting value φ1. In the electrode part row 2L composed of a plurality of electrode parts 2a arranged in a line on the same substrate 2, the electrode part angles φ of the electrode parts 2a constituting the electrode part row 2L are expected to be substantially equal to each other. Because it is done.

  If it is determined in step ST18 that the anti-backlash operation needs to be performed, the suction tool positioning control unit 70g of the control device 70 rotates the suction tool 63a by the angle β in the reverse direction to execute the anti-backlash operation ( Step ST19 shown in FIG.

  Here, the suction tool positioning control unit 70g of the control device 70 performs the steps ST17 to ST19 while the steps ST14 to ST16 are being performed (in parallel with the steps ST14 to ST16). Do.

  When both step ST16 and step ST19 are completed, the controller 70 rotates the suction tool 63a in the forward direction and positions the suction tool 63a at the target rotational position calculated in step ST16 (step ST20 shown in FIG. 12). Thereby, the angle of the component 3 attracted | sucked to the suction tool 63a corresponds with the electrode part angle (phi) detected by step ST15.

  When the suction tool 63a is positioned at the target rotation position in step ST20, the mounting control unit 70h of the control device 70 operates the lifting motor 67 to lower the suction tool 63a and press the component 3 against the electrode unit 2a, thereby 3 is attached (temporary pressure-bonded) to the electrode portion 2a (step ST21 shown in FIG. 12). When the component 3 is mounted on the electrode part 2a of the substrate 2 in step ST21, the suction tool positioning part 70g of the control device 70 controls the operation of the rotary motor 68 and rotates the drive shaft 68a of the rotary motor 68 to the original rotation. The position is returned (step ST22 shown in FIG. 12). As a result, the subroutine for mounting the component 3 (step ST5 of the main routine) ends, and the process returns to the main routine.

  As described above, in this embodiment, when it is determined in step ST18 that the anti-backlash operation does not need to be performed in step ST18, the rotation motor is detected after the electrode portion angle φ is detected in step ST15. When it is determined in step ST18 that the anti-backlash operation needs to be executed in step ST18, the 68 drive shafts 68a are rotated in the forward direction (first direction) to position the suction tool 63a at the target rotational position. In parallel with the detection of the electrode portion angle φ, an anti-backlash operation is performed to rotate the drive shaft 68a of the rotary motor 68 in the reverse direction (second direction) (step ST19), and the electrode portion angle φ is detected in step ST15. Then, the suction tool 63 is rotated by rotating the drive shaft 68a of the rotary motor 68 in the forward direction (first direction). And it has a suction tool positioning step of positioning the target rotational position.

  Step ST21 includes a component mounting step in which the suction tool 63a positioned at the target rotation position in Step ST20 is lowered with respect to the substrate 2 and the component 3 sucked by the suction tool 63a is mounted on the electrode portion 2a of the substrate 2. Step ST22 is an original rotation position return step for returning the drive shaft 68a of the rotary motor 68 to the original rotation position.

  Thus, in the temporary crimping device 12 as the component mounting device in this embodiment and the component mounting method using the temporary crimping device 12, the electrode portion angle temporary setting value φ1 is set without waiting for the detection result of the electrode portion angle φ. (Assumption) Then, it is determined whether or not the anti-backlash operation is necessary for the drive shaft 68a of the rotary motor 68, and when it is determined that the anti-backlash operation is necessary, the anti-backlash is not performed without waiting for the detection of the electrode portion angle φ. Since the operation is executed, the mounting tact of the component 3 on the electrode portion 2a on the substrate 2 is improved as compared with the case where the anti-backlash operation is started after the detection of the electrode portion angle φ as in the conventional case. To do.

  When step ST5 of the main routine is completed, the control device 70 determines whether or not the mounting of all the components 3 on the board 2 to which the components 3 are currently mounted has been completed (step shown in FIG. 11). ST6). The temporary crimping device 12 temporarily crimps the component 3 to each electrode portion 2a on the long side of the substrate 2 and then rotates the substrate 2 by 90 degrees by the substrate holding unit driving mechanism 71 to each of the short sides of the substrate 2. Since the component 3 is temporarily press-bonded to the electrode portion 2a, whether or not the mounting of all the components 3 on the substrate 2 on which the component 3 is currently mounted has been completed is determined on the long side and the short side of the substrate 2. Judgment is made based on whether or not the component 3 is mounted on all of the electrode portions 2a.

  If the control device 70 determines in step ST6 that the mounting of the component 3 on the board 2 to which the component 3 is currently mounted has not been completed, the control device 70 returns to step ST5 and continues the mounting operation of the component 3. To do. Here, from the mounting operation of the component 3 to the electrode portion 2a constituting the electrode portion row 2L on the long side of the substrate 2 to the mounting operation of the component 3 to the electrode portion 2a constituting the electrode portion row 2L on the short side. In the case of switching, when the component 3 is first mounted on the electrode part 2a constituting the electrode part row 2L on the short side, the assumed maximum value in the reverse direction is used as the temporary setting value φ1. .

  On the other hand, if the control device 70 determines in step ST6 that the mounting of the component 3 on the substrate 2 on which the component 3 is currently mounted has been completed, the control device 70 carries out the substrate 2 from the temporary crimping device 12. Thus, the temporary press-bonding operation for each substrate 2 is completed (step ST7 shown in FIG. 11).

  Thus, after the board | substrate 2 carried out from the temporary crimping | compression-bonding apparatus 12 is carried in into the 1st main crimping | compression-bonding apparatus 13, and the component 3 temporarily crimped | bonded to the electrode part 2a of the long side of the board | substrate 2, this is crimped | bonded, It is carried out from the first main crimping device 13 and carried into the second main crimping device 14. Then, after the component 3 temporarily crimped to the electrode portion 2a on the short side of the substrate 2 in the second final crimping device 14, the component 3 is finally crimped and then unloaded from the second final crimping device 14 and loaded into the inspection device 15. Then, in the inspection apparatus 15, each component 3 mounted on the electrode portion 2a of the substrate 2 is inspected.

  As described above, in the temporary crimping device 12 and the component mounting method using the temporary crimping device 12 according to the present embodiment, the temporary setting value of the electrode portion angle φ (temporary setting of the electrode portion angle φ) in parallel with the detection of the electrode portion angle φ. Value φ1) is set, and the component sucked by the suction tool 63a based on the set electrode portion angle temporary setting value φ1, the detected component angle θ, and the rotation direction immediately before the drive shaft 68a of the rotary motor 68 is set. 3 is made to coincide with the electrode portion angle temporary setting value φ1, before the drive shaft 68a of the rotary motor 68 is rotated in the forward direction (first direction), the reverse direction opposite to the forward direction ( It is determined whether or not it is necessary to execute an anti-backlash operation that rotates in the second direction. If it is determined that an anti-backlash operation needs to be executed, the detection of the electrode portion angle φ is performed in parallel. Anti bag Since the lashing operation is performed and the electrode portion angle φ is detected, the drive shaft 68a of the rotary motor 68 is rotated in the forward direction to position the suction tool 63a at the calculated target rotational position. The backlash operation is not performed after the detection of the electrode portion angle φ, and the mounting time to the electrode portion 2a required for each component can be shortened, so that the productivity of the substrate 2 can be improved.

  In the temporary crimping device 12 and the component mounting method using the temporary crimping device 12 according to the present embodiment, the second and subsequent times are performed on the electrode portion row 2L including the plurality of electrode portions 2a arranged in a row on the same substrate 2. When the part 3 is mounted on the electrode part 2a, the electrode part angle temporary setting value φ1 set by the electrode part angle temporary setting value setting part 70d is used as the electrode part angle detection means (two cameras 65 and the electrode portion angle φ detected by the electrode portion angle calculation unit 70c) of the control device 70 are used, and the electrode portion angle temporarily set value φ1 to be set and the electrode actually detected thereafter Since it is highly likely that the part angle φ is substantially the same (φ1≈φ is likely to be high), after setting the electrode part angle temporary setting value φ1 and performing the anti-backlash operation, the actual electrode part angle Result of detecting φ Therefore, the rotation angle (angle β) during the anti-backlash operation is not too large or too small. From this aspect, the mounting time to the electrode portion 2a required for one part 3 can be shortened. The productivity of the substrate 2 can be improved.

  Provided are a component mounting apparatus and a component mounting method capable of improving the productivity of a substrate by shortening the mounting time required for each component.

2 Substrate 2a Electrode unit 2L Electrode unit array 3 Component 12 Temporary crimping device (component mounting device)
22 Substrate holding and moving unit (substrate holding unit)
63a Suction tool 65 Camera (component angle detection means, electrode portion angle detection means)
68 Rotating motor 68a Drive shaft 69 Reducer (power transmission mechanism)
70b Component angle calculation unit (component angle detection means)
70c Electrode angle calculation unit (electrode angle calculation means)
70d electrode part angle temporary set value setting part (electrode part angle temporary set value setting means)
70e Judgment part (judgment means)
70f Target rotation position calculation unit (target rotation position calculation means)
70g Suction tool positioning control unit (Suction tool positioning control means)
70h Wear control unit (wear control means)
θ Component angle φ Electrode angle φ1 Temporary setting value of electrode angle (Temporary setting value of electrode angle)

Claims (4)

A substrate holding portion for holding a substrate having an electrode portion;
A suction tool that is rotatably provided around the vertical axis and sucks parts;
It has a drive shaft that rotates the suction tool via a power transmission mechanism, and finally rotates the drive shaft in the first direction to follow the rotation of the suction tool in the first direction. A rotating motor that positions the suction tool in the rotating direction in the
A component angle detection means for detecting a component angle which is a rotation angle in a horizontal plane direction of a component sucked by the suction tool;
After the component angle is detected by the component angle detection unit, an electrode unit angle detection unit that detects an electrode unit angle that is an angle in a horizontal plane direction of the electrode unit of the substrate held by the substrate holding unit;
Electrode part angle temporary setting value setting means for setting a temporary setting value of the electrode part angle in parallel with detection of the electrode part angle by the electrode part angle detection means;
Based on the relationship between the temporary setting value of the electrode part angle set by the electrode part temporary setting value setting means and the part angle detected by the part angle detecting means, the angle of the part sucked by the suction tool is determined as the electrode part angle. When the rotation tool drive shaft is rotated in the first direction, the suction tool does not follow the rotation motor drive shaft caused by backlash existing in the power transmission mechanism. Determination means for determining whether or not it is necessary to execute an anti-backlash operation for rotating the drive shaft of the rotary motor in a second direction opposite to the first direction in order to prevent occurrence of
Based on the component angle detected by the component angle detection unit and the electrode unit angle detected by the electrode unit angle detection unit, the electrode unit angle detected by the electrode unit angle detection unit is detected by the electrode unit angle detection unit. Target rotation position calculation means for calculating a target rotation position that is the rotation position of the suction tool when matching with
If it is determined by the determining means that the anti-backlash operation need not be performed, after the electrode portion angle is detected by the electrode portion angle detecting means, the drive shaft of the rotary motor is rotated in the first direction. When the suction tool is positioned at the target rotation position calculated by the target rotation position calculation means and the determination means determines that it is necessary to execute the anti-backlash operation, the electrode angle detection means detects the electrode angle. In parallel, the anti-backlash operation for rotating the drive shaft of the rotary motor in the second direction is performed, and after the electrode portion angle is detected by the electrode portion angle detection means, the drive shaft of the rotary motor is moved in the first direction. A suction tool positioning control means for rotating and positioning the suction tool at the target rotational position calculated by the target rotational position calculating means;
A mounting control means for lowering the suction tool positioned at the target rotational position calculated by the target rotational position calculating means with respect to the substrate and mounting the component sucked by the suction tool on the electrode portion of the substrate; A component mounting device.   The electrode portion angle set by the electrode portion angle temporary setting value setting means when the component is mounted on the electrode portion for the second and subsequent times for the electrode portion row formed of a plurality of electrode portions arranged in a line on the same substrate. 2. The component mounting apparatus according to claim 1, wherein an electrode portion angle detected by the electrode portion angle detecting means at the time of previous mounting of the component is used as the temporary setting value. A substrate holding portion for holding a substrate having an electrode portion; a suction tool that is rotatably provided around a vertical axis and sucks a component; and a drive shaft that rotates the suction tool via a power transmission mechanism. A rotation motor that positions the suction tool in the rotation direction in a state in which the rotation of the suction tool follows the rotation of the drive shaft in the first direction by finally rotating the drive shaft in the first direction; A component mounting method using a component mounting apparatus,
A step of holding the substrate in the substrate holding portion;
A process of adsorbing parts to the adsorption tool;
A step of detecting a component angle that is a rotation angle in a horizontal plane direction of the component sucked by the suction tool;
After detecting the component angle, detecting the electrode part angle which is the angle in the horizontal plane direction of the electrode part of the board held by the board holding part;
A step of setting a temporary setting value of the electrode portion angle in parallel with the detection of the electrode portion angle;
Rotation motor drive when the angle of the part sucked by the suction tool is made to match the temporary setting value of the electrode part angle based on the relationship between the temporary setting value of the set electrode part angle and the detected part angle Before rotating the shaft in the first direction, in order to prevent non-following of the suction tool with respect to the drive shaft of the rotary motor due to backlash existing in the power transmission mechanism, the drive shaft of the rotary motor is moved to the first direction. Determining whether it is necessary to perform an anti-backlash operation that rotates in a second direction opposite to the direction of
A step of calculating a target rotation position that is a rotation position of the suction tool when the angle of the part sucked by the suction tool is made to coincide with the detected electrode part angle based on the detected part angle and the detected electrode part angle. When,
If it is determined that it is not necessary to execute the anti-backlash operation, after the electrode portion angle is detected, the drive shaft of the rotary motor is rotated in the first direction to position the suction tool at the target rotational position, and the anti-backlash operation is performed. When it is determined that the backlash operation needs to be executed, the anti-backlash operation is performed to rotate the drive shaft of the rotary motor in the second direction in parallel with the detection of the electrode portion angle, and the electrode portion angle is detected. After rotating the drive shaft of the rotary motor in the first direction to position the suction tool at the target rotational position;
And a step of lowering the suction tool positioned at the target rotation position with respect to the substrate and mounting the component sucked by the suction tool on the electrode portion of the substrate.   As a temporary setting value of the electrode part angle to be set, when the part is mounted on the electrode part for the second and subsequent times performed on the electrode part row composed of a plurality of electrode parts arranged in a line on the same substrate, The component mounting method according to claim 3, wherein an electrode portion angle detected at the time of mounting is used.

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