JP2013161844A - Bord work system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a board work system that is adaptable favorably to changes in the type of circuit board.SOLUTION: A board work system 10 comprises: a base 20 provided with a substrate conveyance device for conveying a circuit board; and a plurality of board work devices 12, 14, 16, and 18 connected with the base while being arranged in the conveyance direction of circuit board and performing circuit board work for the circuit board located in their working areas, and performing circuit board work for the circuit board conveyed. Each of the plurality of board work devices has a self-propelled mechanism for moving itself to an arbitrary position, and the board work device is moved to a predetermined position of the base by operation of the self-propelled mechanism. With such a configuration, each board work device can be attached automatically to a predetermined position of the base, and thereby the board work system is adaptable favorably to changes in the type of circuit board.

Description

  The present invention relates to an on-board working system for performing one or more scheduled anti-circuit board operations on a circuit board on which circuit components are mounted to constitute an electronic circuit.

  The on-board work system includes a system in which a plurality of on-board work apparatuses that perform the work on the circuit board with respect to the circuit board are provided, and the plurality of on-board work apparatuses are arranged in the conveyance direction of the circuit board. . In such a system, it is possible to manufacture a circuit board by sequentially performing work on a circuit board to be transported by a plurality of substrate work apparatuses. In order to cope with the change, it is possible to replace the circuit components accommodated in the supply device. In the on-board working system described in the following patent document, it is possible to automatically replace circuit components accommodated in the supply device, and it is possible to efficiently manufacture a circuit board.

Japanese Patent No. 2642800

  In the on-board work system described in the above-mentioned patent document, it is possible to automatically replace the circuit components, and it is possible to reduce the time required for the circuit component replacement work. However, when a circuit component to be mounted on a circuit board is replaced, for example, the size of the circuit component may change greatly, and the work head for holding the circuit component is also replaced according to the size of the circuit component. You may have to do that. In such a case, it is very time-consuming and inconvenient to replace the working head according to the size of the circuit component. This invention is made | formed in view of such a situation, and makes it a subject to provide the board | substrate working system which can respond suitably to the change of the kind of circuit board to manufacture.

  In order to solve the above-described problem, the circuit board work system according to claim 1 of the present application performs one or more scheduled circuit board work on a circuit board that constitutes an electronic circuit by mounting circuit components. A substrate work system to be performed, comprising: a base including a substrate transfer device that transfers a circuit board; and the base in a state of being aligned along a substrate transfer direction that is a direction in which the circuit board is transferred by the substrate transfer device. A plurality of circuit board work devices for performing a circuit board work each defined for a circuit board that is connected and at least a portion of the circuit board is located within its work area, A self-propelled mechanism for moving the self-propelled mechanism to an arbitrary position and an individual control device for controlling the operation of the self-propelled mechanism, and the individual control device moves the substrate work apparatus to a predetermined position of the base. Moved to So that the, configured to control the operation of the free-running mechanism.

  Further, the substrate-to-board working system according to claim 2 is the substrate-to-substrate working system according to claim 1, wherein each of the plurality of substrate-to-substrate working apparatuses is moved to the predetermined position of the base. The individual control device is configured to control the operation of the self-propelled mechanism based on a movement command from the overall command device.

  Further, the on-board working system according to claim 3 is the anti-substrate working system according to claim 2, wherein the overall command device is located away from the base with respect to each of the plurality of on-board working devices. The individual control device is configured to control the operation of the self-propelled mechanism based on a command from the overall command device.

  According to a fourth aspect of the present invention, there is provided the on-board working system according to any one of the first to third aspects, wherein the plurality of on-board working apparatuses perform work on the circuit board. A working head, an imaging device that images the circuit board, and a moving device that moves the working head and the imaging device to arbitrary positions on the base are configured.

  According to a fifth aspect of the present invention, there is provided the on-board working system according to the fourth aspect, wherein the imaging device sets a preset position on the base according to a command from the individual control device. The apparatus further includes a relative position detecting unit that captures an image and detects a relative position between the substrate working apparatus and the base based on an image processing result of the captured image.

  According to a first aspect of the present invention, there is provided a substrate working system including a base having a substrate transfer device and a plurality of modularized substrate working devices. Each of the plurality of substrate work apparatuses has a self-propelled mechanism for moving itself to an arbitrary position, and the operation of the self-propelled mechanism is controlled to be moved to a predetermined position on the base. That is, each substrate work apparatus can be automatically attached to a predetermined position of the base by the operation of the self-propelled mechanism. As a result, it becomes possible to automatically replace the modularized on-board working apparatus, and it is possible to suitably cope with a change in the type of circuit board to be manufactured.

  Further, the substrate work system according to claim 2 is configured such that each of the plurality of substrate work apparatuses moves to a predetermined position of the base in response to a movement command of the overall command apparatus. With such a configuration, it is possible to easily replace the substrate working apparatus, and more preferably it is possible to cope with a change in the type of circuit board.

  In the substrate work system according to claim 3, the return position of the substrate work apparatus is set at a position away from the base, and each of the plurality of substrate work apparatuses is determined by a movement command of the general command device. Is configured to move to the return position. With such a configuration, it becomes possible to wait for the substrate working apparatus removed from the base at the return position.

  Further, in the anti-substrate working system according to claim 4, the anti-substrate working apparatus includes a working head that performs anti-circuit board work, an imaging device that images the circuit board, and a moving device that moves the working head and the imaging device. And is composed of. That is, the substrate working apparatus is an apparatus in which the work head, the imaging device, and the moving device are modularized. As a result, the on-board working device can perform various operations on arbitrary portions of the circuit board based on the imaging data of the circuit board by the imaging device.

  In the substrate work system according to claim 5, it is possible to detect the relative position between the substrate work apparatus and the base based on the imaging data at a preset position on the base. Thereby, for example, it is possible to detect the relative position between the substrate working apparatus and the substrate transport apparatus, and it is possible to secure work on an arbitrary position on the circuit board transported by the substrate transport apparatus. .

It is a perspective view which shows the to-substrate working system which is an Example of this invention. It is a perspective view which shows the base with which the to-substrate working system shown in FIG. 1 is provided. FIG. 2 is a block diagram showing an individual control device and a general control device included in the substrate work system shown in FIG. 1. It is a perspective view which shows the 1st mounting work apparatus with which the to-substrate work system shown in FIG. 1 is provided. It is a perspective view which shows the mounting head with which the 1st mounting work apparatus shown in FIG. 4 is provided in the state which removed the external cover. It is a perspective view which shows the 2nd mounting work apparatus with which the to-substrate working system shown in FIG. 1 is provided. It is a perspective view which shows the 3rd mounting work apparatus with which the board | substrate work system shown in FIG. 1 is provided. It is a perspective view which shows the test | inspection work apparatus with which the to-substrate work system shown in FIG. 1 is provided. It is a top view which shows the to-board work system shown in FIG. It is a top view which shows the to-substrate working system in the middle of replacing | exchanging a working device.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as modes for carrying out the present invention.

<Configuration of the work system for substrates>
FIG. 1 shows a substrate working system 10. A system 10 shown in FIG. 1 is a system for manufacturing a circuit board constituting an electronic circuit by mounting electronic circuit components (hereinafter, may be abbreviated as “circuit components”), and is an operation for the circuit board. A plurality of work devices 12, 14, 16, and 18 that perform circuit board work and a base 20 to which the plurality of work devices 12, 14, 16, and 18 are attached are configured.

  The plurality of work devices 12, 14, 16, and 18 include three types of mounting work devices 12, 14, and 16 for mounting circuit components on the circuit board, and a circuit board on which the circuit components are mounted. There is an inspection work device 18, and these work devices 12, 14, 16, 18 are attached to the base 20 in a state of being arranged in two rows. Incidentally, in the figure, the system 10 is shown before some of the working devices 12, 14, 18 are attached to the base 20.

  In a state where the plurality of work devices 12, 14, 16, 18 are attached to the base 20, the circuit board is most downstream from the work device (work device located on the left side in the drawing) 12 disposed on the most upstream side. Work device (work device located on the right side in the figure) 18 arranged on the side, and the work by each of the work devices 12, 14, 16, 18 is sequentially executed on the circuit board. Thus, it is possible to produce a circuit board on which circuit components are mounted. Incidentally, in the following description, the direction in which the plurality of working devices 12, 14, 16, 18 are arranged is referred to as an X-axis direction, and a horizontal direction perpendicular to the direction is referred to as a Y-axis direction.

  As shown in FIG. 2, the base 20 to which the plurality of work devices 12, 14, 16, 18 are attached includes a main frame 21 and a pair of substrate transfer devices 22, 23 disposed on the upper surface of the main frame 21. And. The pair of substrate transfer devices 22 and 23 are disposed on the main frame 21 so as to be parallel to each other and extend in the X-axis direction. Each of the pair of substrate transport devices 22 and 23 transports the circuit board supported by the substrate transport devices 22 and 23 in the X-axis direction by an electromagnetic motor (see FIG. 3) 24 and each work device 12 and 14. , 16 and 18, the circuit board is fixedly held at positions corresponding to the positions.

  Further, ten storage spaces 25 are formed in the main frame 21. As will be described in detail later, each storage space 25 is a space for storing a part of each work device 12, 14, 16, 18 when each work device 12, 14, 16, 18 is attached to the base 20. And arranged in two rows so as to extend in the X-axis direction below the pair of substrate transfer devices 22 and 23. That is, five storage spaces 25 are formed in the main frame 21 below the substrate transfer devices 22 and 23, and are arranged side by side in the X-axis direction below the substrate transfer devices 22 and 23. Yes. Each storage space 25 is opened on both sides in the Y-axis direction of the main frame 21, and a part of each work device 12, 14, 16, 18 is inserted from the opening. Incidentally, the widths of the openings of the storage spaces 25 are all the same, and the openings are formed at the same pitch.

  Incidentally, the main frame 21 is formed by connecting five individual frames side by side in the X-axis direction. That is, a pair of storage spaces 25 are formed in the individual frames, and the pair of storage spaces 25 are open on both sides in the Y-axis direction of the individual frames. Therefore, in the substrate-to-board working system 10, the main frame 21 is configured by connecting five individual frames side by side in the X-axis direction. However, by increasing or decreasing the number of individual frames, one or more It is possible to constitute a main frame having individual frames.

  When the ten storage spaces 25 are described separately, the upstream side of the five storage spaces 25 positioned below the substrate transfer device 22 (the substrate transfer device positioned on the front side in the drawing). In order from the one located on the left side (the left side in the figure), the five designated as 25a, 25b, 25c, 25d, and 25e and located below the substrate carrying apparatus 23 (the substrate carrying apparatus located on the back side in the figure). The storage spaces 25 are referred to as 25f, 25g, 25h, 25i, and 25j in order from the upstream side (the left side in the figure).

  The base 20 is provided with an overall control device 26 shown in FIG. The overall control device 26 controls the substrate transfer devices 22 and 23, and commands the storage of the work devices 12, 14, 16, and 18 in the storage space 25, and includes a CPU, ROM, and RAM. And a drive circuit 28 corresponding to the electromagnetic motor 24 of each of the substrate transfer apparatuses 22 and 23. The controller 27 is connected to the electromagnetic motor 24 of each of the substrate transfer apparatuses 22 and 23 via a drive circuit 28, so that the operation of each of the substrate transfer apparatuses 22 and 23 can be controlled.

  Of the three types of mounting work devices 12, 14, and 16, the first mounting work device 12 is for mounting relatively small circuit components on a circuit board. As shown in FIG. 30 and a beam unit 32 overlaid on the frame 30, and a self-propelled mechanism 35 for automatically moving the work device body 34, that is, the first mounting work device 12. A mounting head 36 for mounting circuit components on the circuit board, a moving device 38 disposed on the beam portion 32 for moving the mounting head 36, and a circuit component disposed on the frame portion 30. And a supply device 40.

  The mounting head 36 is for mounting circuit components on the circuit board when the first mounting work device 12 is mounted on the base 20, and as shown in FIG. A plurality of mounting units 52 to be held at the tip are provided. Each of the suction nozzles 50 is connected to negative pressure air and a positive pressure air passage via a positive / negative pressure supply device (see FIG. 3) 54, and sucks and holds circuit components at a negative pressure to supply a slight positive pressure. In this way, the held circuit components are detached. The mounting unit 52 having a generally axial shape is held on the outer periphery of a unit holder 56 that rotates intermittently at an equiangular pitch in a state in which the axial direction is vertical. FIG. 5 shows the mounting head 36 with the outer cover removed.

  Further, the unit holder 56 is intermittently rotated by an angle equal to the arrangement angle pitch of the mounting unit 52 by the holding body rotating device 58, and the mounting unit 52 held by the unit holder 56 is intermittently rotated. The mounting unit 52 is moved up and down by a unit lifting device 60 at a lifting / lowering station (station located at the foremost position) that is one stop position of the mounting unit 52 in intermittent rotation. Thereby, the suction nozzle 50 held at the tip of the mounting unit 52 sucks circuit components from the supply device 40 described later. Further, the mounting unit 52 is rotated by the unit rotation device 62 in the lifting station. As a result, the holding posture of the suctioned and held circuit component can be changed.

  Further, the lower end portion of the head main body 64 that holds the unit holder 56, the unit lifting device 60, and the like extends downward from the lower end portion of the suction nozzle 50 and is bent toward the suction nozzle 50 side. On the upper surface of the bent portion, the parts camera 66 is disposed facing upward, and the imaging station closest to the head body 64 (the station located at the rearmost position) is mounted at that station. A circuit component held by the suction nozzle 50 of the unit 52 is imaged by the parts camera 66. Further, a mark camera (see FIG. 3) 68 is disposed on the lower surface of the head main body 64, and the circuit board can be imaged by the mark camera 68.

  Further, the moving device 38 moves the mounting head 36 to an arbitrary position on the base 20 when the first mounting work device 12 is attached to the base 20, and as shown in FIG. An X-axis direction slide mechanism 70 for moving the mounting head 36 in the X-axis direction, and a Y-axis direction slide mechanism 72 for moving the mounting head 36 in the Y-axis direction. The Y-axis direction slide mechanism 72 includes a Y-axis guide rail 74 provided on the beam portion 32 so as to extend in the Y-axis direction, and a Y-axis that is held by the Y-axis guide rail 74 so as to be movable in the axial direction thereof. A slider 76 and an electromagnetic motor 78 are provided, and the Y-axis slider 76 can be moved to any position in the Y-axis direction by the electromagnetic motor 78. The X-axis direction slide mechanism 70 includes an X-axis guide rail 80 provided on the Y-axis slider 76 so as to extend in the X-axis direction, and an electromagnetic motor (see FIG. 3) 82. The mounting head 36 is attached to the X-axis guide rail 80 so as to be slidable in the X-axis direction, and the mounting head 36 can be moved to an arbitrary position in the X-axis direction by an electromagnetic motor 82. Accordingly, the mounting head 36 can be moved to an arbitrary position on the base 20 when the first mounting work device 12 is attached to the base 20 by the moving device 38.

  The supply device 40 is a feeder-type supply device. The supply device 40 has a plurality of tape feeders 88 that accommodate tape-shaped components, on which circuit components are taped, wound around a reel 86, and is accommodated in each of the plurality of tape feeders 88. By sending out the taped parts, the circuit parts are sequentially supplied from the taped parts to the supply position to the mounting head 36 at the upper end portion of each tape feeder 88.

  The self-propelled mechanism 35 includes a plurality of wheels 94 attached to the lower surface of the lower frame 92 that constitutes the frame portion 30 and an electromagnetic motor (see FIG. 3) 96 that drives drive wheels among the plurality of wheels 94. A steering device (see FIG. 3) 98 that steers the steered wheels of the plurality of wheels, and a magnetic tape (illustrated) attached to the floor in the factory where the substrate work system 10 is disposed. And a magnetic sensor (not shown) provided on the lower surface of the lower frame 92. The self-propelled mechanism 35 can cause the first mounting work device 12 to self-propell along the magnetic tape by controlling the electromagnetic motor 96 and the steering device 98 based on the detection result by the magnetic sensor. As will be described in detail later, a portion extending forward of the lower frame 92 is stored in the storage space 25 of the base 20. That is, the first mounting work device 12 is automatically attached at a position corresponding to the storage space 25 of the base 20. Incidentally, the width of the lower frame 92 in the X-axis direction is slightly smaller than the width of the storage space 25 in the X-axis direction.

  A plurality of fixed legs 100 are provided on the lower surface of the lower frame 92. Each fixed leg 100 can be expanded and contracted in the vertical direction. When each fixed leg 100 is contracted, a plurality of wheels 94 are grounded to the floor surface, and each fixed leg 100 is extended. The structure is such that a plurality of wheels 94 are lifted off the floor surface. That is, when the first mounting work device 12 is self-propelled, each fixed leg 100 is contracted, and when the first mounting work device 12 is fixed at a specific position, each fixed leg 100 is extended. .

  As shown in FIG. 3, the first mounting work device 12 further includes an individual control device 110 that controls each of the self-propelled mechanism 35, the mounting head 36, the moving device 38, and the supply device 40. The individual control device 110 includes a controller 112 mainly composed of a computer having a CPU, ROM, RAM, etc., electromagnetic motors 78, 82, 96, positive / negative pressure supply device 54, holding body rotating device 58, unit lifting device 60, unit. A plurality of drive circuits 114 corresponding to the respective drive sources of the rotation device 62, the tape feeder 88, and the steering device 98 are provided. The controller 112 is connected to drive sources such as the devices 36 and 38 via the drive circuits 114, and can control the operations of the devices 36 and 38 and the like. The controller 112 is connected to an image processing device 116 that processes image data obtained by the parts camera 66 and the mark camera 68. Further, the controller 112 is connected to the controller 27 of the overall control device 26, and is configured to control the operation of the self-propelled mechanism 35 based on a command from the controller 27, as will be described in detail later. ing.

  The second mounting work device 14, which is a different type of working device from the first mounting work device 12, mounts a circuit component larger than the circuit component mounted by the first mounting work device 12 on the circuit board. Is. As shown in FIG. 6, the second mounting work device 14 has substantially the same configuration as the first mounting work device 12 except for the supply device 120 and the parts camera 121, and the work device body 34 and the moving device. 38.

  The supply device 120 of the second mounting work device 14 is a feeder-type supply device, and a taped component obtained by tapering a circuit component larger than the circuit component of the tape feeder 88 of the first mounting work device 12 is a reel 122. A plurality of tape feeders 124 are housed in a state of being wound around. The tape feeder 124 includes a holding portion 126 that holds the reel 122, and a feeder main body 128 in which a taped component pulled out from the holding portion 126 is extended to the upper end surface. The tape feeder 124 is attached to the frame portion 30 of the work apparatus main body 34 in the feeder main body 128. By feeding out the taped parts, the circuit parts are sequentially supplied from the taped parts to the supply position at the tip of the feeder main body 128. It is structured to supply.

  The parts camera 121 is disposed on the frame unit 30 adjacent to the plurality of tape feeders 124 arranged in the X-axis direction in a state of facing upward, and is held by the suction nozzle 50 of the mounting head. The captured circuit component can be imaged. Incidentally, in the second mounting work device 14, since the parts camera 121 is disposed in the frame portion 30, the mounting head 132 having the same structure as that in which the parts camera 66 is removed from the mounting head 36 is employed.

  The second mounting work device 14 further includes an individual control device 110 and an image processing device 116 similar to the first mounting work device 12, and controls the operation of each device such as the supply device 120 and the mounting head 132. The image data obtained by the parts camera 121 or the like can be processed. The second mounting work device 14 includes a self-propelled mechanism 35 similar to that of the first mounting work device 12, and extends to the storage space 25 of the base 20 in front of the lower frame 92 by the operation of the self-propelled mechanism 35. The part to be output is stored. That is, the second mounting work device 14 is also automatically attached at a position corresponding to the storage space 25 of the base 20.

  Further, as shown in FIG. 7, the third mounting work device 16, which is a different type of working device from the two types of mounting work devices 12 and 14, integrates the two types of mounting work devices 12 and 14. The supply devices 40 and 120 and the parts camera 121 are disposed in a wide working device main body 140. More specifically, the work apparatus main body 140 includes a frame portion 142 having a pair of the lower frames 92 provided side by side in the X-axis direction, and a beam portion 144 overlaid on the frame portion 142. The width of the frame part 142 and the beam part 144 in the X-axis direction is twice the width of the frame part 30 and the beam part 32 in the X-axis direction. The two supply devices 40 and 120 and the part camera 121 are arranged side by side in the X-axis direction in a state where the parts camera 121 is sandwiched between the two supply devices 40 and 120 in the wide frame portion 142. Has been.

  A moving device 146 is disposed in the beam portion 144 having a width twice that of the beam portion 32. The Y-axis slider 148 and the X-axis guide rail 149 of the moving device 146 are twice as long as the Y-axis slider 76 and the X-axis guide rail 80 of the moving device 38. The movable range in the X-axis direction is twice the movable range in the X-axis direction of the mounting head 132 by the moving device 38.

  Further, the distance between the pair of lower frames 92 of the frame portion 142 is the same as the distance between two adjacent storage spaces 25 formed in the base 20, and the third mounting work device 16 also has the above mounting. A self-propelled mechanism 35 substantially the same as the working devices 12 and 14 is provided. As a result, the portion extending forward of the pair of lower frames 92 by the operation of the self-propelled mechanism 35 is stored in two adjacent storage spaces 25 of the base 20. That is, the third mounting work device 16 is also automatically attached at a position corresponding to the storage space 25 of the base 20.

  The third mounting work device 16 further includes an individual control device 110 and an image processing device 116 similar to those of the first mounting work device 12, and controls the operation of each device such as the supply devices 40 and 120 and the moving device 146. In addition, image data obtained by the parts camera 121 or the like can be processed.

  Further, as shown in FIG. 8, the inspection work device 18 for inspecting the circuit board on which the circuit components are mounted has the supply devices 40 and 120 from the first mounting work device 12 or the second mounting work device 14. In addition to the removal, the inspection head 150 is attached to the moving device 38 instead of the mounting heads 36 and 132. An inspection camera 152 is attached to the lower end surface of the inspection head 150 so that the inspection camera 152 faces downward. When the inspection work device 18 is attached to the base 20 by the inspection camera 152, an arbitrary one on the circuit board is mounted. It is possible to image the position.

  The inspection work device 18 further includes an individual control device 110 and an image processing device 116 similar to the mounting work devices 12, 14 and 16, and controls the operation of each device such as the moving device 38 and the inspection camera 152. At the same time, the image data obtained by the inspection camera 152 can be processed. The inspection work device 18 also includes a self-propelled mechanism 35 similar to the mounting work devices 12, 14, and 16, and the self-propelled mechanism 35 activates the storage space 25 of the base 20 in front of the lower frame 92. The extended portion is stored and is attached to a position corresponding to the storage space 25 of the base 20.

<Attaching the work equipment to the base>
With the above-described configuration, in the substrate-based work system 10, by inserting the lower frame 92 of each work device 12, 14, 16, 18 into any one of the plurality of storage spaces 25 formed in the base 20, Each working device 12, 14, 16, 18 can be attached to an arbitrary position of the base 20. That is, it is possible to construct various mounting lines according to the mounting operation of the circuit components on the circuit board. Further, each work device 12, 14, 16, 18 is inserted into the storage space 25 of the lower frame 92, that is, each work device 12, 14, 16, 18 is attached to the base 20 for each work device 12, 14. , 16, 18 are carried out by self-running.

  Specifically, for example, when circuit components of various sizes are mounted on a circuit board and a line capable of inspecting the circuit substrate on which the circuit components are mounted is constructed, circuit components of various sizes are installed. In order to be mounted on the circuit board, it is desirable that a plurality of types of mounting work devices 12, 14, and 16 are attached to the base 20, and the inspection work device 18 is also attached to the base 20. Therefore, in order to attach the three types of mounting work apparatuses 12, 14, 16 and the inspection work apparatus 18 to the base 20, each of the four work apparatuses 12, 14, 16, 18 is provided at a predetermined position, that is, a predetermined position. Movement to a position corresponding to the storage space 25 is commanded by the overall control device 26.

  Specifically, the controller 27 of the overall control device 26 issues a movement command to the position corresponding to the storage space 25 a of the base 20 to the controller 112 of the first mounting work device 12. As a result, the operation of the self-propelled mechanism 35 of the first mounting work device 12 is controlled by the controller 112, so that the first mounting work device 12 is attached at a position corresponding to the storage space 25a as shown in FIG. It is done.

  Further, the controller 27 of the overall control device 26 gives a movement command to a position corresponding to the storage space 25b, and the controller 112 of the second mounting work device 14 gives a movement command to a position corresponding to the storage spaces 25c and 25d. A movement command to the position corresponding to the storage space 25e is issued to the controller 112 of the third mounting work device 16 to the controller 112 of the inspection work device 18, respectively. As a result, the operation of the self-propelled mechanism 35 of each work device 14, 16, 18 is controlled by the controller 112, so that the second mounting work device 14 is positioned at a position corresponding to the storage space 25b. Are attached to the positions corresponding to the storage spaces 25c and 25d, and the inspection work device 18 is attached to the position corresponding to the storage space 25e.

  As shown in FIG. 3, a storage command unit 160 is provided in the controller 27 of the overall control device 26 as a functional unit for commanding the movement of each working device 12, 14, 16, 18 to a predetermined position. ing. In addition, a storage-time self-propelled mechanism control unit 162 is provided in the controller 112 of the individual control device 110 as a functional unit for controlling the operation of the self-propelled mechanism 35 based on the movement command.

  In addition, when mounting a relatively large number of small circuit components on a circuit board and mounting a small number of large circuit components and constructing a line that can inspect the circuit board on which the circuit components are mounted, It is desirable that a plurality of mountable first mounting work devices 12 are attached to the base 20, and that one second mounting work device 14 and an inspection work device 18 are attached to the base 20.

  In such a case, the controller 27 of the overall control device 26 sends a movement command to a position corresponding to each of the storage spaces 25f, 25g, and 25h to each of the controllers 112 of the three first mounting work devices 12. The movement command to the position corresponding to the storage space 25i is sent to the controller 112 of the second mounting work device 14, and the move command to the position corresponding to the storage space 25j is sent to the controller 112 of the inspection work device 18. Respectively. Thereby, the operation of the self-propelled mechanism 35 of each work device 12, 14, 18 is controlled by the controller 112, so that each first mounting work device 12 is in a position corresponding to each of the storage spaces 25f, 25g, 25h. The second mounting work device 14 is attached to the position corresponding to the storage space 25i, and the inspection work device 18 is attached to the position corresponding to the storage space 25j.

  As described above, each work device 12, 14, 16, 18 is attached to a predetermined position of the base 20, so that various sizes of circuit components are mounted on the circuit board in the line corresponding to the substrate transfer device 22. Then, the circuit board on which the circuit component is mounted can be inspected. On the other hand, in the line corresponding to the board transfer device 23, it is possible to mount a relatively large number of small circuit components on the circuit board, mount a small amount of circuit parts, and inspect the circuit board on which the circuit parts are mounted. It becomes.

  In addition, when each working device 12, 14, 16, 18 is attached to the base 20 in order to secure work on the circuit board by each working device 12, 14, 16, 18, each working device 12, 14, The relative positions of 16, 18 and the base 20 are detected. Based on the detection result of the relative position, the positional relationship between the substrate transfer devices 22 and 23 provided on the base 20 and the respective work devices 12, 14, 16, and 18 is acquired, and the respective work devices 12, 14, The work on the circuit board according to 16, 18 can be secured.

  Specifically, as shown in FIG. 2, a plurality of reference position marks 164 are written on the upper surface of the base 20 corresponding to the plurality of storage spaces 25. When each working device 12, 14, 16, 18 is attached to the base 20, the mounting heads 36, 132 or the inspection head 150 of each working device 12, 14, 16, 18 are attached to the base 20. The reference position mark 164 is moved by the moving devices 38 and 146 on the reference position mark 164 corresponding to the reference position mark 164, and the reference position mark is provided by the mark camera 68 provided on the mounting heads 36 and 132 or the inspection camera 152 provided on the inspection head 150 164 is imaged. Image data obtained by this imaging is processed by the image processing device 116, and the relative positions of the respective work devices 12, 14, 16, 18 and the base 20 are detected.

  Then, based on the relative position, the positional relationship between the substrate transfer devices 22 and 23 provided on the base 20 and each of the work devices 12, 14, 16, and 18 is acquired, and based on the positional relationship, the substrate transfer device. The mounting head 36 is moved by the moving device 38 onto the circuit board transported by 22 and 23. Specifically, the mounting head 36 is moved onto a fiducial mark marked on the circuit board. Thereby, the fiducial mark is imaged by the mark camera 68 provided on the mounting head 36, and various data relating to the circuit board, specifically, the holding position error of the circuit board by the board transfer devices 22 and 23, the type of the circuit board Etc., and the work on the circuit board by the mounting head 36 can be secured. As shown in FIG. 3, a relative position detection unit 166 is provided in the controller 112 of the individual control device 110 as a functional unit for detecting the relative positions of the work devices 12, 14, 16, 18 and the base 20. It has been.

  Further, in the system 10 shown in FIG. 9, circuit components of various sizes are mounted on a circuit board, a line for inspecting the circuit board on which the circuit components are mounted, and a large number of relatively small circuit components are mounted on the circuit board. A line is constructed to mount a small amount of large circuit components and inspect the circuit board on which the circuit components are mounted. However, different types of lines may be configured by movement commands from the overall control device 26. Is possible.

  Specifically, for example, when a large circuit component is mainly mounted on a circuit board and a line that does not require an inspection process is constructed, a plurality of second mounting work devices 14 that can mount large circuit components are provided as a base. It is desirable that the third mounting work device 16 is attached to the base 20. That is, the first mounting work device 12 attached to the position corresponding to the storage space 25a of the system 10 shown in FIG. 9 is replaced with the second mounting work device 14 and attached to the position corresponding to the storage space 25e. By replacing the existing inspection work device 18 with the second mounting work device 14, a large circuit component is mainly mounted on the circuit board, and a line that does not require an inspection process can be constructed.

  Specifically, a command to move to the return position 168 is issued by the controller 27 of the overall control device 26 to the controller 112 of the first mounting work device 12 attached at a position corresponding to the storage space 25 a of the base 20. As shown in FIG. 10, the return position 168 is set at a position away from the base 20, and is a standby position for each of the work devices 12, 14, 16, and 18. Incidentally, at the return position 168, one first mounting work device 12 and two second mounting work devices 14 are waiting as replacement work devices.

  Further, a command to move to the return position 168 is issued by the controller 27 of the overall control device 26 to the controller 112 of the inspection work device 18 attached at a position corresponding to the storage space 25e. Incidentally, FIG. 10 shows a state where the first mounting work device 12 and the inspection work device 18 are moving toward the return position 168.

  Then, the controller 27 of the overall control device 26 sends a movement command to the position where the first mounting work device 12 is removed to the controller 112 of one second mounting work device 14 waiting at the return position 168. The movement command to the position where the inspection work device 18 is removed is issued to the controller 112 of the other second mounting work device 14 waiting at the return position 168, respectively. As a result, the two second mounting work devices 14 are mounted at positions corresponding to the storage spaces 25a and 25e, so that a large circuit component is mainly mounted on the circuit board and a line that does not require an inspection process is constructed. Is possible.

  Furthermore, when only a relatively small circuit component is mounted on a circuit board and a line capable of inspecting the circuit board on which the circuit component is mounted is constructed, the first mounting work device 12 capable of mounting the small circuit component is provided. It is desirable that a plurality of units are attached to the base 20, and further, one inspection work device 18 is attached to the base 20. That is, by replacing the second mounting work device 14 attached to the position corresponding to the storage space 25i of the system 10 shown in FIG. 9 with the first mounting work device 12, only small circuit components are mounted on the circuit board. Thus, it is possible to construct a line capable of inspecting the circuit board on which the circuit component is mounted.

  Specifically, a movement command to the return position 168 is issued by the controller 27 of the overall control device 26 to the controller 112 of the second mounting work device 14 attached at a position corresponding to the storage space 25i. FIG. 10 shows a state in which the second mounting work device 14 is moving toward the return position 168. Then, the controller 112 of the overall control device 26 issues a command to move the controller 112 of the first mounting work device 12 waiting at the return position 168 to the position where the second mounting work device 14 is removed. As a result, the first mounting work device 12 is mounted at a position corresponding to the storage space 25i, so that only a small circuit component is mounted on the circuit board, and a line capable of inspecting the circuit board on which the circuit component is mounted is constructed. It becomes possible to do.

  As shown in FIG. 3, a feedback command unit 170 is provided in the controller 27 of the overall control device 26 as a functional unit for commanding the movement of each working device 12, 14, 16, 18 to the return position 168. ing. In addition, as a functional unit for controlling the operation of the self-propelled mechanism 35 based on the movement command to the return position 168, a self-propelled mechanism control unit 172 at the time of return is provided in the controller 112 of the individual control device 110. .

  A storage shelf 176 is installed adjacent to the return position 168. The storage shelf 176 stores spare taped parts, tape feeders, and the like, and the tape feeders can be replaced at the return position 168. The storage shelf 176 further stores members, devices, and the like necessary for repair and maintenance, so that the work devices 12, 14, 16, 18 can be repaired and maintained at the return position 168. It has become.

  Incidentally, in the above embodiment, the substrate work system 10 is an example of the substrate work system, and the work devices 12, 14, 16, 18, and the base 20 constituting the substrate work system 10 are the substrate work devices. , Is an example of a base. In addition, the mounting heads 36 and 132 and the inspection head 150, the moving devices 38 and 146, the mark camera 68 and the inspection camera 152, the self-propelled mechanism 35, and the individual control device 110 that constitute each working device 12, 14, 16, and 18 It is an example of a work head, a moving device, an imaging device, a self-propelled mechanism, and an individual control device. The relative position detector 166 of the individual control device 110 is an example of a relative position detector. The substrate transfer devices 22 and 23 are examples of a substrate transfer device, and the overall control device 26 is an example of an overall command device.

  In addition, this invention is not limited to the said Example, It is possible to implement in the various aspect which gave various change and improvement based on the knowledge of those skilled in the art. Specifically, for example, in the above-described embodiment, the mounting work devices 12, 14, 16 that perform the mounting work and the inspection work device 18 that performs the inspection work are employed as the work devices. It is possible to employ one capable of performing the above-described work. Specifically, it is possible to employ a working device or the like for applying solder, adhesive or the like on the circuit board.

  In the above embodiment, the working devices 12, 14, 16, 18 are attached to all of the plurality of storage spaces 25 of the substrate transfer devices 22, 23, but the working device 12 is attached to all of the plurality of storage spaces 25. , 14, 16, and 18 need not be attached. That is, for example, the working device may be attached only to the storage space 25a and the storage space 25e, and the working device may not be attached to the storage spaces 25b, 25c, and 25d. Thus, even when a working device is attached to a part of the plurality of storage spaces 25, in the system 10, the substrate transfer devices 22 and 23 are disposed on the base 20. It is possible to carry out the transfer properly.

  Moreover, in the said Example, as the self-propelled mechanism 35, the system which makes each work apparatus 12,14,16,18 self-propelled using the magnetic tape attached to the floor surface, what is called a magnetic induction-type self-propelled mechanism. However, various types of self-propelled mechanisms such as an electromagnetic induction method, an optical induction method, a gyro induction method, a laser induction method, and a self-position estimation induction method can be used.

  In the above-described embodiment, the substrate transfer devices 22 and 23 and the work devices 12 and 14 are based on the relative positions of the base 20 and the work devices 12, 14, 16, and 18 detected by the relative position detection unit 166. , 16, 18 are acquired and work on the circuit board by the mounting head 36 is secured, but the base 20 is secured in order to secure the mounting position of each working device 12, 14, 16, 18. You may utilize the relative position of 20 and each operation | work apparatus 12,14,16,18. Specifically, by controlling the operation of the self-propelled mechanism 35 of each work device 12, 14, 16, 18 based on the relative position detected by the relative position detection unit 166, each work device 12, 14, The attachment positions of the 16 and 18 to the base 20 may be finely adjusted. Thereby, it becomes possible to attach each work apparatus 12, 14, 16, 18 appropriately to a predetermined position of the base 20.

DESCRIPTION OF SYMBOLS 10: Board | substrate work system 12: 1st mounting work apparatus (vs. board working apparatus) 14: 2nd mounting work apparatus (vs. board working apparatus) 16: 3rd mounting work apparatus (vs. board working apparatus) 18: Inspection work apparatus (To-substrate work device) 20: base 22: substrate transport device 23: substrate transport device 26: overall control device (overall command device) 35: self-propelled mechanism 36: mounting head (work head) 38: moving device 68: mark camera (Imaging device) 110: Individual control device 132: Mounting head (working head) 146: Moving device 150: Inspection head (working head) 152: Inspection camera (imaging device) 166: Relative position detection unit (relative position detection means)

Claims (5)

A circuit board working system that performs one or more scheduled circuit board operations on a circuit board that is mounted with circuit components and constitutes an electronic circuit,
A base including a substrate transfer device for transferring a circuit board;
The circuit board is connected to the base in a state of being aligned along the board transfer direction, which is the direction in which the circuit board is transferred by the board transfer device, and each is defined with respect to the circuit board at least partially located within its own work area. A plurality of circuit board working devices that perform circuit board work.
Each of the plurality of substrate work devices has a self-propelled mechanism for moving itself to an arbitrary position, and an individual control device that controls the operation of the self-propelled mechanism,
The substrate control system, wherein the individual control device controls the operation of the self-propelled mechanism so as to move the substrate processing device to a predetermined position of the base. An overall commanding device for commanding movement of the base to any one of the predetermined positions for each of the plurality of substrate working devices;
The on-board work system according to claim 1, wherein the individual control device controls the operation of the self-propelled mechanism based on a movement command from the overall command device. The overall command device commands each of the plurality of substrate work devices to move to a return position set at a position away from the base;
The on-board work system according to claim 2, wherein the individual control device controls the operation of the self-propelled mechanism based on a command from the overall command device. A work head in which the plurality of substrate work devices perform work on the circuit board; an image pickup device that picks up an image of the circuit board; and a moving device that moves the work head and the image pickup device to arbitrary positions on the base; 4. The system for working with a substrate according to claim 1, further comprising: The imaging device takes an image of a preset position on the base according to a command from the individual control device,
The on-board working system according to claim 4, further comprising a relative position detecting unit that detects a relative position between the on-board working apparatus and the base based on an image processing result of the captured image.

Images