JP2016004793A - Component mounting device, and actuator system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve such a problem of prior art that consideration on productivity is not sufficient.SOLUTION: A component mounting device includes an actuator having a housing, and a holder on which the actuator is mounted. The housing has a first dimension, a second dimension, and a third dimension, where the first dimension is smaller than the second dimension, and the second dimension is smaller than the third dimension. The holder includes a first surface and a second surface for supporting the housing, and a slot for defining the mounting position of the actuator is provided in the first surface. A signal for driving the actuator is supplied to the actuator via the second surface, and a mounting surface defined by the first dimension and second dimension is mounted in the slot.

Description

  The present invention relates to a component mounting apparatus and an actuator system. For example, the present invention relates to a head that takes out an electronic component supplied by an electronic component supply device, moves the electronic component onto a printed board, and places the electronic component at a predetermined position, and an electronic component mounting apparatus using the head.

  Electrical products are manufactured by mounting components on a board. The component mounting apparatus is an apparatus used for mounting an electronic component on a substrate and manufacturing an electrical product.

  Various methods have been proposed for component mounting apparatuses. In one method, a mounting head having a nozzle that sucks and holds a component is moved relative to the substrate to mount the component at a desired position on the substrate. In this way, a method of mounting is proposed.

  The following patent documents 1 and 2 are mentioned as a prior art.

JP 2006-245034 A JP 2013-153227 A

  Productivity can be considered as an index for evaluating a component mounting apparatus. Productivity can be defined in various ways, but one expression can be expressed by the number of boards per unit time or the number of component mounting points per unit time.

  Various factors are conceivable as factors affecting the productivity. For example, a time for maintenance and management of the mounting head can be considered.

  While the mounting head is exchanged and adjusted, no components are mounted. Therefore, it can be expressed that the shorter the time, the better the productivity and the better. However, the conventional technology does not give sufficient consideration to productivity.

  One feature of the present invention is that it has a very compact actuator.

  One feature of the present invention is that it has a holder for mounting an actuator.

  One feature of the present invention is that the holder can be mounted with a plurality of actuators, and the actuator can be easily detached.

  According to the present invention, productivity can be improved. More specifically, the head maintenance management becomes easy.

It is the perspective view which showed the mounting head of a present Example. FIG. 2 is a perspective view of the mounting head showing power supply and signal exchange between the mounting head shown in FIG. 1 and an actuator mounted on the mounting head. FIG. 3 is a perspective view showing an actuator mounting portion for mounting an actuator in the mounting head shown in FIG. 2. FIG. 3 is a perspective view showing a mounting head provided with a frame and an actuator including a display unit indicating whether the mounting position of the actuator is correct in the mounting head shown in FIG. 2. FIG. 3 is a perspective view showing an actuator provided with a grip portion for transmitting a mounting / demounting force to the frame of the mounting head in the mounting head shown in FIG. 2. It is explanatory drawing which showed the electric power feeding method and signal transmission / reception method to an actuator. It is explanatory drawing which showed the actuator carrying the memory | storage means which memorize | stores the information regarding an actuator in an actuator. It is explanatory drawing which shows the actuator holder which mounts either a spring member, a damping member, or both between an actuator and an actuator holder. It is explanatory drawing which shows the means to position an actuator to an actuator holder. It is explanatory drawing which shows the gravity center position of an actuator. It is explanatory drawing which shows the positional relationship of a mounting head and X beam. FIG. 11 is an explanatory diagram showing an arrangement of positioning members in the actuator of FIG. 10. It is explanatory drawing which showed the means to fix an actuator to an actuator holder. It is explanatory drawing which showed the mounting head which has arrange | positioned the actuator arbitrarily in an actuator holder. It is explanatory drawing which showed the method for minimizing working time in the electronic component supply apparatus of a present Example. It is explanatory drawing which showed an example of the external appearance of the actuator of a present Example. It is explanatory drawing which showed an example of the internal structure of the actuator of a present Example. It is explanatory drawing which showed an example of the structure of a production line provided with the electronic component mounting apparatus of a present Example. It is explanatory drawing which showed the setup change of the production line shown in FIG. It is explanatory drawing which showed an example of the structure of the electronic component mounting apparatus using the 2 degree-of-freedom actuator of a present Example.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 20 is an explanatory view showing an example of an electronic component mounting apparatus using the two-degree-of-freedom actuator of the present embodiment.

  The top view of the electronic component mounting apparatus 150 for mounting an electronic component on the printed circuit board 152 is shown. On the base 159 of the electronic component mounting apparatus 150, a plurality of electronic component supply devices that supply various electronic components to the respective electronic component take-out positions (component suction positions) are detachably installed and fixed to the component supply unit 153. Has been. A board conveyor 151 is provided between the opposing component supply unit 153. The substrate transport conveyor 151 has a transport unit that transports the printed circuit board 152 and a printed circuit board holding unit that positions and holds the printed circuit board transported from the direction of the arrow F at a predetermined position. After the components are mounted, the printed circuit board is conveyed in the direction of arrow G.

  Reference numeral 155 denotes a pair of X beams that are long in the same direction as the direction in which the printed circuit board 152 is conveyed, and actuators (for example, linear motors) (not shown) are attached to both ends thereof. By this actuator, the X beam 155 is supported so as to be movable along the Y beam 157 in a direction orthogonal to the direction in which the printed circuit board 152 is conveyed, and travels between the component supply unit 153 and the printed circuit board 152. It is possible. Further, the X beam 155 is provided with a mounting head 154 equipped with a plurality of component suction mounting means that move along the X beam in the longitudinal direction of the X beam 155 by an actuator (not shown) such as a linear motor. ing. A recognition camera 156 and a nozzle storage unit 158 are arranged between the component supply unit 153 and the board transport conveyor 151. The recognition camera 156 is for acquiring the component information and positional deviation information of the electronic component attracted to the mounting head 154 by the component supply unit 153, and the attracted electronic component in the direction perpendicular to the substrate transport direction and the substrate transport direction. The amount of misalignment and the rotation angle can be confirmed by photographing the electronic component. Needless to say, it is possible to confirm whether or not the electronic component is sucked by photographing. When the X beam 155 and the Y beam 157 operate in parallel, the mounting head 154 is passed over the recognition camera 156 when moving from the component supply unit 153 onto the printed circuit board 152, and the position of the electronic component described above is obtained. Get shift information. The nozzle storage unit 158 stores a plurality of suction nozzles (not shown) attached to the mounting head 154, which are necessary for sucking and mounting various electronic components. When it is instructed to attach a suction nozzle corresponding to the electronic component, the mounting head 154 is moved to the nozzle storage unit 158 by the X beam 155 and the Y beam 157 independently operating in parallel, and the suction nozzle is replaced. To do.

  An example of the mounting head of the present embodiment will be described with reference to FIGS. As shown in FIG. 1, the mounting head 154 includes an actuator 1 including a nozzle 4 and a frame 20 including an actuator holder 21.

  FIG. 1 shows a state before the actuator 1 is attached to the frame 20. In FIG. 1, one actuator 1 is shown. Needless to say, a plurality of actuators 1 can be mounted on the frame 20. In addition, directions related to the mounting head are indicated by front / rear, left / right, and upper / lower, and a direction in which the nozzle 4 is present is a front and a reverse direction is a rear.

  FIG. 2 is a perspective view of the mounting head showing power supply and signal transmission / reception of the mounting head and an actuator mounted on the mounting head. The frame 20 includes a power feeding unit 22 that feeds power to the actuator 1, and a signal transmission / reception unit 23 that transmits control signals to the actuator 1, various sensors output from the actuator 1, operation information of the actuator, and the like.

  For example, as shown in FIG. 2, the power feeding unit 22 and the signal transmission / reception unit 23 may be provided in the surface of the actuator holder 21 facing the rear surface of the actuator 1, or the actuator holder 21 facing the lower surface of the actuator 1. Any surface may be provided. Moreover, although not shown, when the surface of the actuator holder 21 that faces the upper surface of the actuator 1 exists, it may be provided within the surface. In addition, the power supply unit 22 and the signal transmission / reception unit 23 may perform power supply and signal transmission and reception in a non-contact manner, or may contact each other like a connector to perform power supply and signal transmission / reception.

  FIG. 3 is a perspective view showing an actuator mounting portion for mounting the actuator in the mounting head shown in FIG. FIG. 3 shows that the actuator mounting portion 24 is provided on the surface of the actuator holder 21 facing the lower surface of the actuator 1. The actuator mounting portion 24 is provided with a plurality of slots such as a slot 24-1 to a slot 24-8. In FIG. 3, eight slots are shown, but the number of slots is not limited to eight. Each slot may be provided with a groove according to the shape of the lower portion of the actuator 1 so that the actuator 1 can be fitted therein. Further, if a convex portion or a concave portion is provided in the lower part of the actuator 1, the concave portion or the convex portion corresponding to the shape may be provided to be positioned at a predetermined position.

  Thus, by arranging a plurality of very thin actuators in the actuator holder 21, the mounting head can increase the number of components to be held. As a result, parts replenishment operations are reduced and productivity is improved. In addition, it is very easy to mount and remove the actuator in the actuator holder 21 in this embodiment.

  In FIG. 3, the actuator 1 includes a housing 300. The housing 300 can be expressed by a first dimension 301, a second dimension 302, and a third dimension 303. As one representation, the first dimension 301 can be expressed as being smaller than the second dimension 302, and the second dimension 302 can be expressed as being smaller than the third dimension 303.

  The actuator holder 21 includes a first surface 304 and a second surface 305 for supporting the housing 300. Slots 24-1 to 24-8 defining the mounting position of the actuator are arranged on the first surface 304. A signal (for example, a power supply voltage or an input / output signal) for driving the actuator 1 is supplied to the actuator 1 via the second surface 305. The mounting surface defined by the first dimension 301 and the second dimension 302 is mounted in any slot from slot 24-1 to slot 24-8.

  FIG. 4 is a perspective view showing the mounting head including the actuator holder 21 and the actuator 1 each having a display unit indicating whether the mounting position of the actuator 1 is correct in the mounting head shown in FIG. An actuator holder display unit 25 is provided on the upper surface of the actuator holder 21 which is a component of the frame.

  The actuator holder display unit 25 captures information on the mounted actuators 1 that has been taken in based on the arrangement position information of the plurality of actuators 1 planned in advance so as to maximize the productivity by improving the work efficiency of the production line. And a means for confirming consistency.

  The actuator holder display section is set to display differently depending on whether the appropriate actuator 1 is mounted in each slot shown in FIG. 3 or when the inappropriate actuator 1 is mounted ( For example, it emits “green” light if appropriate, and “red” light if inappropriate. In the description, the display unit is provided on the upper surface of the actuator holder 21, but may be, for example, the front surface of the actuator holder 21 as long as visibility is high in work.

  An actuator display unit 11 is provided on the front surface of the actuator 1. Similarly to the actuator holder display unit 25 described above, the actuator display unit 11 also determines whether or not it has been installed in the designated slot, and displays its correctness.

  The actuator display unit 11 displays the unique information of the actuator 1 by a power source (not shown) on the actuator 1, and further displays the unique information of the actuator 1 to be mounted for each holder on the actuator holder display unit. The operator may be able to visually confirm the actuator 1 that fits into each slot. In addition, information on the slot to be mounted in advance may be stored in the actuator 1, and the slot information of the actuator holder 21 may be obtained by the actuator 1 through the signal transmission / reception unit 23 to indicate whether the mounting position of the actuator 1 is correct or incorrect.

  As one expression, at least one of the housing 300 and the actuator holder 21 has a display unit indicating whether the mounting position is correct or not, and the display unit is mounted in a slot in which the actuator is to be mounted. It can be expressed that the display is different depending on whether or not it is attached.

  FIG. 5 is a perspective view showing an actuator provided with the grip portion 12 for transmitting the attaching / detaching force to the frame of the mounting head in the mounting head shown in FIG. 2.

  The actuator 1 includes a grip portion 12 that transmits a force for mounting the actuator 1 to the actuator holder on the front surface of the actuator 1. The grip portion 12 may transmit the force from the front to the rear to mount the actuator 1 on the actuator holder.

  Alternatively, the actuator 1 may be mounted on the actuator holder by transmitting force from the top to the bottom. Further, the actuator 1 may be mounted on the actuator holder by transmitting a force from both the front to the rear and the top to the bottom. Needless to say, it is possible to remove the actuator 1 from the actuator holder by reversing the transmission direction of the aforementioned force.

  As shown in FIG. 5, if the grip portion 12 is fixed to the actuator 1 at two locations and the gap between the grip portion 12 and the actuator 1 is handled, the risk of dropping the actuator 1 can be reduced.

  With the configuration as described above, a plurality of actuators 1 can be mounted in an arbitrary position slot and an arbitrary number of slots, so that it is possible to arrange actuators suitable for improving the work efficiency of the production line. Become.

  Features of the actuator will be described with reference to FIGS. 6 to 8, FIGS. 15 and 16, and FIGS.

  FIG. 6 is an explanatory diagram showing a method for supplying power to the actuator and a method for exchanging signals. The actuator 1 includes an actuator power receiving unit 13 and an actuator signal transfer unit 14 on the rear surface of the actuator 1.

  The actuator power reception unit 13 and the actuator signal transmission / reception unit 14 are in a positional relationship opposite to the power supply unit 22 and the signal transmission / reception unit 23 illustrated in FIG. 2, and can exchange power and signals.

  FIG. 7 is an explanatory diagram showing an actuator equipped with storage means for storing information related to the actuator. The actuator 1 includes a storage unit 15 that holds actuator information (for example, at least one of a unique identification ID, an operation status, an error status, and a usage history).

  The information held in the storage means 15 is output to the computer that manages the electronic component mounting apparatus through the actuator signal exchanging unit 14 when the information is held in the actuator holder, and the information on the actuator 1 can be monitored.

  FIG. 8 is an explanatory view showing an actuator holder on which at least one of a spring member and a damping member, which is an example of an elastic body, is mounted between the actuator and the actuator holder.

  When the actuator 1 is mounted on the actuator holder 21, the actuator 1 is supported by spring members 26a and 26b and damping members 27a and 27b provided on the actuator holder upper portion 21a and the actuator holder 21b. The above-described support structure suppresses transmission of vibration generated during the operation of the actuator 1 to the actuator holder.

  Further, the vibration generated by the movement of the mounting head is prevented from being transmitted from the actuator holder to the actuator 1.

  FIG. 16 is an explanatory diagram showing an example of the appearance of the actuator of the present embodiment. The actuator 1 includes a nozzle 4 and a nozzle shaft 5 that is disposed coaxially with the nozzle 4 and supports the nozzle 4. The nozzle shaft 5 is configured to be able to move directly in the vertical direction and to rotate about the vertical axis as indicated by the arrows in the figure. As a result, the electronic component sucked at the tip of the nozzle 4 is taken out from the component supply unit, the electronic component is held at the tip of the nozzle 4, and the nozzle shaft 5 is rotated as necessary to adjust the rotation posture of the electronic component. Then, the nozzle shaft 5 is lowered and the electronic component is mounted on the printed circuit board.

  FIG. 17 is an explanatory diagram showing an example of the internal structure of the actuator of this embodiment. The actuator 1 includes a rotation mechanism 2 and a linear motion mechanism 3. The rotation mechanism 2 includes a rotation motor 6, a nozzle shaft 5 disposed coaxially with the rotation axis (axis 1 a) of the rotation motor 6, and a nozzle 4. The linear motion mechanism 3 includes a linear motion motor 7, a screw shaft 8 connected to the linear motion motor 7, a nut 9 that moves up and down as the screw shaft 8 rotates about the axis 1 b, And a movable member 10 connected thereto. The movable member 10 is connected to the rotation mechanism 2 described above, and the rotation mechanism 2 is also moved in the vertical direction when the nut 9 is moved in the vertical direction by operating the linear motion motor 7. In FIG. 17, the linear motion motor 7 (for example, a rotary motor) has a linear motion mechanism that moves the power in the vertical direction using the screw shaft 8 and the nut 9. However, the linear motion motor 7 is a linear motor, and the linear motor A linear motion operation may be realized by the movable member 10 and the movable member 10 that connects the rotation mechanism 2. Further, by arranging the operation axes (axis 1a and axis 1b) of the rotation mechanism 2 and the linear motion mechanism 3 in the same plane, the actuator thickness in the out-of-plane direction of the plane formed by the axis 1a and the axis 1b is reduced. Is possible. Further, the rotation mechanism 2 is instructed by the linear motion mechanism 3 so as to be movable in the direction of the axis 1a, but the linear motion motor 7 provided in the linear motion mechanism 3 can be secured without increasing the size of the linear motion mechanism 3. Therefore, in order to move the rotation mechanism 2, it is desirable that the rotation mechanism 2 be configured to be lighter.

  As described above, since the actuator according to the present embodiment is configured to be thin, the mounting head can be mounted without increasing the horizontal length of the mounting head even if the mounting head is installed in the plurality of slots shown in FIG. Can be configured.

  Also, by having a storage means for storing various information in the actuator, information is exchanged with the frame (more specifically, a control device that manages the electronic component mounting apparatus), and a predetermined actuator is surely mounted on the mounting head. It can be confirmed that it is attached to.

  Also, output of various sensors (not shown, such as an acceleration sensor, a load sensor, a fluid velocity sensor, a fluid pressure sensor, a microphone that detects abnormal sound, etc.) mounted on the actuator among various information of the actuator By transmitting information to a higher-level control device (not shown) through the signal sending / receiving unit, abnormality diagnosis of electronic component mounting devices, maintenance timing instructions, and operation modes are changed (for example, changing from high-speed operation to low-speed operation) Thus, it is possible to construct a system in units of actuators in which countermeasures are instructed (or automatically) while collecting device operation data without stopping the device.

  FIG. 10 is an explanatory diagram showing the position of the center of gravity of the actuator. The structure of the rotation motor and the linear motion motor built in the actuator 1 may be, for example, the structure shown in FIG.

  The actuator 1 in FIG. 10 includes a rotation mechanism in the forward direction and a linear motion mechanism in the rear direction, according to the motor configuration in FIG. As described above with reference to FIG. 17, the rotation mechanism moves the rotation mechanism without increasing the linear movement mechanism (or without enlarging the linear movement motor included in the linear movement mechanism in order to ensure thrust). In addition, it is desirable that the rotating mechanism is configured to be lighter. Therefore, in the actuator 1, if the center of gravity 18 of the actuator 1 is based on the center of the length in the front-rear direction of the actuator 1, the respective component parts are arranged so as to be relatively rearward of the center.

  In FIG. 10, the housing 300 can be expressed as having a third surface 1001 and a fourth surface 1002 facing the third surface. The third surface 1001 is attached to the actuator holder 21 by the housing 300. In this state, the center of gravity 18 can be expressed as being closer to the second surface 305 than the fourth surface 1002 and being closer to the third surface 1001 than the fourth surface 1002. .

  FIG. 11 is an explanatory diagram showing the positional relationship between the mounting head and the X beam. FIG. 11 shows a mounting head 154 in which a plurality of actuators 1 are mounted on the actuator holder 21, and moves in a direction perpendicular to the plane formed by the front and rear arrows crossing the mounting head 154 and the up and down arrows (direction perpendicular to the paper surface). A movable mechanism (for example, a linear motor, not shown) that can be supported, and an X beam 155 that is connected to the moving mechanism and supported by a Y beam (not shown) so as to be movable in the front-rear direction; Will be explained. Reference numeral 19 denotes the center of gravity of the X beam 155. The mounting head 154 and the X beam 155 are arranged so that the actuator gravity center 18 and the X beam gravity center 19 are approximately on the axis 3.

  As described above, the actuator centroid 18 and the X beam centroid 19 are approximately on the axis 3, and the actuator centroid 18 of the actuator 1 is set so that the distance between the actuator centroid 18 and the X beam centroid 19 is reduced. When the head 154 moves in the direction perpendicular to the plane formed by the front and rear arrows intersecting with the up and down arrows, or when the head 154 moves in the direction of the front and rear arrows (for example, vibration around the X-beam center of gravity 19). ).

  The axis 3 can also be expressed as a line connecting the actuator gravity center 18 and the X beam gravity center 19. The axis 3 intersects the extended line 1101 of the trajectory of the nozzle 4, and more specifically, is substantially orthogonal.

  FIG. 12 is an explanatory diagram showing the arrangement of positioning members in the actuator of FIG. The upper convex portion 16 a on the upper surface of the actuator 1 provided for positioning is provided approximately on the axis 2 of the actuator 1. By configuring as described above, the main component of the external force passing through the actuator gravity center 18 acting when the actuator 1 moves together with the actuator holder (not shown) can be reliably received by the upper convex portion 16a. 1 can be stably held.

  FIG. 9 is an explanatory view showing a means for positioning the actuator 1 on the actuator holder 21. The actuator 1 has an upper convex part 16 at the upper part and a lower concave part 17 at the lower part.

  The actuator holder 21 includes an actuator holder upper portion 21a, an actuator holder lower portion 21b, and an actuator holder rear portion 21c. In FIG. 9, the actuator holder 21 is described as being composed of a plurality of components, but may be integrally formed. The actuator holder upper portion 21 a has an upper concave portion 28 that fits with the upper convex portion 16. The actuator holder lower portion 21 b includes a lower convex portion 29 that fits with the lower concave portion 17. The operator moves the actuator 1 as shown by the arrow 1 with respect to the actuator holder 21 to fit the upper convex portion 16 and the upper concave portion 28 and the lower concave portion 17 and the lower convex portion 29 (). By fitting, the actuator 1 is fixed to the actuator holder 21 in a direction perpendicular to the plane formed by the up and down arrows, the front and back arrows intersecting, and the up and down arrows (the direction perpendicular to the paper surface). As indicated by the arrow 1, the lower concave portion 17 is moved substantially above the lower convex portion 29 and moved downward to move the lower concave portion 17 and the lower convex portion 29. By extending in the rearward direction, positioning and fixing may be performed only by moving the actuator 1 in the front-rear direction.

  FIG. 13 is an explanatory view showing a means for fixing the actuator 1 to the actuator holder 21. On the rear side of the actuator 1, grooves 19a and 19b are provided on both the left and right sides. The actuator holder 21 includes a fitting portion 28 for fitting a rear portion where the groove portions 19a and 19b of the actuator 1 are provided. The fitting portion 28 includes flexible members 30a and 30b on the side surfaces in the left-right direction. Further, the flexible members 30a and 30b are provided with projections 31a and 31b that fit into grooves 19a and 19b provided in the actuator 1 near the end in the direction in which the actuator 1 is inserted, respectively.

  FIG. 13A is a diagram illustrating that the actuator 1 is attached to the fitting portion 28. The actuator 1 is moved backward as indicated by the white arrow. The width of the actuator 1 in the left-right direction is configured to be larger than the width of the fitting portion 28 opened. Further, one end of each of the flexible members 30 a and 30 b provided in the fitting portion 28 is attached to the entrance (in front of the arrow) side of the fitting portion 28. Further, the flexible members 30 a and 30 b have a distance between the other end different from the attachment end to the fitting portion 28 from the entrance (front of arrow) side to the back (rear arrow) side is smaller than the width of the actuator 1. It is comprised so that it may become. With this configuration, when the actuator 1 is inserted backward with respect to the fitting portion 28, the flexible members 30 a and 30 b come into contact with the side surfaces of the actuator 1, and the flexible members 30 a and 30 b The end portions move as indicated by arrows 2 and 3, respectively (flexible members 30a and 30b are deformed). FIG. 13B is a diagram illustrating a state after mounting (a state in which the actuator 1 is fitted to the fitting portion 28). The state after mounting includes the groove portions 19a and 19b also received by the actuator 1, and the projection portions 31a and 31b provided at the ends of the flexible members 30a and 30b provided in the fitting portion 28. It is in a fitted state. In the engaged state, the flexible members 30 a and 30 b are deformed to apply a pressing force to the side surface of the actuator 1 as indicated by arrows 4 and 5. As described above, the positioning of the actuator 1 in the front-rear direction is performed by fitting the groove portions 19a and 19b and the protruding portions 31a and 31b. Furthermore, it positions in the left-right direction with the pressing force by flexible member 30a and 30b. Therefore, the actuator 1 is reliably positioned on the actuator holder 21.

  9 can be expressed as, for example, a structure for fitting the housing 300 and the actuator holder together.

  FIG. 14 is an explanatory view showing a mounting head in which actuators (1-1, 1-2, 1-5, 1-7, 1-8) are arranged in an actuator holder. FIG. 14 shows an actuator holder in which eight actuators can be arranged. In the third, fourth, and sixth spaces from the right, actuators not shown (1-3, 1-4, 1-6) are shown. Can be installed. Since the actuator can be easily attached to and detached from the actuator holder, the actuator can be attached to any position of the actuator holder. For example, the actuators 1-1 and 1-2, and the actuators 1-7 and 1-8 are arranged adjacent to each other at the right and left ends, and the actuator 1-5 is in contact with both the left and right sides. Otherwise, since the actuator 1-5 has a space on the left and right, it is possible to handle larger parts compared to the adjacent actuators 1-1 and 1-2, 1-7 and 1-8. (Small and large parts can be handled simultaneously). In addition, since an arbitrary number of actuators can be mounted on the actuator holder, a mounting head having a suitable number of nozzles for handling parts can be configured, so that the weight of the entire mounting head can be reduced. Is possible.

  When the actuator arrangement shown in FIG. 14 is used, the weight balance in the left-right direction is deteriorated. In this case, a dummy head having the same mass as that of the actuator is arranged adjacent to the right side of the actuator 1-5. Therefore, the weight balance may be taken. Since the weight balance can be achieved, vibration caused by the weight of the mounting head that occurs when the mounting head moves in the front-rear and left-right directions can be reduced.

  FIG. 15 is an explanatory diagram showing a method for minimizing the working time in the electronic component mounting apparatus according to the present embodiment.

  The minimization of work time is started by the start instruction (step 48).

  The arrangement information of the electronic components to be mounted on the electronic circuit board to be manufactured first is input (step 49).

  Next, information (for example, width dimension, depth dimension, height dimension) of the electronic component is input (step 50).

  Next, an electronic component arrangement order is created from the input electronic component arrangement information and electronic component information (step 51). At this time, the work time when the electronic components are arranged in the created arrangement order is defined as A time.

  The operating conditions (for example, the moving distance, moving speed, and moving acceleration of each operation) of each mechanism in the arrangement order for A time are set for each operation (step 52).

  Next, vibration analysis is performed when the electronic component mounting apparatus is operated based on the set operation of each mechanism (step 53).

  As a result of the vibration analysis of each operation, a settling time is calculated until the vibration amplitude in the left-right front-rear direction when the electronic component is placed becomes equal to or less than a predetermined desired vibration amplitude (step 54).

  Next, it is determined whether the calculated settling time is within a predetermined time (threshold value) (step 55).

  If the settling time is not within the threshold value, the operation order of each mechanism is determined again by rearranging the arrangement order of the electronic components (step 56).

  Thereafter, the process returns to step 53 and steps 54 and 55 are repeated.

  If it is determined in step 55 that the settling time is within the predetermined time, the arrangement order based on the vibration analysis is recreated in step 56, and the working time at this time is defined as B time (57).

  Next, the ratio between the A time and the difference between the B time and the A time is equal to or less than a predetermined threshold value, that is, an optimal route (for example, the shortest route) calculated from the electronic component arrangement position information and the electronic component information. Based on the vibration analysis based on the operation conditions of each operation, it is determined whether or not the path that minimizes the settling time of each operation is substantially equal (58).

  If the result is equal to or greater than the threshold value, the process returns to step 51, the arrangement order is created again to obtain the A time, and step 52, step 53, and the step are advanced. In step 58, when the ratio between the A time and the difference between the B time and the A time is equal to or less than a predetermined threshold value, the electronic that minimizes the work time while suppressing the vibration when placing the electronic component. Assuming that the component arrangement order has been created, the process ends at step 59.

  In this way, not only the arrangement order of electronic components is set to be the shortest path, but also the arrangement order that suppresses vibration during the operation of arranging each electronic component, thereby minimizing the work time. In addition, there is an effect of reducing the displacement when arranged.

  FIG. 18 is an explanatory diagram showing an example of a configuration of a production line including the electronic component mounting apparatus according to the present embodiment. This is a production line in which n electronic component mounting apparatuses (stages) for producing electronic circuit boards are arranged (Stage.1, Stage.2,..., Stage.n). Each stage has component supply units FA1, FA2,..., FAn, FB1, FB2,..., FBn, and heads HA1, HA2,..., HAn, HB1, HB2 on which electronic components are arranged. ,..., HBn. Also, the electronic circuit board is introduced from the direction of the arrow F, and after the electronic components are arranged at each stage, the electronic circuit board is discharged as indicated by the arrow G.

  Further, FIG. 18 shows a case where there are two types of electronic circuit boards (head HA1 side and head HB1 side) conveyed in the direction of arrow F to arrow G, but one type of electronic circuit board is conveyed. It is also possible to arrange electronic components. If the mounting head of the present invention is used, it is possible to arrange a mounting head on which any number of nozzles are mounted on each stage so as to equalize the working time for each stage depending on the type and number of electronic components to be arranged. is there. Thereby, since production can be continued continuously without stopping the work in any stage, the productivity of the production line is improved.

  FIG. 19 is an explanatory diagram showing changeover of the production line shown in FIG. When changing the electronic circuit board to be produced, change of the configuration of the production line (for example, replacement of the mounting head or increase / decrease of the component type mounted on the component supply unit) is started (step 60). Arrangement information of electronic parts to be newly produced is input (61). Next, electronic component information (shape, etc.) is input (62). Next, an arrangement order of electronic components is created (63). Based on the arrangement order of the electronic components, the number and type of actuators used for each stage are selected (64). Further, the number and type of component supply devices used for each stage are selected (65). Next, the selected actuator is mounted on the head of each stage (66). Similarly, the selected component supply unit is mounted on each stage.

  As described above, since the actuator having one nozzle for handling electronic components can be mounted on the mounting head by freely changing the number and type for each stage, the working time for each stage can be made uniform. When the work time for each stage is equalized, the electronic circuit board stands by in the stage (for example, if the work time of the next stage is long, it cannot be transferred to the next stage even if the placement work is completed on the previous stage) The electronic circuit board can be continuously produced without doing so.

  As mentioned above, although the Example of this invention was described, the thought of this invention is not limited to an Example. Contents obtained by partially deleting, changing, and combining the contents of the above embodiments can be expressed as being within the scope of the disclosure of this specification.

  Further, for example, the structure of the component mounting apparatus may be other than that described in the embodiment, and the actuator 1 and the actuator holder 21 can be widely applied as long as they are apparatuses that perform a predetermined process on a predetermined sample.

DESCRIPTION OF SYMBOLS 1 ... Actuator 2 ... Rotation mechanism 3 ... Linear motion mechanism 4 ... Nozzle 5 ... Nozzle shaft 6 ... Motor for rotation 7 ... Motor for linear motion 8 ... Screw shaft 9 ... Nut 10 ... Moving member 11 ... Actuator display part 16 ... Upper convex part 12 ... Grip part 17 ... Lower concave part 13 ... Actuator power receiving part 15 ... Storage means 14 ... Actuator signal exchanging part 18 ... Actuator center of gravity 19 ... X beam center of gravity 20 ... Frame 21 ... Actuator holder 26a ... Spring member 22 ... Feeding part 26b ... Spring member 23 ... Signal transfer unit 27a ... Attenuation member 24 ... Actuator mounting part 27b ... Attenuation member 25 ... Actuator holder display part 21a ... Actuator Rudder upper part 21b ... Actuator holder lower part 21c ... Actuator holder upper part 150 ... Electronic component mounting device 155 ... X beam 151 ... Board transfer conveyor 156 ... Recognition camera 152 ... Printed circuit board 157 ... Y beam 153 ... Part supply unit 158 ... Nozzle storage unit 154 ... Head 159 ... Base

Claims (32)

An actuator having a housing;
A holder for mounting the actuator,
The housing has a first dimension, a second dimension, and a third dimension, wherein the first dimension is smaller than the second dimension, and the second dimension is smaller than the third dimension. ,
The holder includes a first surface and a second surface for supporting the housing;
The first surface has a slot for defining the mounting position of the actuator,
A signal for driving the actuator via the second surface is supplied to the actuator;
The mounting surface defined by the first dimension and the second dimension is a component mounting apparatus mounted in the slot. The component mounting apparatus according to claim 1,
A component mounting apparatus in which the first surface has a plurality of slots for defining mounting positions of the actuator. In the component mounting apparatus according to claim 2,
At least one of the housing and the holder has a display unit that indicates whether the actuator is mounted correctly.
The component mounting apparatus that displays differently depending on whether the display unit is mounted in a slot in which the actuator is mounted or not. In the component mounting apparatus according to claim 3,
The casing is a component mounting apparatus having a grip portion. In the component mounting apparatus according to claim 4,
The actuator includes a storage unit that stores at least one of a unique identification ID, an operation status, an error status, and a usage history. In the component mounting apparatus according to claim 5,
An elastic body and a damping member;
The elastic body and the damping member are component mounting apparatuses that connect the casing and the holder. In the component mounting apparatus according to claim 6,
A component mounting apparatus in which a structure for fitting the casing and the holder is formed on the casing and the holder. The component mounting apparatus according to claim 7, wherein the housing has a third surface and a fourth surface facing the third surface,
The third surface is in a position closer to the second surface than the fourth surface in a state where the housing is attached to the holder,
The component mounting apparatus, wherein the center of gravity of the actuator is located closer to the third surface than the fourth surface. In the component mounting apparatus according to claim 8,
A beam supporting the holder;
The actuator has a nozzle for mounting a component;
A component mounting apparatus in which a line connecting the center of gravity and the center of gravity of the beam intersects the locus of the nozzle. In the component mounting apparatus according to claim 9,
The component mounting apparatus in which the line and the locus are substantially orthogonal. The component mounting apparatus according to claim 1,
At least one of the housing and the holder has a display unit that indicates whether the actuator is mounted correctly.
The component mounting apparatus that displays differently depending on whether the display unit is mounted in a slot in which the actuator is mounted or not. The component mounting apparatus according to claim 1,
The casing is a component mounting apparatus having a grip portion. The component mounting apparatus according to claim 1,
The actuator includes a storage unit that stores at least one of a unique identification ID, an operation status, an error status, and a usage history. The component mounting apparatus according to claim 1,
An elastic body and a damping member;
The elastic body and the damping member are component mounting apparatuses that connect the casing and the holder. The component mounting apparatus according to claim 1,
A component mounting apparatus in which a structure for fitting the casing and the holder is formed on the casing and the holder. The component mounting apparatus according to claim 1, wherein the housing has a third surface and a fourth surface facing the third surface,
The third surface is in a position closer to the second surface than the fourth surface in a state where the housing is attached to the holder,
The component mounting apparatus, wherein the center of gravity of the actuator is located closer to the third surface than the fourth surface. The component mounting apparatus according to claim 1,
A beam supporting the holder;
The actuator has a nozzle for mounting a component;
A component mounting apparatus in which a line connecting the center of gravity and the center of gravity of the beam intersects the locus of the nozzle. The component mounting apparatus according to claim 17,
The component mounting apparatus in which the line and the locus are substantially orthogonal. An actuator having a housing;
A holder for mounting the actuator,
The housing has a first dimension, a second dimension, and a second dimension, the first dimension being smaller than the second dimension, and the second dimension being smaller than the third dimension. ,
The holder includes a first surface and a second surface for supporting the housing;
The first surface has a slot for defining the mounting position of the actuator,
A signal for driving the actuator via the second surface is supplied to the actuator;
An actuator system in which a mounting surface defined by the first dimension and the second dimension is mounted in the slot. The actuator system according to claim 19,
An actuator system having a plurality of slots defining the mounting position of the actuator on the first surface. The actuator system according to claim 20,
At least one of the housing and the holder has a display unit that indicates whether the actuator is mounted correctly.
The said display part is an actuator system which displays differently with the case where it is not mounted | worn with the case where the said actuator is mounted | worn with the slot which should be mounted | worn. The actuator system according to claim 21,
The housing includes an actuator system having a grip portion. The actuator system according to claim 22,
The actuator is an actuator system having a storage unit that stores at least one of a unique identification ID, an operation status, an error status, and a usage history. The actuator system according to claim 23,
An elastic body and a damping member;
The elastic body and the damping member are actuator systems that connect the housing and the holder. 25. The actuator system according to claim 24.
An actuator system in which a structure for fitting the housing and the holder is formed in the housing and the holder. The actuator system according to claim 25, wherein the housing has a third surface and a fourth surface facing the third surface,
The third surface is in a position closer to the second surface than the fourth surface in a state where the housing is attached to the holder,
The actuator system wherein the center of gravity of the actuator is located closer to the third surface than the fourth surface. The component mounting apparatus according to claim 1,
At least one of the housing and the holder has a display unit that indicates whether the actuator is mounted correctly.
The component mounting apparatus that displays differently depending on whether the display unit is mounted in a slot in which the actuator is mounted or not. The actuator system according to claim 19,
The housing includes an actuator system having a grip portion. The actuator system according to claim 19,
The actuator is an actuator system having a storage unit that stores at least one of a unique identification ID, an operation status, an error status, and a usage history. The actuator system according to claim 19,
An elastic body and a damping member;
The elastic body and the damping member are actuator systems that connect the housing and the holder. The actuator system according to claim 19,
An actuator system in which a structure for fitting the housing and the holder is formed in the housing and the holder. The actuator system according to claim 1, wherein the housing has a third surface and a fourth surface facing the third surface,
The third surface is in a position closer to the second surface than the fourth surface in a state where the housing is attached to the holder,
The actuator system wherein the center of gravity of the actuator is located closer to the third surface than the fourth surface.