JP2016213511A - Work system for substrate - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work system for substrates which is compact in which a wide work area is secured.SOLUTION: A work system for substrates includes a head moving device which has two linearly moving devices moving a work head 26 in two directions orthogonal, respectively, and moves the work head within the same plane. At least one of the two linearly moving devices is configured as a multistage moving device which includes: (a) a first track forming part 214 for forming a first track parallel to the moving direction of the work head by itself; (b) a second track forming part 242 moving along the first track and forming a second track parallel to the first track; and (c) a moving part moving along the second track while holding the work head. By this configuration, a movable range of the work head can be expanded to a range WA2 to WA2 which is wider than a device region AA to AA.SELECTED DRAWING: Figure 10

Description

  The present invention relates to an on-board system for performing an on-board operation that is performed on a circuit board when an electronic circuit is assembled.

  The assembly of electronic circuits, that is, the operation of mounting circuit components such as electronic components on a circuit board such as a printed wiring board is generally performed by a circuit component mounting line. Circuit component mounting operations include multiple types of operations, for example, solder printing operations for printing cream solder on circuit boards, adhesive application operations for applying adhesives to circuit substrates, and circuit components for mounting circuit components on circuit substrates Mounting work, soldering work for performing soldering by heating a circuit board on which circuit components are mounted, inspection work for inspecting the work result of at least one of these work, etc. In general, the circuit component mounting line is a counter board working machine that performs the counter circuit board work. It includes a solder printer, an adhesive applicator, a component mounting machine, a reflow furnace, an inspection machine, and the like.

  In the conventional mounting line, the above work machines are arranged at intervals and connected to each other by a transfer conveyor, etc., for reasons such as considering the convenience of adjustment and maintenance of each work machine. It was general to be configured. In such a mounting line, there is a limit in improving space efficiency, and a compact substrate-to-board working system is desired. In addition, when changing the line organization in the mounting line having the above configuration, it is necessary to move each counter-to-board work machine and position each one, so that it is compact from the viewpoint of changing the line. It is desirable to have an on-board working system that is highly flexible in terms of convenience that allows a line change operation to be performed quickly and a wide range of line configuration modes. Furthermore, as described above, it is also desired that the on-board working system is excellent in convenience during adjustment, maintenance, and the like.

  As described above, there are various demands for the on-board working system such as being compact, excellent in convenience, and rich in flexibility. Accordingly, the present invention has been made with an object of obtaining an on-board working system that satisfies at least some of these requirements.

The on-board working system of the present invention is
A circuit board working system that performs a planned circuit board work on a circuit board that supports a circuit component and constitutes an electronic circuit,
a head for moving the work head in one plane, comprising: (a) a work head that performs a main work operation on the circuit board; and (b) two linear movement devices that move the work head in two orthogonal directions. An apparatus for working with a substrate, which is a head plane moving type device including a moving device;
A head movement control unit for controlling the head movement device,
At least one of the two linear movement devices moves along the first track and the first track forming unit that forms a first track parallel to the moving direction of the work head by the first linear moving device. A second trajectory forming portion that forms a second trajectory parallel to the trajectory, and a moving portion that holds the working head and moves along the second trajectory, and is configured as a multistage moving device. It is characterized by that.

  When the substrate working apparatus is a head plane movement type apparatus, at least one of the two linear movement apparatuses provided in the head movement apparatus is, for example, a multistage type (multistage type) such as a telescopic type slide apparatus. By using the moving device, it is possible to secure a wide working area while making a compact substrate-to-substrate working device.

Aspects of the Invention

  In the following, some aspects of the invention that can be claimed in the present application (hereinafter sometimes referred to as “claimable invention”) will be exemplified and described. As with the claims, each aspect is divided into sections, each section is numbered, and is described in a form that cites the numbers of other sections as necessary. This is only for the purpose of facilitating the understanding of the claimable invention, and should not be construed as limiting the technical features described in the present specification and the combinations thereof to those described in the following sections. Absent. In addition, when a plurality of items are described in one section, it is not always necessary to employ the plurality of items together. It is also possible to select and employ only some items.

  The combination of the items (33) and (35) corresponds to claim 1.

(1) A circuit board working system that performs one or more scheduled circuit board operations on a circuit board that supports circuit components and constitutes an electronic circuit,
System base,
A board transfer device for transferring a circuit board;
The circuit board is arranged on the system 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 is determined for each of the circuit boards at least partially located within its own work area. And a plurality of on-board work apparatuses that perform the above-mentioned on-circuit board work.

  The on-board working system according to the aspect described in this section is configured by arranging a plurality of on-board working apparatuses on a system base that is a base of the entire system. Several board-to-board tasks can be performed in one system, resulting in a compact board-to-board system. Note that variations in the types of the substrate work apparatus to be arranged, the arrangement method, and the like will be described in detail in the following sections.

The system base needs to have at least a function as a table on which a plurality of substrate work apparatuses are placed. In addition to its function, shared devices and devices shared by two or more or all of the plurality of on-board work devices to be arranged, for example, operating power supply, positive pressure, negative pressure generation source or generation thereof Even if equipped with a positive pressure and negative pressure supply path from the source, a control device that controls the entire system, control signals between each on-board work device, communication cables for information exchange, terminals, etc. In addition, a dedicated device or a dedicated device dedicated to any one of a plurality of arranged substrate work apparatuses, for example, a dedicated control device, an operation power source, or a positioning for positioning or fixing each substrate work apparatus A device, a fixing device, or a part of them may be provided. By having the dedicated device and the dedicated device in the system base, it is possible to reduce the size of the on-board work apparatus to be arranged. If the system is configured to have the shared device and the shared device, the system base itself can be further reduced in size. Can do. As one of desirable modes, the system base may include at least a driving force supply unit that supplies a driving force such as electric power and fluid pressure to the substrate working apparatus.

  The substrate transfer device is preferably configured such that the circuit board passes through the entire system, that is, each of the substrate work apparatuses. For example, in the case where the substrate transport device is mainly composed of a conveyor, the substrate transport device may include a substrate width corresponding width changing device capable of changing the width according to the width of the circuit board to be transported. Further, the substrate transfer apparatus may form one transfer line throughout the entire system, or may form a plurality of transfer lines throughout the entire system or part of the system. Further, the number of substrate transfer lines may be changed as needed according to the system configuration, the type of substrate, and the like. Further, the substrate transfer device may be provided in the system base as the shared device or the dedicated device, and as will be described later, a part or all of the substrate transfer device is divided and incorporated into the substrate work apparatus, The on-board work apparatus may be constructed in the system by being arranged at a predetermined arrangement position of the system base.

(2) The plurality of substrate working devices apply a high-viscosity fluid for applying a high-viscosity fluid to the surface of the circuit board, a circuit component mounting operation for mounting a circuit component on the surface of the circuit board, the high-viscosity application operation and a circuit The on-board work system according to item (1), including an apparatus that performs at least one work selected from inspection work for inspecting a result of at least one of the component mounting work.

  The above-described counter circuit board operations are general operations performed by the counter substrate working machine in the conventional mounting line, and the counter substrate working system in which the counter substrate working apparatus for performing these operations is arranged is a practical system. Become. Among the listed items, the circuit component mounting work is often performed across a plurality of mounting machines when various circuit components are mounted on a single circuit board. The circuit component mounting system arranged as described above is one effective aspect of the present system.

  In the system according to the present invention, the number and types of the counter-to-substrate work apparatuses to be arranged are not limited. For example, all of the substrate work apparatuses can be an apparatus that performs one kind of substrate work, and a plurality of kinds of apparatuses that perform different substrate work can be arranged. In addition, the board | substrate work which a board | substrate working apparatus performs is not limited to what was enumerated above. For example, to the reflow furnace apparatus (heating work apparatus) that performs the heating operation described above, a transfer work apparatus that mainly transports circuit boards, a standby work apparatus that performs standby work such as stocking circuit boards, and a circuit board system This system can also be constructed by including an on-board work apparatus that performs auxiliary work such as a carry-in work apparatus that carries out the above-mentioned carry-in work, and a carry-out work apparatus that carries out work out of the circuit board system. An example of a standby work device is a stock work device that stocks a plurality of circuit boards. In addition, as an example of an apparatus that performs auxiliary work other than the above, there is a transfer path changing work apparatus that changes a transfer path of a circuit board. The stock work device and the transfer route change work device, including the transfer work device, are a kind of substrate transfer related work machines. By constructing the system in a state that includes or can include such an on-board work apparatus that performs such auxiliary work, the flexibility and convenience of the system are improved.

The substrate-to-substrate working apparatus to be arranged may be configured according to the substrate-to-substrate operation performed by the device. For example, in the case of a circuit component mounting device, a component supply device that supplies circuit components, a substrate holding device that fixes and holds a circuit board at a predetermined work position, and a component holding device such as a suction nozzle are provided. A configuration including a mounting head for taking out and holding a circuit component from the supply device, mounting the circuit component on the held circuit board, and a mounting head moving device for moving the mounting head between the component supply device and the circuit board. Can be. In the case of a cream solder printing apparatus which is a kind of highly viscous fluid coating apparatus, for example, a substrate holding apparatus, a coating apparatus having a metal mask and a squeegee, a supply apparatus for supplying cream solder to the coating apparatus, etc. In the case of an adhesive application device that is another type, for example, a substrate holding device,
In the case of an inspection apparatus that inspects the results of the above various operations, for example, a substrate holding apparatus, a recognition device such as a CCD camera, image processing, etc. A configuration including a recognition data processing unit for processing recognition data such as a unit may be adopted.

(3) At least one of the plurality of substrate-to-substrate working devices is a movable device capable of relative movement with respect to the system base along a device trajectory extending in a direction intersecting the substrate transport direction ( The board-to-board working system according to item 1) or (2).

  In a system in which a plurality of on-board working devices are arranged, for example, when the length of the system is long, a lot of devices are arranged, or the interval between each device is narrow, etc. When performing work such as adjustment and maintenance of the work apparatus, the work is difficult due to the influence of the presence of an adjacent substrate work apparatus. If the device to be adjusted or the like can be moved so as to be extracted from the device array, the convenience of the system is improved. The system described in this section is excellent in convenience because a certain substrate working apparatus can be moved along the apparatus trajectory extending in the substrate transport direction, that is, the direction crossing the direction in which the substrate working apparatuses are arranged.

  The direction of the apparatus trajectory is not particularly limited, and the apparatus extends in various directions such as the vertical direction, the front-rear direction, the front diagonally upward, and the rear diagonally upward when the substrate work apparatus is aligned in the horizontal direction when viewed from the front of the system. Orbits can be employed. Further, the device trajectory is not limited to a straight one, and may be a curved trajectory. In addition, the number of substrate work apparatuses that are movable devices is not limited, and only a part of them can be movable devices, or all devices can be movable devices. In the case where a plurality of substrate working devices are movable devices, it is desirable that their respective device trajectories are located in respective planes parallel to each other, considering that these devices can be arranged close to each other. Further, the movable device may be one that can move only in one direction from the predetermined arrangement position, and the predetermined arrangement position exists at an intermediate position on one apparatus trajectory, and along the apparatus trajectory from the arrangement position. Alternatively, it may be movable in both directions.

  The movement of the substrate work apparatus may be performed manually, that is, manually, and for example, a drive provided with a drive source such as an electric motor or a cylinder device in the substrate work apparatus that is a system base or a movable device. It may be performed by an apparatus. The movable range is not particularly limited. However, in view of the convenience in operations such as adjustment and maintenance, when viewed from a direction parallel to the substrate transport direction, it is adjacent to the target apparatus. It is desirable to increase the movable range so that the devices do not overlap each other or do not overlap most of the parts.

(4) The substrate working system according to (3), wherein the apparatus track is a linear track orthogonal to the substrate transport direction.
(5) The substrate working system according to any one of (3) and (4), wherein the device trajectory extends substantially horizontally.

The modes described in the above two items are obtained by adding a limitation on the direction of the apparatus trajectory, that is, the moving direction of the substrate working apparatus that is a movable apparatus. In the aspect described in the item (4), when the counter substrate working apparatus to be moved is moved, it is easy to make it move without interfering with the counter substrate working apparatus adjacent to the apparatus, In particular, it is possible to prevent interference even when adjacent devices are arranged adjacent to a device to be moved. Further, in the aspect described in the item (5), in any movement along the apparatus trajectory, the movement direction includes almost no upward movement direction component, and the weight of the movable apparatus to be moved becomes a load. hard. Therefore, if a frictional force reducing means such as a wheel or a roller, which is a kind of movement facilitating means, is employed, the movable device can be easily moved along the device track by human power. The aspects described in the above two terms are practical aspects, and the aspect in which the limitations described in both are adopted is a more practical aspect.

(6) A movable device movement allowing device that allows the movable device to move along the device track, and a movable device fixing device that fixes the movable device at a fixed position on the device track. The on-board working system according to any one of (3) to (5), comprising:

  The mode described in this section is one mode when the substrate working apparatus is a movable device. A practical system can be obtained if the movement direction of the substrate working apparatus is regulated by the apparatus trajectory and fixed at a certain position on the apparatus trajectory, for example, a certain relative position with respect to the system base. The fixed position of the movable device on the device trajectory by the fixing device may include a predetermined arrangement position in the system base of the substrate working apparatus when the system is operated, and an arbitrary position may be determined from the arrangement position. It may further include a position moved by a distance. That is, the fixed position is not limited to one position, and may be a plurality of positions as in the case where the fixed position and the position set separately from the predetermined position are included, for example.

(7) The movable device movement allowing device is
A device trajectory forming unit that is fixed in position on one of the system base and the movable device and forms the device trajectory;
The counter substrate according to (6), further comprising: a pair of track engaging portions that are provided at fixed positions on the other of the system base and the movable device and that are movably engaged with the device track forming portion. Work system.

  The movable device movement allowance device in the aspect described in this section includes a device track forming portion and a paired track engaging portion. For example, when a guide rail as a track forming member is laid on the system base and an engaging member that engages with the guide rail is attached to the movable device, the guide rail corresponds to the device track forming portion. The engaging member corresponds to the paired track engaging portion. In that case, it is desirable that the engaging member has a small frictional force generated with the guide rail, for example, a wheel device including a wheel that is rotatable via a bearing, a slide including a bearing, and the like. It is desirable to employ an apparatus or the like. Conversely, a mode in which a guide rail is provided on the movable device side and the engaging member is provided on the system base side may be employed.

(8) The movable device fixing device is
The system base and the movable device are each provided with a fixed position in the direction in which the device track extends and abuts each other so that the movable device moves in one direction along the device track with respect to the system base. Each abutment that prohibits,
A contact state release prohibiting portion that prohibits movement of the movable device in the other direction along the device trajectory with respect to the system base by prohibiting the release of the contact state between the respective contact portions; The on-board working system according to (6) or (7).

The aspect described in this section is an aspect in which a limitation relating to the movable device fixing device is performed. For example, when a locking member such as a stopper is provided on the system base, and a locked member that is locked by the locking member is provided on the movable device. The member and the locked member correspond to the respective contact portions. For example, an urging device including an urging force generating device such as a cylinder is provided on one of the system base and the movable device, and the other part of the system base or the movable device is brought into contact with the locking member and the locked member. If the urging force is applied in the direction of continuous contact, the relative position of the movable device to the system base is maintained. That is, the movable device is fixed to the system base. In that case, the contact state cancellation | release prohibition part is comprised including the biasing device. By releasing the urging force, the contact between the locking member and the locked member can be released, and movement of the movable device along the device track is allowed.

  The movable device fixing device according to the aspect described in this section is provided with a pin that protrudes toward the other of the movable device and the system base, and the pin is fitted to the other without a gap. An apparatus may be provided in which a fitting hole is provided and the pin is fitted into the fitting hole. In that case, a part of the outer peripheral surface of the pin and a part of the fitting hole correspond to the contact part, and the pin and the fitting hole itself function as the contact state release prohibiting part.

(9) When a table device capable of forming a track different from the device track is arranged beside the system base in a state where the other track extends the device track, at least a part of the movable device However, the on-board working system according to any one of the items (3) to (8), which is configured to be movable along the other track so as to be placed on the table device.

  Considering that the system is compact, the size of the system base is more than necessary for the placement space for the substrate work equipment when multiple work equipment for the substrate work are arranged on the system base. It is desirable not to increase it. In such a case, for example, if the movable device is moved laterally with respect to the system base, the movable device is overhanging from the system base. The mode described in this section is effective in such a case, and is particularly effective when the device trajectory of the movable device is substantially horizontal. That is, it can be said that the table device described in this section serves as an auxiliary base. In this system, the table device is not a direct component of the system, but may be a system including the table device.

  When the table device is arranged at a predetermined position with respect to the system, the track it has extends the device track. Therefore, the other track can be referred to as an extended track. The extension track may be formed by a configuration similar to the configuration for forming the device track. For example, in the same manner as the movable device movement allowance device described above, in the relationship between the table device and the movable device, the table device side movable device movement allowance device including the device track forming portion and the paired track engagement portion is included. A device can be configured. In this case, for example, a guide rail as a track forming member is laid on the table device main body, and an engaging member that engages with the guide rail is attached to the movable device. The extension track extends the device track, but when the guide rail is employed as described above, the guide rail itself does not necessarily need to be positioned on a straight line. In that case, for example, an engagement member that is different from the engagement member that engages with the guide rail on the system base side is provided, and a mode in which the other engagement member is engaged with the guide rail on the table device side is adopted. You can also. As long as the trajectory is extended, that is, as long as the movement range of the apparatus trajectory is extended while maintaining the moving direction of the movable device in a fixed direction, the movable device movement allowing device and the table device side movable device moving allowance device These constituent parts may be in an aspect in which they are mutually used or in an aspect in which they are not used in common.

  Further, the above-described movable device fixing device can be provided on the table device side. The table device side movable device fixing device may have a configuration according to the configuration of the movable device fixing device. The table device may be one on which one movable device is placed, or may be one on which two or more movable devices are placed. The table device in a mode in which a plurality of movable devices can be placed is a convenient table device, for example, when it is necessary to move two or more adjacent movable devices simultaneously, as will be described in detail later.

(10) The on-board working system according to item (9), in which the movable device is transferred to the table device, so that the on-board working device is separated from the system base.

  For example, as will be described later, in the case where the substrate working apparatus is modularized, the substrate working apparatus can be separated from the system base. In the system of such an aspect, an aspect in which the table apparatus can be used in the work of separating the substrate work apparatus from the system base corresponds to the aspect described in this section. In the embodiment described in this section, if the table device is movable, the table device can also be used as a substrate work device transport device. For example, it can be set as the movable table apparatus of various aspects, such as the aspect which can provide a wheel apparatus etc. and can move by human power, and the aspect which the table apparatus itself has a drive source, and can be self-propelled. Further, the table device can improve convenience by providing a lifter device, for example.

(11) The system base includes a connecting portion, and the connecting portion positions the table device at a position where the other track extends the device track (9) or (10) The board | substrate work system as described in a term.

  The movement of the movable device is mainly performed when the movable device is separated from the system base, such as during adjustment or maintenance of the movable device, or when the system is changed. Therefore, during normal operation such as when the system is operating, the table device is located away from the system and is placed beside the system when necessary. In this case, an aspect in which the track having the table device can be simply placed at a position extending the device track is the mode described in this section. The specific configuration of the connecting portion and the connecting portion on the table device side is not particularly limited, and positioning is achieved by providing each of the pin and the fitting hole in each of the connecting portions and fitting them together. It may have a connecting device as made.

(12) Two or more of the plurality of substrate work devices adjacent to each other are the movable devices, and the extending directions of the device tracks of the two or more movable devices are parallel to each other. The substrate working system restricts relative movement of at least the two or more movable devices relative to each other in at least the direction in which the device trajectory extends when the two or more movable devices move simultaneously relative to the system base. Including relative movement restriction device between devices (3)
Item 4. The substrate work system according to any one of items (11) to (11).

  As will be described in detail later, there may be a case where one circuit board is located across two or more substrate work apparatuses, and these apparatuses work in cooperation with the one circuit board. In such a case, when some trouble occurs, it may be required to adjust these devices at the same time. When these devices are movable devices, for example, they may be forced to perform adjustment work by moving the devices from the arrangement position at the same time while holding the circuit board. At that time, it is desirable to be able to move the devices simultaneously while maintaining the relative positional relationship between the devices in consideration of the influence on the circuit boards and the like straddling those devices. The mode described in this section is an effective mode in such a case. That is, the mode described in this section is a mode in which a plurality of adjacent movable devices having parallel device trajectories can be moved simultaneously while maintaining the relative positional relationship between the devices. is there. Note that the relative movement restriction device between the devices can be a device in such a mode that, for the purpose of use, only the relative position is largely deviated and a certain degree of deviation is allowed.

  Note that the relative movement restriction device between apparatuses is not limited to the case where the movable device is moved simultaneously, and regardless of whether the target substrate work device is a movable device or not, It can also be used as an apparatus for making the relative positional relationship between the arrangement positions appropriate.

(13) The relative movement restriction device between the devices is fixed to each of one of the two or more movable devices and another one adjacent to the movable device in a direction in which the device track extends. The board-to-board working system according to (12), wherein each of the engaging parts is provided to engage with each other, and the relative positions of the engaging parts in at least the direction in which the apparatus track extends are regulated. .

  This term is a term showing a specific mode of the above-mentioned device relative movement restriction device. It is possible to effectively prevent the relative positional relationship between two adjacent substrate work apparatuses from shifting. Specifically, for example, in this aspect, for example, one device is provided with a pin that can protrude toward the other device, and the other device is provided with a fitting hole that fits the pin, and the both are fitted. By doing so, it is possible to employ an apparatus-to-apparatus relative movement restriction apparatus that restricts the relative positions of both apparatuses. In this case, the pins and the fitting holes correspond to the respective engaging portions. When a certain degree of relative positional deviation is allowed, the fitting relationship between the pin and the fitting hole may be loose. In addition, when employ | adopting the relative movement restriction | limiting apparatus between apparatuses of the said aspect, it will be in the state which fits with a fitting hole by making a pin into a protrusion state, and will be in the state which does not fit by making a pin into a to-be-projected state. It can also be done. In this way, the inter-device relative movement restricting device that can switch the two engaging portions between the engaged state and the engaged state can be moved at any time if it is reversed. It is a device that releases the restriction on the relative positional relationship of the devices, and functions as a device for allowing relative movement between devices.

(14) The on-board working system according to any one of (1) to (13), wherein the system base includes a plurality of base modules.

  The board-to-board working system of the present invention can modularize some of its components. The aspect described in this section is an aspect in which the system base is configured by a modularized base module. The system base may be one in which a plurality of base modules are connected to each other and integrated, and is functioning integrally by being arranged at appropriate positions without being connected. May be. Furthermore, a portion in which base modules are connected to each other and a portion not connected to each other may be mixed to constitute one system base. As a merit that the system base is composed of the base module, it can easily cope with the change of the length of the system base due to the change of system organization, and there is a dedicated base module corresponding to the on-board work equipment to be arranged The flexibility of the system can be improved, for example, by including the dedicated module.

(15) A board-to-board working unit is configured to include each of the plurality of base modules and one or more of the plurality of board-to-board working devices arranged on each of the plurality of base modules. The on-board working system according to item (14), wherein a plurality of are arranged.

When the base module is employed, the base module and the counter substrate working apparatus arranged on the base module can constitute, for example, a unit that functions as a single counter substrate working machine. In that case, when two or more substrate work apparatuses are arranged in one base module to constitute a substrate work unit, the unit itself can be the substrate work system described in the section (1). Compared with a unit in which two or more substrate work apparatuses are arranged in one base module and one unit substrate work apparatus are arranged, it is excellent in convenience when moving each unit. In addition, if a movement facilitating device such as a wheel device is provided in the base module itself, the substrate work unit including the module becomes a unit that can be easily moved. Unitization improves the versatility of the system.

(16) The device according to any one of (1) to (15), wherein at least one of the plurality of substrate-to-substrate working devices is a modularized device that is modularly separated from the system base. Anti-substrate work system.

  If the on-board work apparatus is modularized so as to be easily separable, the system can be easily changed by rearranging several modular apparatuses on the system base, and the versatility of the system is enhanced. If all the substrate work apparatuses are modularized, a system having higher flexibility can be realized. In a circuit component mounting apparatus that is a type of substrate-to-board working device, for example, the component supply device, the substrate holding device, the mounting head, the mounting head moving device, etc. described above are incorporated into the device module main body to form a module. Can do. Further, for example, devices such as a control device for controlling these devices, a substrate recognition device for recognizing the substrate surface, and a component recognition device for recognizing a circuit component held by the mounting head can be incorporated into a module. Regarding the degree of “separable”, for example, the work apparatus for the substrate is fixed by fastening with a lot of fasteners, etc., and it is not a state that requires a lot of labor and labor to separate, but relatively easy It is desirable to arrange the substrate working apparatus in a state where it can be easily detached by simple operation.

(17) The on-board working system according to item (16), wherein at least one of the modularized devices can be replaced with another modularized device prepared in the other. (18) At least two or more of the plurality of substrate work apparatuses are the modular apparatus, and at least two or more of the two or more modular apparatuses are arranged with respect to each other. The on-board working system according to (16) or (17), which is changeable.

  The above two terms are aspects in which a limitation is imposed on the degree of modularization of the substrate working apparatus. In the aspect described in the item (17), it is possible to exchange with another modularized device.For example, a pair of substrate working apparatuses are set to operate normally when an abnormality is detected in the apparatus. The system can be easily replaced with a substrate working apparatus, or can be replaced with a different type of substrate working apparatus according to the contents of the substrate working performed by the system, and a system with less loss during the replacing work is realized. In the aspect described in the item (18), the rearrangement can be easily performed, and the convenience in changing the system is good. In addition, all of the plurality of substrate work devices are modularized, and any modularized device can be replaced with another, or any modularized device can arbitrarily change the arrangement position of each other It is more preferable from the viewpoint of system convenience and versatility.

(19) The substrate-carrying work according to any one of (1) to (18), wherein the substrate transfer device includes a plurality of substrate transfer modules modularized so as to be separable in the substrate transfer direction. system.

  If the substrate transport apparatus is modularized in each part, the versatility of the system is improved, such as facilitating the change in the length of the system, as in the case of modularization of the base. All parts of the substrate transfer apparatus may be modularized, or only a part may be modularized.

(20) The substrate transfer device includes a plurality of substrate transfer modules that are modularly separable in the substrate transfer direction, and one or more of the modularized devices include a plurality of them. The device according to any one of items (16) to (18), wherein the device is a modularized transfer device deployment module in which at least one of the substrate transfer modules is deployed as a deployed transfer device. Board work system.

The aspect described in this section is an aspect in which a substrate transport module in which a part of the substrate transport apparatus is modularized is arranged in a modularized counter-substrate working apparatus. This is a highly modular aspect of the system. A mode in which one substrate transfer module is provided in one modularization device may be employed, or a mode in which two or more substrate transfer modules are provided in one modularization device may be employed.

(21) The deployed transport device cooperates with a portion adjacent to the deployed transport device of the substrate transport device to transport the circuit board, and the transport device in which at least a part of the circuit board is deployed with the deployed transport device The on-board work system according to item (20), which is positioned at a predetermined work position in the work area of the deployment modularization apparatus.

  The mode described in this section is a mode that is particularly effective when the substrate transport module as the deployed transport device also serves as the substrate holding device in the modular apparatus in which it is deployed. In addition, the cooperative transfer is performed by transferring the circuit board between the upstream and downstream board transfer device parts (which may be another deployed transfer device) and the deployed transfer device, and starting the movement of the circuit board. In stopping, etc., it is realized by synchronizing, synchronizing, etc. the timing of each start / stop between them, each conveyance speed, etc. In addition, for example, depending on the width of the circuit board, the width of the transport section of the upstream and downstream substrate transport apparatus and the width of the transport section of the deployed transport apparatus (for example, the conveyor width in the case of a conveyor apparatus) It is also possible to make it possible to change them while making them correspond to each other. Further, as will be described later, the circuit board stop position when one circuit board is operated by one counter-substrate working apparatus, and the circuit board positioned between two adjacent counter-substrate work apparatuses are two of them. The board stop position when two apparatuses work together can be configured to be switchable according to the type of the circuit board.

(22) The substrate transport device is a device having a conveyor as a main component, the deployment transport device has a conveyor independent from other parts of the substrate transport device, and the conveyor is configured as the transport device deployment module. The on-board working system according to item (21), wherein when the apparatus is arranged on the system base, the apparatus is positioned on a line with a conveyor existing in an adjacent portion of the substrate transfer apparatus.

  A transport device mainly composed of a conveyor such as a belt conveyor is simple. Moreover, it has the merit that it can be easily separated into a module in the substrate transport direction.

(23) The substrate transfer cooperative control for controlling the substrate transfer device so that the counter substrate working system coordinates the operation of the deployed transfer device and the operation of the portion adjacent to the deployed transfer device of the substrate transfer device. The substrate working system according to (21) or (22), including a section.

  As described above, each device cooperates in delivering the substrate between the upstream and downstream substrate transfer device portions and the deployed transfer device, stopping the circuit board to an arbitrary stop position, and the like. This is a mode that makes it possible. For example, in the case where the deployed conveyance device or the like is mainly composed of a conveyor, the operations of the conveyors included in the apparatus are coordinated. Specifically, a substrate detector for checking whether or not a part of the circuit board exists is provided in each of the deployed transport device and the substrate transport device adjacent to the deployed transport device, so that the substrate transport emphasis is provided. Based on the substrate detection signal at the location where the substrate detectors are provided, the control unit is configured to perform a control in which the operation of the deployed transfer device and the operation of the portion of the substrate transfer device adjacent thereto are coordinated. Can do. In the case of an apparatus mainly composed of a conveyor, synchronization, synchronization, optimization of timing, etc. may be achieved in starting and stopping the conveyor, changing the conveyance speed, and the like. The substrate transfer cooperative control unit may be provided at a central part of the system, such as a system base, in a shared part of the system, or distributed within each control device of each substrate work apparatus. May exist.

Note that the features described in the above items (21) to (23) can be features of the substrate transfer module regardless of whether or not the substrate transfer module is provided as a deployment transfer device in a modular apparatus. Accordingly, one or more of the “plurality of substrate transfer modules” referred to in the item (19) are referred to as “target substrate transfer modules”, and the “deployed transfer device” in the items (21) to (23). The “target substrate transport module” is defined as the “target substrate transfer module”, and the technical feature described in the items (21) to (23) can restrict the item (19) to be an embodiment of the present invention.

(24) Each of a plurality of at least a part of the plurality of substrate work apparatuses is an adjacent arrangement apparatus arranged adjacent to each other, and the adjacent arrangement apparatuses are adjacent to each other. The on-board working system according to any one of (1) to (23), which is arranged to form a group of adjacent devices.

  A compact board-to-board working system is realized by arranging the board-to-board working devices adjacent to each other. Here, “adjacent” means that at least a part of the outer surface of the substrate working apparatus is arranged close to each other. In addition, the surface of special members, such as a member which mutually connects, is remove | excluded from the said outer surface. To put it flatly, for example, the mutually adjacent arrangement devices constituting the adjacent device group are arranged with almost no gap in the substrate transport direction. In the case where the mutual adjacent placement device is the above-mentioned movable device, etc., the existence of a gap that allows the movement of the device in the direction intersecting the substrate transport direction without causing interference with the adjacent device is permitted. It shall be. Specifically, the distance between the outer surfaces of the devices is preferably, for example, within 50 mm at the smallest portion, more preferably within 30 mm, and even more preferably within 15 mm. In addition, a mode in which a part of the plurality of substrate work apparatuses may constitute an adjacent device group, and as a more compact aspect, the adjacent device group is configured by all of the plurality of substrate work devices. It is also possible to adopt the embodiment.

(25) Each of the plurality of mutually adjacent arrangement devices is modularized so as to be separable from the system base, and each width in the substrate transport direction is specified to be approximately an integral multiple of a set unit width. The board-to-board working system according to item (24).

  In the case where mutual adjacent placement devices, which are substrate-to-board working devices constituting the adjacent device group, are modularized, a compact and flexible system is realized by standardizing the widths of these devices. The “width” of the substrate working apparatus means a distance having the largest value among the separation distances of the outer surface portions located on the opposite sides in the substrate transport direction of the substrate working apparatus. The width of a portion where a special member such as a member that connects each other exists is excluded. For example, if the work equipment for substrates having the same outer shape is arranged at a predetermined arrangement position of the system base in a state of being aligned with each other in the substrate transfer direction, the arrangement pitch is the width of the apparatus. Is equal to When the width is standardized, the width of the adjacent device group is also standardized, and the base can be reused when exchanging or rearranging the mutually adjacent placement devices.

  The unit width in normalization can be set to a width substantially corresponding to the width of the smallest adjacent arrangement device, for example. In this case, the other adjacent arrangement devices may have a width equal to the width, that is, a width that is one time, or a width that is twice, three times, or the like. When it is necessary to provide a slight gap between devices in consideration of rearrangement, such as when the mutually adjacent device becomes a movable device, the width of the device is not strictly an integral multiple, Even in such a case, the system is included in the aspect described in this section.

(26) The system base is provided at least in a portion where the adjacent device group is disposed at a pitch equal to the unit width in the substrate transport direction, and at least the substrate transport direction of each of the plurality of adjacently disposed devices. A plurality of arrangement position determining devices for determining the arrangement position of each of the plurality of arrangement position determining devices, each of which is one of the plurality of arrangement position determining devices.
The on-board working system according to item (25), wherein the arrangement position is determined by two or more things.

  For example, the aspect described in this section is an aspect in which, for example, the arrangement position determination device provided in the system base is standardized, and the positional relationship with respect to the arrangement position determination device in the mutual adjacent arrangement device is standardized. For example, in the case where an adjacent device group is configured only by mutual adjacent arrangement devices of unit width, if any arrangement position determining device can arrange any mutual adjacent arrangement device at a predetermined arrangement position, these adjacent arrangements Even when the devices are arranged at different positions, the adjacent device group can be easily configured. Further, in the case of a mutually adjacent arrangement device having a unit width of approximately twice the unit width, when it is assumed that two adjacent unit arrangement devices of unit width are arranged and integrated with each other, What is necessary is just to comprise an arrangement position determination apparatus so that it can arrange | position in the same position as the position where the assumed apparatus is arrange | positioned. The same configuration may be applied to a device that is approximately three times the basic width, approximately four times the device width, and so on. With the above-described configuration, it is possible to easily construct a system having various adjacent device groups in response to rearrangement, replacement, increase / decrease, etc. of mutual adjacent placement devices constituting the adjacent device group. In addition, the versatility of the system base is further improved.

(27) The arrangement position determining device includes a conveyance direction position determining unit that determines an arrangement position of the mutual adjacent arrangement devices in the substrate conveyance direction, and a cross direction position that determines an arrangement position in a direction intersecting the substrate conveyance direction. The on-board working system according to item (26), further comprising a determination unit.

  In the aspect described in this section, the positioning in both directions is possible, and a practical system is obtained. Although the specific modes of the transport direction position determination unit and the cross direction position determination unit are not limited, for example, when the mutual adjacent device is a movable device, the device trajectory forming unit of the movable device movement allowance device described above is When it is provided in the system base, the device trajectory forming unit can also serve as the transport direction position determining unit. In addition, a part of the movable device fixing device described above can also serve as the cross direction position determination unit.

(28) The counter substrate work system includes a work device group constituted by two or more adjacent ones of the plurality of counter substrate work apparatuses, and the counter substrate work apparatus constituting the work device group The on-board work system according to any one of (1) to (27), wherein the on-board work can be performed on a circuit board having a size located across the work area.

  The substrate-to-substrate working system of the present invention transports a circuit board having a size that can be accommodated in the work area of each substrate-to-substrate work apparatus by the substrate transport device, and sequentially stops the circuit board in the work area of each substrate-to-substrate work apparatus. Thus, it is possible to adopt a work form in which the work on the substrate by each work apparatus on the substrate is performed. On the other hand, in the aspect described in this section, when a relatively small counter substrate working apparatus is aligned and a counter substrate operation is performed on a relatively large circuit board, the circuit board is placed at a position across a plurality of counter substrate working apparatuses. This is a mode in which a work mode in which the substrate work is performed while being positioned can be adopted. This has the advantage that the substrate working apparatus can be reduced in size, and the entire system can be reduced in size.

  The working device group may be configured by a part of the deployed anti-substrate working devices, or may be configured by all anti-substrate working devices. Further, the number of work device groups in the system may be one, or may be two or more. A mode in which all of the plurality of substrate working apparatuses are divided into a plurality of working apparatus groups is also included. In that case, for example, a plurality of substrate work apparatuses having the same apparatus width in the substrate transport direction are all arranged adjacent to each other, and are set as a plurality of work apparatus groups adjacent to each other by the same number of substrate work apparatuses. If the system is configured to include a substrate work apparatus that performs the same type of substrate work, the system becomes a practical system.

(29) When performing substrate-to-substrate work on a circuit board having a size that straddles the work area of the substrate-operating device constituting the working device group, the circuit board is connected to the substrate conveying device. A group is transported as a unit, and each of the counter substrate work devices constituting the work device group is subjected to a certain counter substrate work determined for each partial area of the circuit board located in each of the work regions. The on-board work system according to item (28), further including: a collective work control unit that performs the on-board work on the circuit board collectively by causing the circuit board to perform.

(30) When performing substrate-to-substrate work on a circuit board having a size that straddles the work area of the substrate-operating device constituting the working device group, the circuit board is connected to the substrate conveying device. A partial area in which work is carried out while sequentially changing the partial area of the circuit board on which each work is carried out to each of the work equipment on the substrate constituting the work apparatus group, which is conveyed in order for each work apparatus on the board constituting the group. The board work system according to item (28), further including a progressive work control unit that sequentially carries out the board work defined in accordance with 1.

(31) When the board-to-board work system performs board-to-board work on a circuit board having a size that straddles the work area of the board-working equipment that constitutes the working device group (a), the board The transport device transports the circuit board as a unit of the working device group, and each of the counter substrate working devices constituting the working device group has its circuit board partial area positioned in the respective working area. A collective work control unit for performing the work on a board for the circuit board at a time by performing a fixed work on the board defined for each; and (b) a board work device constituting the work device group. When performing substrate-to-substrate work on a circuit board having a size across the work area, the substrate transport device causes the circuit board to be transported sequentially for each substrate-working device constituting the work device group, The pairs that make up the working device group Each of the plate working devices includes a progressive work control unit that sequentially performs the counter-to-board work corresponding to the partial area to be worked while sequentially changing the partial areas of the circuit board on which each work The work system selection control unit according to (28), further including a work form selection control unit that selectively performs control by the collective work control unit and control by the progressive work control unit.

  The above three aspects relate to a working mode when working on a circuit board having a size straddling two or more substrate working apparatuses. To put it plainly, for example, when the work area on the circuit board is divided into several areas, an aspect in which the work on the board for one of the areas is performed by one work apparatus on the board is described in the item (29). A mode in which one counter substrate working apparatus sequentially performs counter substrate operations on a plurality of regions is the aspect described in the item (30). In these aspects, it is possible to perform a counter-to-board operation on a relatively large circuit board with a compact counter-to-board working apparatus, and the system is highly convenient. The mode described in the item (31) is a mode in which the two work modes can be selectively performed, and the work mode is widened, resulting in a more flexible system. For example, in a system in which a plurality of substrate work apparatuses having the same configuration are arranged adjacent to each other and divided into a plurality of work apparatus groups that are configured by the same number of substrate work apparatuses and adjacent to each other, the item (30) In this aspect, the transport pitch of the circuit boards can be equal to the arrangement pitch of the substrate work apparatus, and in the aspect of item (29), the pair constituting the work apparatus group in the arrangement pitch. The pitch can be multiplied by the number of substrate working devices.

(32) At least one of the plurality of substrate work apparatuses is
A work head that performs the main work operations on the circuit board;
A head moving device that includes two linear moving devices that move the working head in two orthogonal directions, and moves the working head in one plane;
A working head plane moving type device including
32. The substrate working system according to any one of items (1) to (31), wherein the substrate working system includes a head movement control unit that controls the head moving device.

  The aspect described in this section is an aspect in which at least one of the substrate work apparatuses is an apparatus provided with a so-called XY robot type moving device. For example, a substrate working apparatus that performs circuit component mounting work, adhesive application work, inspection work, and the like can be the work head plane movement type apparatus in this section. And in those devices, for example, in the case of a circuit component mounting device, the mounting head including the circuit component holding device, in the adhesive application device, the application head having a syringe, dispenser, etc., is the inspection device, An inspection head having a substrate recognition device for recognizing the surface of the circuit board corresponds to a work head of each apparatus.

  When the head moving device is an XY robot type moving device, an X slide device that moves the work head in the X-axis direction and a Y slide device that moves the work head in the Y-axis direction are the two linear moving devices, respectively. It corresponds to. For example, the X slide device has an X-axis direction guide, an X slide that moves along the X-axis direction guide, and an X slide movement device that moves the X slide. Similarly, the Y slide device A Y-axis direction guide, a Y-slide that moves along the Y-axis direction guide, and a Y-slide moving device that moves the Y-slide can be provided. The X-axis direction guide and the Y-axis direction guide One is fixedly provided on the body portion of the substrate working apparatus, and the other of the X-axis direction guide and the Y-axis direction guide is moved along one of the X-axis direction guide and the Y-axis direction guide. XY robot type movement which is a work head plane moving type device by fixedly providing on one of X slide and Y slide and holding the work head on the other of X slide and Y slide It is possible to configure the location.

  The head movement control unit may be provided at any location of the substrate work system. For example, even if it is provided in the control device provided in the substrate working apparatus which is a work head plane movement type device, it is provided in a place other than the substrate working apparatus, such as a system base, an independent control panel, etc. It may be provided in the control device. Moreover, the aspect which distributes and provides in several places for every part, and these parts perform the control comprehensively, exchanging information may be sufficient.

(33) A circuit board work system that performs a planned circuit board work on a circuit board that supports a circuit component and constitutes an electronic circuit,
a head for moving the work head in one plane, comprising: (a) a work head that performs a main work operation on the circuit board; and (b) two linear movement devices that move the work head in two orthogonal directions. An apparatus for working with a substrate, which is a head plane moving type device including a moving device;
And a head movement control unit that controls the head movement device.
(34) The high-viscosity application work in which the substrate working device applies a high-viscosity fluid to the surface of the circuit board, the circuit part installation work to install the circuit parts on the surface of the circuit board, the high-viscosity application work and the circuit part installation The on-board work system according to item (33), which is an apparatus that performs at least one of the work on the circuit board selected from the inspection work for inspecting the result of at least one of the work.

The above two terms do not indicate the forms recognized as inventions, but serve as preconditions for the following items. In other words, to give a specific example, the board requirements that are not essential requirements such as “system base”, “board transfer device”, and “multiple” board work equipment, which are the configuration requirements shown in section (1). Even in a work system (for example, an independent work machine for a substrate), the technical features described in the following items can be applied as inventions, so that the present invention including them can be described. The above two terms are provided for convenience.

(35) At least one of the two linear movement devices moves along the first track forming unit that forms a first track parallel to the moving direction of the working head by the device, and the first track. A multi-stage moving device comprising: a second track forming portion that forms a second track parallel to the first track; and a moving portion that moves along the second track while holding the work head. The board-to-board working system according to any one of (32) to (34) configured as described above.

  The aspect described in this section is an aspect in which a limitation relating to the linear moving device included in the head moving device is added in the case where the substrate working device is a head plane moving type device. In the case where the head moving device is an XY robot type moving device, at least one of the X slide device and the Y slide device is a multistage (multistage) moving device such as a telescopic slide device. It is an aspect. In the system of the above aspect, it is possible to secure a wide working area while using a compact substrate-to-board working apparatus.

  For example, when the X slide device is a two-stage moving device, the first trajectory forming unit configured to have a first X axis direction guide, and the first X slide moving along the first X axis direction guide are parallel to the first X axis direction guide. A second trajectory forming section configured by fixedly providing a second X-axis direction guide and a moving section configured to include a second X slide that moves along the second X-axis direction guide. It can be. The same applies when the Y slide device is a two-stage moving device. Further, when the linear moving device is a multi-stage moving device having three or more stages, a similar method may be adopted.

  For example, when the Y-axis direction guide is fixedly provided on the apparatus main body, the X-axis direction guide is fixedly provided on the Y slide, and the X slide holds the work head, only the X slide apparatus is duplicated. A multistage apparatus may be used, or only the Y slide apparatus may be a multistage apparatus, or both may be a multistage apparatus. When the X slide is a multi-stage moving device, the moving unit directly holds the work head. On the other hand, when the Y slide device is a multistage device, the moving unit indirectly holds the work head via the X slide device. Thus, the aspect of this section includes an aspect in which the moving unit indirectly holds the work head via one linear movement device.

  The expansion / contraction allowance of the multistage moving device can be arbitrarily set. For example, when one of the linear movement devices is a multistage device, the work area is moved by moving the second trajectory forming section with respect to the work area when it is assumed that the second trajectory forming section does not move at all. It is desirable that the expansion / contraction allowance expands by 5% or more. More preferably, the contraction allowance is such that an enlarged work area of 10% or more is obtained, and more preferably, the extend allowance is such that an enlarged work area of 20% or more is obtained.

(36) A plurality of track stop positions, which are stop positions of the second track forming unit, are set within a movement range of the second track forming unit on the first track, and the head movement control unit And a track portion stop head movement control unit that moves the work head along the second track while the second track forming portion is stopped at any one of the plurality of track portion stop positions (35). The board-to-board working system described in the item).

In the case of a multi-stage moving device, a combination of a stop position on the second track of the moving unit and a stop position on the first track of the second track forming unit is arbitrarily selected with respect to one stop position of the work head. it can. There are extremely infinite combinations in the extreme, and it is possible to control the stop positions of both based on some kind of discipline. In the aspect described in this section, first, several stop positions on the first track of the second track forming unit are set, and the track unit stop head movement control unit selects a stop position from the set positions. Thus, the moving unit is moved in a state where the second track forming unit is stopped at the selected stop position. If the stop position of the second trajectory forming unit is selected based on a certain discipline, it becomes easy to control the stop position of the work head. It is also possible to change a certain discipline according to the situation, and it is possible to perform control with high responsiveness. For example, the movable area of the working head is divided into several divided areas, and the stop position of the second track forming unit is determined based on which divided area the working head is stopped in. Can do. Here, “in a stopped state” does not necessarily mean that the work head is moved after the second track forming member is stopped. In actual control, when the stop position of the second trajectory forming portion is changed, the movement of the second trajectory forming portion to another stop position and the movement of the work head relative to the second trajectory forming portion are simultaneous or almost time-consuming. There are also cases where it is started without any problems. In that case, the case where both are moving may occur (the frequency of occurrence is not necessarily high). The above “in a stopped state” includes such a case.

(37) In a specific direction that is a moving direction of the work head by the linear moving device that is the multistage moving device, the lengths of the first track forming unit and the second track forming unit of the linear moving device are The head movement control unit has a length that does not exceed the width of the device region of the head plane movement type device, and the head movement control unit moves the second track forming unit to a position where a part of the second track moves out of the device region. The on-board work system according to (35) or (36), further comprising an advancement control unit that allows the workhead to advance beyond the apparatus area by moving the workhead to the position.

  According to the aspect described in this section, in the substrate work apparatus including the linear movement device that fits in the apparatus area, for example, by extending a part of the second trajectory forming unit from the apparatus area, the work area is It is possible to expand outside the apparatus. The “apparatus area” means an internal space defined by the outer surface of the apparatus main body of the substrate working apparatus. Excluding the outer surface of the second track forming unit, the device that moves and advances, such as the working head, the device, the member, or the special member such as the member that connects the substrate working device to each other, Shall be determined. The work head may advance only on one side of the device area in a specific direction, or may advance on both sides.

(38) When an on-board working apparatus different from the head plane movement type apparatus as the target apparatus is arranged as a side-by-side apparatus arranged in the specific direction, the attention is controlled by the advance control unit. The anti-substrate production system according to (37), wherein the working head of the target device can be advanced to the device area of the juxtaposed device.

  In the following sections of this section, it is an aspect in the case where there are counter-substrate work apparatuses arranged in a specific direction. Equipment. In the aspect of this section, the work area is expanded to the apparatus area of the apparatuses arranged side by side. The specific direction, which is the direction in which the substrate working devices are arranged, is the moving direction of the work head by the multistage moving device in the target device, but the system includes a plurality of substrate working devices that are aligned in the substrate transport direction. In this case, the specific direction may be the substrate transport direction. The aspect below this section is a particularly practical substrate-to-substrate working system when the specific direction is the substrate transport direction.

(39) The on-board working system according to (38), wherein the target device and the juxtaposed device can work on a circuit board located across both of them.

If the work area of the target apparatus is expanded to the apparatus area of the side-by-side apparatus, the work areas of the apparatuses can be overlapped. In that case, if the circuit board is positioned so as to straddle the two apparatuses, it is possible to perform cooperative work on the circuit board in the overlapping portion of the work area. Therefore, it is possible to eliminate the dead zone in the work area. In addition, enabling cooperation between the two devices leads to a wealth of work forms. The collaborative work includes a case where two or more substrate work apparatuses perform work at the same time on one circuit board regardless of the presence or absence of overlapping work areas. When an overlapping work area exists, for example, a mode in which both devices perform work in the overlapping work area is included. Further, for example, in the overlapping work area, only the work head of the target device performs work, and in the part of the work area of the side-by-side apparatus that does not become the overlapping work area, the side-by-side apparatus performs the work. That is, a mode is also included in which work areas are divided and the work is performed in each divided area. In such an aspect, it becomes possible to equalize the work loads of the two apparatuses. For example, as will be described later, in the overlapping work area, the work head and the second track forming unit of the target device move and work so as to avoid interference with the components of the juxtaposed device. Is also a kind of aspect of collaborative work.

(40) When the juxtaposed device is a device having the same configuration as the target device, the work head included in the juxtaposed device is allowed to advance to the device area of the target device (38). ) Or the board work system according to (39).

  The parallel device is “similar configuration” means that the parallel device is a head plane moving device, at least one of the linear moving devices is a multi-stage moving device, and work outside its own device area. It means that the head can be advanced. By arranging such juxtaposed devices side by side and moving the work head into the device area of the target device of interest, the overlapping work area can be further expanded, and there are many variations in work forms. Turn into.

(41) The target device and the juxtaposed device can be operated in cooperation with respect to a circuit board located across both, and the head movement control unit is configured to perform the operation The on-board work system according to (40), further including an interference avoidance control unit that moves the work head while avoiding interference between the work head of the target apparatus and the work head of the side-by-side apparatus.

  Here, the “work head or the like” is a component part of one device of the target device and the side-by-side device, and can be advanced to the device area of the other device of the target device and the side-by-side device. It means the component part including. If the two on-board work apparatuses are operated under independent control (irrelevant control), their constituent parts interfere with each other. Specifically, the “work head and the like” includes a work head and a second track forming unit. If the interference between the work heads of the two substrate work apparatuses and the like can be avoided, smooth cooperative work is possible. Specifically, for example, it is possible to perform control such that both work heads do not exist at the same time in an area where the work heads of both apparatuses can be positioned together. It becomes.

(42) Even when the working head of one device of the target device and the juxtaposed device is positioned at any position on the second track of the one device, The second trajectory forming part of the one device is positioned in a range where the working head of the device does not enter the device region of the other device of the target device and the parallel device. In a state where the limit position on one track is set as the non-advance limit position for the one device and the working head of the other device is most advanced into the device area of the one device, Even when the working head of the device is positioned at any position on the second track, the working head of the one device and the working head of the other device do not interfere with each other. In on purpose Scope, the limit position on the first track and the second track forming portion is brought into a position of said one device, in case of the non-interference limit position for said one device,
When the interference avoidance control unit is in a state where the second trajectory forming unit of the juxtaposed device is located at a position not exceeding its non-interference limit position, the second trajectory forming unit of the target device of interest Is allowed to be positioned beyond its own non-advance limit position, and the second trajectory forming part of the juxtaposed device is located at a position beyond its own non-advance limit position And the second trajectory forming unit of the device of interest includes a second trajectory forming unit position control unit that prohibits the second trajectory forming unit from exceeding the non-interference limit position of the target device. system.

  The aspect described in this section is a specific aspect for avoiding the interference between the two substrate work apparatuses, and by managing the position of the second track forming unit on the first track, This is a mode for performing control to avoid interference of the work head and the like. Speaking flatly, for example, with respect to the position of the second trajectory forming unit, the limit position where the own work head or the like does not advance its own device area, and even if the counterpart work head or the like advances, A limit position where interference does not occur is determined for each device, and is normally controlled so that the second trajectory forming portion of each device does not exceed the former, and only when the second trajectory forming portion of one device does not exceed the latter. A mode in which the second trajectory forming unit of the other device is controlled to allow the former to exceed the former is included in the mode of this section.

(43) One or more non-interference existing at a position that does not exceed the non-interference limit position as a stop position of the second trajectory forming section within the movement range of the second trajectory forming section on the first trajectory A plurality of track stop positions including an interference stop position and one or more advance stop positions that exist beyond the non-advance limit position are set,
When the second trajectory forming unit position control unit is in a state where the second trajectory forming unit of the juxtaposed device is located at a position not exceeding its non-interference limit position, the second trajectory forming unit position controller Two trajectory forming portions are allowed to stop at any of the advance stop positions, and the second trajectory forming portion of the juxtaposition device is located at a position beyond its non-advance limit position; In this case, the substrate work system according to (42), wherein the second trajectory forming unit of the device of interest is stopped at one of the non-interference stop positions.

  In the mode described in this section, the moving unit is moved in a state where the second track forming unit is stopped at any one of the set stop positions as described in the mode of the above (42) and the above (36). It is one aspect which combined the aspect made to. By providing a plurality of track stop positions in relation to the non-advance limit position and the non-interference limit position, and managing the stop positions of the second track forming parts, This is a mode for performing control to avoid interference.

As described above, various aspects of the substrate work system of the present invention have been described. In the above description, the substrate work apparatus included in the system is referred to as “movable device”, “module device”, and “transport device deployment module device”. , “Mutually adjacent arrangement device”, “Modulated mutual adjacent arrangement device”, “Head plane movement type device”, “Target device”, “Parallel device”, and so on. These names are merely used for the sake of convenience to show the characteristics of the substrate working apparatus, and the present invention has an aspect in which one substrate working apparatus has a plurality of functions corresponding to the names. It does not prevent it. That is, an aspect in which a certain substrate working apparatus is a “movable apparatus”, a “modularized apparatus”, a “mutually adjacent arrangement apparatus”, and a “head plane moving type apparatus” is also included in the present invention. It is one aspect of this.

It is a general view perspective view which shows some aspects of a circuit component mounting system. It is a perspective view which removes the exterior component of one circuit component mounting apparatus, and shows the circuit component mounting system of a basic aspect. The perspective view of the system base which comprises the circuit component mounting system of a basic aspect is shown. It is a perspective view which shows the whole wiring board conveyance apparatus arrange | positioned by the circuit component mounting apparatus. It is the figure which looked at one of the conveyor rails of a wiring board conveying apparatus from the front, and its sectional drawing. It is a perspective view which shows the mounting head and head movement apparatus with which a circuit component mounting apparatus is provided. It is a horizontal sectional view showing the X slide device of the head moving device. It is a perspective view which shows a head moving apparatus typically. It is a perspective view which shows the mounting head with which a circuit component mounting apparatus is provided. It is a schematic diagram which shows the movement of the mounting head by X slide apparatus. It is a schematic diagram showing a method of moving the mounting head by stopping the first X slide at a predetermined stop position in the movement of the mounting head by the X slide device. It is a control block diagram of a circuit component mounting apparatus. It is a partial right side sectional view of the circuit component mounting system of the basic mode. It is a partial front sectional view of the circuit component mounting system of the basic mode. It is a perspective view which shows the use condition of the table apparatus prepared for the circuit component mounting system of the basic aspect, and the table apparatus. It is a perspective view which shows the connection apparatus which connects the system base and table apparatus of the circuit component mounting system of a basic aspect. It is a general view perspective view which shows some another aspect about a circuit component mounting system. It is a perspective view which shows the circuit component mounting system which has arrange | positioned the circuit component mounting apparatus from which width differs. It is a perspective view which shows another circuit component mounting system which provided the circuit component mounting apparatus from which width differs. It is a perspective view which shows the system base which can arrange and arrange eight circuit component mounting apparatuses of a unit width. It is a conceptual diagram for demonstrating the arrangement | positioning system of the circuit component mounting apparatus of various width | variety taking the system base shown in FIG. 20 as an example. It is a perspective view which shows the circuit component mounting system of the aspect which has arrange | positioned between the circuit component mounting apparatuses the conveyance work apparatus which mainly performs the conveyance work of a wiring board. It is a perspective view which shows the board | substrate work system which has arrange | positioned the various board | substrate working apparatuses from which the kind of board | substrate work differs. In a circuit component mounting system, it is a mimetic diagram showing the state where a plurality of wiring board conveyance devices were arranged. It is a schematic diagram which shows the 1st example of the conveyance method of a wiring board in a circuit component mounting system. It is a schematic diagram which shows the 2nd example of the conveyance method of a wiring board in a circuit component mounting system. It is a schematic diagram which shows the 3rd example of the conveyance method of a wiring board in a circuit component mounting system. In the circuit component mounting system, one circuit component mounting device is a target device of interest, and a circuit component mounting device adjacent to one side of the device is a side-by-side device. is there. It is a schematic diagram which shows the wiring board straddling two mounting apparatuses used for a circuit component mounting operation in a circuit component mounting system. FIG. 5 is a schematic diagram showing an operation mode when a circuit component mounting operation is performed on a wiring board straddling two circuit component mounting apparatuses in a circuit component mounting system. FIG. 5 is a schematic diagram showing another work mode when performing circuit component mounting work on a wiring board straddling two circuit component mounting apparatuses in a circuit component mounting system. It is a functional block diagram regarding the mounting apparatus control apparatus with which each circuit component mounting apparatus of the circuit component mounting system was equipped. It is a perspective view which shows the circuit component mounting system of the aspect which has arrange | positioned the stock work apparatus which mainly performs the stock work of a wiring board. It is a perspective view which shows the conveyance path | route change work apparatus which mainly performs the operation | work which changes the conveyance path | route of a wiring board.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the claimable invention will be described as examples with reference to the drawings. Note that the claimable invention is not limited to the following embodiment, but various other than the embodiment, based on the knowledge of those skilled in the art, including the aspect described in the above [Aspect of the Invention] section. It can implement in the form which gave the change and improvement of.

<Basic-to-board working system>
i) Overall Configuration of System FIG. 1 (a) shows one basic mode of a substrate-based work system. The system shown in FIG. 1 (a) is a circuit component mounting system for performing circuit component mounting work. On one system base 10, two circuit component mounting devices (one type of substrate working device) having the same configuration are provided. (Hereinafter, abbreviated as “mounting device”) 12 are arranged adjacent to each other in the same direction. For convenience of the following description, the direction in which the mounting devices 12 are arranged is referred to as the left-right direction, and the horizontal direction perpendicular to that direction is referred to as the front-rear direction.

ii) Outline of Configuration of Mounting Device FIG. 2 is a perspective view in which a part of an exterior part of one mounting device 12 in the system of the above basic mode is removed. Each of the mounting devices 12 has a device main body 18 configured to include a frame portion 14 and a beam portion 16 overlaid on the frame portion 14. In addition, each of the mounting devices 12 is a tape feeder that supplies electronic components one by one from an electronic component taping in which an electronic component, which is a kind of circuit component, is taped to the front portion of the frame portion 14 of the apparatus main body 18. An electronic component supply device 22 including a plurality of 20 is provided. This electronic component supply device 22 is one type of circuit component supply device, and the one shown in the figure is a device mainly composed of a feeder that supplies components from a taped electronic component wound around a reel. Hereinafter, the electronic component supply device is simply abbreviated as “component supply device”. Although detailed description is omitted, the component supply device 22 has a pallet on which the tape feeder 20 is aligned and placed, and the pallet is detachably provided on the frame unit 14. Each tape feeder 20 is also detachable from the pallet, and arbitrary tape feeders 20 corresponding to the types of electronic components can be arranged in any order.

  Further, each mounting device 12 transports a printed wiring board (hereinafter abbreviated as “wiring board”), which is a type of circuit board, and holds the board board fixedly held at a set position. A wiring board transport device 24 having a function as a device is also provided. In a state where the two mounting devices 12 are located at predetermined positions, the two wiring board transport devices 24 are aligned with each other and can transport the wiring boards in cooperation with each other. In the system of this aspect, the wiring board is conveyed in the left-right direction, which is the direction in which the mounting devices 12 are arranged. That is, the direction is the wiring board transport direction (also referred to as “substrate transport direction”) in the system of this aspect. The wiring board transport device 24 will be further described later.

Each of the mounting devices 12 takes out an electronic component from the component supply device 22 and mounts a mounting head 26 (a type of work head) that mounts the electronic component on a wiring board held by the wiring board transport device 24. The mounting head 26 has each mounting head moving device (hereinafter abbreviated as “head moving device”) 2 which is an XY robot type moving device provided in each beam unit 16.
8, it is moved across the component supply device 22 and the wiring board transport device 24. The mounting head 26 and the head moving device 28 will be described in detail later.

  Each mounting device 12 is provided with a component imaging device 30 having a CCD camera as an imaging device between the component supply device 22 and the wiring board transport device 24 in the frame unit 14. The device 30 images the posture of the electronic component held by the mounting head 26 and the like. In addition, each mounting device 12 has an operation panel 34 as an input / output device in front of a top cover 32 which is a kind of exterior part. Reference numeral 12 denotes image data obtained by a mounting device control device 36 (see FIG. 12) mainly composed of a computer for controlling various devices provided to itself including the component supply device 22, the component imaging device 30 and the like. And an image processing unit 38 (see FIG. 12).

  Each mounting device 12 is a modularized device in which a component supply device 22, a mounting head 26, a head moving device 28, and the like are provided and modularized. In addition, since up to the wiring board transport device 24 is disposed in the mounting device 12, the mounting device 12 is a transport device deployment module device. Further, as will be described in detail later, each mounting device 12 has a structure that can be easily separated from the system base 10, and can be arranged by replacing each. Each mounting device 12 is a movable device that is movable with respect to the system base 12 in the front-rear direction, which is a direction perpendicular to the wiring board conveyance direction and a substantially horizontal direction. A structure for enabling this movement will also be described later.

iii) Overview of System Base Configuration FIG. 3 is a perspective view of the system base 10. The system base 10 on which the two mounting devices 12 are arranged has a base body 56 that includes a frame 50, an exterior plate 52, and a top plate 54. The base body 56 includes a power supply unit 58 as a shared device and a shared device of the mounting device 12, piping devices 60 and 62 from external positive pressure and negative pressure air sources, and so on. A driving force supply unit that supplies driving force to the device 12 is configured. Although not shown, the base body 56 exchanges control signals and information between the mounting devices 12 and between the mounting devices 12 and a system control device (described later) that performs overall control of the system. The communication cable and its terminal are also provided. The top plate 54 is provided with openings for these maintenances, and a canopy 64 for closing the openings is attached. Further, another opening 66 is provided in the upper part near the front part, and inside the base main body 56 communicating with the opening 66, a carrier tape and a top for electronic component taping discharged from the component supply device 22 are provided. A tape collection container 68 for collecting the cover tape and the like is provided. Although the description is omitted, the mounting device 12 is provided with a cutter device that cuts a carrier tape or the like, and is configured so that the arbitrarily cut carrier tape is discharged to the tape collection container 62. A tape recovery device that is a shared device of the mounting device 12 is configured including the opening 66, the tape recovery container 68, and the like. Although not shown, the collected tapes can be taken out of the system base 10. As described above, a device configuration for making each mounting device 12 a movable device and a device configuration for enabling easy separation will be described later.

iv) Configuration of Wiring Board Conveying Device FIG. 4 shows the entire wiring board conveying device 24. The wiring board transport device 24 is a conveyor device, and includes four conveyor rails (hereinafter simply referred to as “rails”) 100 to 106 that extend in the wiring board transport direction (left-right direction) and are positioned in parallel to each other. The rail 100 located at the forefront is paired with the rail 102 located at the back of the rail 100, and the rail 104 located at the back and the rail 106 located at the back are paired. Face each other. The present wiring board transport device 24 has two conveyor sections, a front conveyor section 110 and a rear conveyor section 112, and the front conveyor section 110 is formed by the rail 100 and the rail 102, and the rear conveyor section 112 is formed by the rail 104 and the rail 106. Is formed. That is, each of the rail 100 and the rail 102 functions as a reference rail and a dependent rail of the front conveyor unit 110, and each of the rail 104 and the rail 106 functions as a reference rail and a dependent rail of the rear conveyor unit 112, respectively.

  The rail 100 is a fixed rail provided in front of the base 114, and the rails 102, 104, and 106 are provided so as to be movable in the front-rear direction along two guides 116 provided on the base 114. Movable rail. On the right side of the apparatus, three ball screws 118 that engage with nuts provided on each of the three movable rails 102, 104, and 106 are disposed. Rail position change motors 120 that are three electric motors (stepping motors) serving as driving sources are provided (one is hidden), and the three rail position change motors 120 are driven independently. The three movable rails 102, 104, and 106 are independently moved in the front-rear direction. Thereby, the conveyor width | variety of the front conveyor part 110 and the rear conveyor part 112 can be changed arbitrarily. A reference mark 122 is provided at the center of the upper portion of each rail 100 to 106, and the mounting device 12 for each rail is used by using a mark imaging device (described later) provided on the head moving device 28 together with the mounting head 26. The position at is picked up, and the conveyor width is adjusted based on the recognition result of the image. That is, the present wiring board transport device 24 supports the board width that changes the width of the conveyor units 110 and 112 in accordance with the width according to the width of the transported wiring board (the length in the direction perpendicular to the wiring board transport direction). The board width-corresponding width changing device includes a movable rail 102, 104, 106, a rail position changing motor 120, and the like.

  The wiring board transport device 24 can use both the front conveyor section 110 and the rear conveyor section 112 when transporting a narrow wiring board. That is, it is used as a two-line transfer device. In that case, the position of the rail 104 which is the reference rail of the rear conveyor unit 112 is fixed to the set position, and the conveyor width of each of the two conveyor units 110 and 112 is adjusted. On the other hand, when a wide wiring board is conveyed, only one of the front conveyor unit 110 and the rear conveyor unit 112 can be used as a one-line conveying device. In that case, the rail 104 is moved to the rear or front of the apparatus, and the width of one conveyor to be used is adjusted.

  The structure of the rails 100 to 106 will be described using the rail 102 as an example. FIG. 5 shows the rail 102. Fig.5 (a) is the figure seen from the front, FIG.5 (b) is sectional drawing in AA. The rail 102 includes two brackets 130, a rail main body plate 132 passed between the two brackets 130, and a guide rod 134 provided on the upper portion of the rail main body plate 132. A drive pulley 136 is disposed on one side of the bracket 130. A spline shaft 138 (see FIG. 4) extending in the front-rear direction is disposed on the left side of the wiring board transport device 24. Although omitted in the drawing, the drive pulley 136 is spline-fitted with the spline shaft 138, The rotation of the spline shaft 138 can be transmitted to the drive pulley 136 regardless of the position of the rail 102 in the front-rear direction. Further, a plurality of driven pulleys 140 are rotatably disposed on the bracket 130 and the rail body plate 132, and a conveyor belt 142 is wound around the drive pulley 136 and the driven pulley 140 in a state as shown in the figure. ing. The spline shaft 138 is connected to a wiring board transfer motor (see FIG. 4) 144 that is an electric motor (servo motor with encoder) disposed on the rear side of the apparatus. The belt 142 goes around. Since the other rails 100, 104, and 106 have the same structure, description thereof will be omitted.

  The wiring board 150 is supported by a horizontally stretched portion above the conveyor belt 142, and is moved in the wiring board conveyance direction which is the left and right direction by the circumference of the conveyor belt 142 while being restricted by the guide rod 134 in the front-rear direction. Is done. Since the conveyor belts 142 provided on the four rails 100 to 106 circulate all at once, the transport operation of the front conveyor unit 110 and the transport operation of the rear conveyor unit 112 cannot be controlled independently. Yes.

  The wiring board transport device 24 also functions as a substrate holding device that fixes and holds the wiring board 150 at a position set for circuit component mounting work. The wiring board transport device 24 includes two support plates 152. On the upper surface of the support plate 152, a plurality of backup devices 156 having backup pins 154 can be attached at arbitrary positions. The wiring board 150 supported and transferred by the conveyor belt 142 is stopped at a position set according to the type of the wiring board and the form of the circuit component mounting operation by stopping the circulation of the conveyor belt 142. . In this state, the support plate 152 is raised by a predetermined distance by a support plate lifting device 158 (see FIG. 12) (not shown) (see the two-dot chain line in FIG. 5A). Then, the tip of the backup pin 154 comes into contact with the back surface of the wiring board 150 and the wiring board 150 is lifted, the support by the conveyor belt 142 is released, and the surface of the end portion of the wiring board 150 is the guide rod 134. The locking portion 158 is locked with an appropriate force. That is, in this state, the wiring board 150 is fixed and held at a position set for the circuit component mounting work.

  In addition, the start and stop of the circumference | surroundings of the conveyor belt 142 are the said wiring board conveyance apparatus 24, or the wiring board detector (a kind of board | substrate detector) provided in the conveyance apparatus connected to the upstream and downstream of it. Control is based on the detection signal of the photoelectric sensor 160 (omitted in FIGS. 4 and 5, see FIGS. 12 and 24). This will be described in detail later. Further, as described above, in the present wiring board transport device 24, the transport operation of the front conveyor unit 110 and the transport operation of the rear conveyor unit 112 have a structure that cannot be controlled independently. When the wiring board 150 is held in one of the 110 and the rear conveyor unit 112, if the conveying operation is performed by the other, the work in two efficient lines using two conveyor units Can be executed.

v) Configuration of Head Moving Device FIG. 6 is a perspective view of the mounting head 26 and the head moving device 28, and FIG. 7 is a horizontal sectional view of an X slide device (described later). A schematic perspective view of the head moving device 28 is shown in FIG. The head moving device 28 includes two linear moving devices that move the mounting head 26 in two orthogonal directions. One of them is a Y slide device 200 which is a moving device in the front-rear direction (hereinafter referred to as “Y-axis direction”) which is a horizontal direction perpendicular to the wiring board conveyance direction, and the other is parallel to the wiring board conveyance direction. This is an X slide device 202 which is a moving device in the right and left direction (hereinafter referred to as “X-axis direction”). The mounting head 26 is moved in one plane by these two linear movement devices. That is, the mounting device 12 is a work head plane movement type device.

  The Y-slide device 200 includes two Y-axis direction guides (hereinafter abbreviated as “Y guides”) 210 provided on the beam unit 16 in parallel with the Y-axis direction, and four sliding members that slide on the Y guide 210. (Linear bearing) 212 having a Y slide 214 that moves in the Y-axis direction, a Y ball screw 216 that is provided in the beam section 16 and extends in the Y-axis direction, and is screwed into the Y ball screw to be rotatable. A Y-axis having a Y-axis motor 220 as a drive source that is fixed in position and provided on a Y-slide 214 and a Y-axis motor 220 that is provided behind and rotates an Y-ball screw 216 (servo motor with encoder). And a driving device 222.

  The X slide device 202 is a multistage moving device, that is, a two-stage moving device, and includes two slide devices, a first X slide device 230 that moves the mounting head 26 in directions parallel to each other, and a second X slide device 232. It is configured to include. The first X slide device 230 is fixedly provided on a first X slide 242 having two first X axis direction guides (hereinafter abbreviated as “X1 guides”) 240 parallel to the X axis direction, and a Y slide 214. Four sliding members (linear bearings) 244 that slide the guide 240, an X1 ball screw 246 that is provided on the Y slide 214 and extends in the X-axis direction, and is screwed into the X1 ball screw 246 to be rotatable and positioned. And X1 axis motor 250 which is an electric motor (servomotor with encoder) provided on Y slide 214 and rotating X1 ball screw 246 as a drive source. And the second X slide device 232 includes a first X slide 24 parallel to the X axis direction. Two X-axis direction guides (hereinafter abbreviated as “X2 guides”) 260 provided on the X2 guide, a second X-slide 264 having two sliding members (linear bearings) 262 that slide on the X2 guide 260, An X2 ball screw 266 provided on the 1X slide 242 and extending in the X-axis direction; an X2 nut 268 provided on the second X slide 264 that is rotatably engaged with the X2 ball screw 266 and fixed in position; and X1 And an X2 axis driving device 272 having an X2 axis motor 270 which is an electric motor (servo motor with encoder) provided on the slide 244 and rotates an X2 ball screw 266 as a drive source.

  The X slide device 202 is a double-stage linear moving device having the above-described configuration, specifically a two-stage linear movement device. The Y slide 214 having the sliding member 244 that slides the X1 guide 240 functions as a first track forming unit that forms the first track, and the first X slide 242 having the X2 guide 260 is the first slide. The second X slide 264 that moves along the X2 guide 260 and functions as a second track forming unit that moves along the track and forms a second track parallel to the first track, moves along the second track. It functions as a moving unit that moves. That is, the X slide device 202 is a telescopic type (telescopic type) moving device. The mounting head 26 is held by the second X slide 264 that is the moving part. If the moving direction of the mounting head 26 by the multistage moving device is a specific direction, in the mounting device 12, the X-axis direction corresponds to the specific direction. By controlling the rotation of the Y-axis motor 220, the X1-axis motor 250, and the X2-axis motor 270, the mounting head 26 moves in one plane and is positioned at an arbitrary position in the work area.

vi) Configuration of Mounting Head FIG. 10 is a perspective view of the mounting head 26. The mounting head 26 held by the second X slide 264 includes a mounting unit 290 that holds a plurality of, more specifically, eight suction nozzles 288, which are circuit component holding devices, at the tip. Although not shown, each of the suction nozzles 288 is connected to negative pressure air and a positive pressure air passage via a positive / negative pressure selective supply device 292 (see FIG. 12), and the electronic component is brought to the tip by negative pressure. It has a structure in which the held electronic component is detached by being sucked and held and supplied with a slight positive pressure. The mounting unit 290 having a generally axial shape is held on the outer periphery of the unit holder 294 that rotates intermittently at an equiangular pitch in a state in which the axial direction is vertical. Each mounting unit 290 is capable of rotating and moving in the axial direction. The unit holding body 294 is driven by a unit holding body rotating device 298 having a holding body rotating motor 296 that is an electric motor (servo motor with encoder), and is rotated intermittently by an angle equal to the arrangement angle pitch of the mounting unit 290. Thus, the mounting unit 290 is intermittently rotated. In a unit lifting / lowering station (the station located at the foremost position) that is one stop position of the mounting unit 290 in intermittent rotation, the mounting unit 290 positioned at that station is a unit lifting / lowering motor 300 that is an electric motor (servomotor with encoder). Is lifted and lowered by a unit lifting and lowering device 302 having a drive source. The operation of taking out the electronic component from the component supply device 22 and the operation of mounting the electronic component on the wiring board held by the wiring board transport device 24 are performed by the mounting unit 290 located at the lifting / lowering station. The unit 290 is lowered by the set distance. Another stop position is a unit rotation station, and the unit rotation motor 304, which is an electric motor (servo motor with encoder), is used for the purpose of adjusting the mounting direction of the electronic components attracted and held at the station. Is rotated by a unit rotation device 306 having a drive source. The above is the main configuration of the mounting head 26. The second X slide 264 is provided with a mark imaging device 308 including a CCD camera as an imaging device, which is an apparatus for imaging a reference mark or the like attached to the surface of the wiring board. (See FIG. 6).

vii) Movement of Mounting Head by X Slide Device FIG. 10 schematically shows movement of the mounting head 26 by the X slide device 206. In the figure, only the mounting head 26 held by the Y slide 214 as the first track forming portion, the first X slide 242 as the second track forming portion, and the second X slide 264 as the moving portion is shown. AA indicated by a solid line is a line indicating a side surface of the mounting device 12, and AA-AA indicates a device area of the mounting device 12. The Y slide 214 does not move in the X axis direction, but moves only in the Y axis direction while maintaining the center position of the device area in the X axis direction, which is a specific direction. The first X slide 242 is allowed to move within a certain range in the X-axis direction along the first trajectory formed by the Y slide 214. Further, the mounting head 26 moves over the entire range of the first X slide along the second trajectory formed by the first X slide.

  Both the Y slide 214 and the first X slide have a length in the X-axis direction, which is a specific direction, smaller than the apparatus width. In the state indicated by the solid line in the figure, the first X slide 242 exists at the center position in the X-axis direction, and in this state, the first X slide 242 is within the apparatus area AA-AA. The mounting head 26 is generally movable along the second track until the end of the mounting head 26 is positioned at the end of the first X slide 242. Although not shown in the drawing, even if the mounting head 26 is moved in a state where the first X slide 242 is located at the center position, the end of the mounting head 26 reaches only a position leaving a certain distance from the device side surface AA. It is in a state not to do. By moving the first X slide 242 by a predetermined distance from the center position, the first X slide 242 is positioned in the vicinity of the apparatus side surface AA so that the first X slide 242 does not advance from the apparatus side surface AA. It can be expanded to a range where the end of the device does not protrude from the device side surface AA. In the expanded state, the mounting work in the range of WA1-WA1 shown in the figure is possible. If the first X slide 242 is further moved away from the center position, the end of the first X slide 242 advances out of the device area. As a result, the mounting head 26 also moves out of the apparatus area, and the movable range of the mounting head 26 further extends beyond the apparatus area AA-AA to the range WA2-WA2. As described above, the mounting device 12 is a compact device having a wide work area while adopting a multistage moving device.

In the actual control of the head moving device 28, the first X slide 242 has a plurality of stop positions (corresponding to the track portion stop positions that are the stop positions of the second track forming portion) within the movement range on the first track. The mounting head 26 is moved along the second track formed by the first X slide while the first X slide 242 is stopped at any one of the stop positions. FIG. 11 schematically shows the movement of the mounting head 26 performed by stopping the first X slide 242 at a predetermined stop position. In the X slide device 202, four stop positions on the first track of the first X slide 242 are set. Each stop position is numbered ST1-ST4. As shown in FIGS. 11B and 11C, the state where the first X slide 242 is positioned at ST2 and ST3 is the state where the first X slide 242 does not advance out of the device area in the right direction and the left direction, respectively. Yes, no matter where the mounting head 26 is positioned on the second track, the mounting head 26 does not advance out of the apparatus area. On the other hand, as shown in FIGS. 11A and 11D, the state in which the first X slide 242 is positioned at ST1 and ST4 is that the first X slide 242 is outside the device area in the right direction and the left direction, respectively. In this state, the mounting head 26 can be moved out of the apparatus area accordingly.

  The case where the circuit component mounting operation is performed on a wiring board that protrudes from the device area of the mounting device 12 will be described. For example, when an electronic component is mounted at a mounting position located in the device area of the wiring board, the mounting position is When it is on the right side, the first X slide 242 is stopped at the stop position of ST2, and when the mounting position is on the left side of the center of the apparatus, the first X slide 242 is stopped at the stop position of ST3, and the mounting head 26 is moved. Control is performed. When the electronic component is mounted at a mounting position located outside the device area of the wiring board, the first X slide 242 is stopped at the stop position of ST1 when the mounting position exists on the right side outside the device area. When the mounting position is on the left side outside the apparatus area, the first X slide 242 is stopped at the stop position of ST4 and the mounting head 26 is moved. Thus, based on the situation where the mounting position exists, the movable area of the mounting head 26 is divided into a plurality of divided areas, and based on which divided area the mounting head 26 is stopped. Then, the control for determining the stop position of the first X slide 242 is performed. The position of the first X slide 242 is grasped by the mounting device control device 36 described later based on the signal of the encoder provided in the X1 axis motor 250.

  In the mounting device 12, the head movement control described above is performed on the head moving device 28 regarding the movement of the mounting head 26. In the head movement control, specifically, a track that moves the mounting head 26 along the second track while the first X slide 242 that is the second track forming unit is stopped at any one of a plurality of stop positions. Part stop head movement control is performed, and by moving the first X slide 242 to a position where a part of the second track advances out of the apparatus area, the mounting head 26 can be extended out of the apparatus area. The advance control to be performed is performed.

  As described above, the mounting operation in which the first X slide 242 and the mounting head 26 are allowed to advance from the side surface of the apparatus is performed, but the side surface exterior plate 320 of the mounting apparatus 12 includes the right side surface and the left side surface. In any case, an opening 322 is provided in a portion where the side wiring board transport device 24 exists, and when the mounting head 26 advances outside the device area, the first X slide 242 and the first X slide 242 and the opening head 322 pass through the opening 322. The mounting head 26 is moved out of the apparatus area (see FIG. 1A). In the mounting device 12, the movable area of the mounting head 26 is expanded to the outside of the device region when an electronic component mounting operation is performed, and an electronic component take-out operation from the component supply device 22 is performed. In such a case, the first X slide 242 is positioned at ST2, ST3, or another stop position set between them, and the mounting head 26 is moved within the apparatus area.

viii) Mounting Device Control Device FIG. 12 shows a control block diagram of the mounting device 12 with a focus on portions closely related to the present invention. The circuit component mounting system according to the basic aspect includes two mounting devices 12, each of which includes a mounting device control device 36. The figure is a block diagram centering on one mounting device 12 and the mounting device control device 36 included in the mounting device 12. The mounting device control device 36 is a control device having a computer 350 as a main component. The computer 350 includes a PU (processing unit) 352, a ROM 354, a RAM 356, an input / output interface 358, and a bus 360 that connects them to each other. Have. The input / output interface 358 is connected to each tape feeder 20 of the component supply device 22, the three rail position changing motors 120 of the wiring board transport device 24, and the wiring board transfer via the respective drive circuits 362 included in the mounting device control device 36. Motor 144, support plate lifting device 158, mounting head 26
The positive / negative pressure selection and supply device 292, the holder rotating motor 296, the unit lifting motor 300, the unit rotation motor 304, the Y-axis motor 220, the X1-axis motor 250, and the X2-axis motor 270 of the head moving device 28 are connected to each other. . The component imaging device 30 and the mark imaging device 308 are connected via an image processing unit 38 that performs data processing until various recognition results can be obtained from the imaging data obtained by them. Further, the photoelectric sensor 160 provided in the wiring board transport device 24 is connected to the input / output interface 358.

  One of the two mounting devices 12 operates in conjunction with the operation of the other. In addition, the system according to this basic aspect includes a system control device 370 (not shown in FIGS. 1, 2, etc.) that controls the entire system separately from the system base 10 and the mounting device 12. Therefore, the other mounting device 12 and the system control device 370 are connected to the input / output interface 358 via the communication cable 372. Note that the system control device 370 is also used as a system control device for another on-board work system when the system is connected to another on-board work system to form a larger system. Furthermore, the mounting device 12 is modularized and may be placed in another system. In this case, the mounting apparatus control device 36 can be connected to a control device provided in another substrate work apparatus in the other system and a system control apparatus of the other system.

  The ROM 354 stores a basic operation program of the mounting device 12 and the like, and the RAM 356 performs operations related to operation control according to the work mode, cooperative operation with other substrate work devices, cooperative operation control, and the like. Programs, application programs such as mounting position correction programs according to deviations in wiring board holding position, component suction holding positions, etc., mounting order data set according to the wiring board on which circuit component mounting work is performed, mounting Various data such as position data, component-specific data relating to the electronic component to be mounted, component supply device-related data such as which electronic component is supplied from which tape feeder 20, and the like are stored.

ix) Outline of Circuit Component Mounting Operation Next, a circuit component mounting operation by one mounting device 12 will be briefly described by taking as an example a work on a wiring board having a size that fits in the device area of the mounting device 12. The wiring board transferred from the upstream side is stopped at the set work position in the apparatus area by the wiring board transfer device 24. The stopped wiring board is fixed and held by the wiring board holding device 24 when the support plate lifting / lowering device 158 is raised at that position. Next, the mark imaging device 308 is moved above the reference mark attached to the wiring board by the head moving device 28 and images the reference mark. A shift in the holding position of the held wiring board is detected from the imaging data. In the case of a cooperative operation by two mounting devices 12 to be described later, each of the wiring board holding devices 24 included in each mounting device 12 cooperates to fix and hold one wiring board. In that case, the reference mark existing in the device area of each mounting device 12 is imaged by the mark imaging device 308 of each mounting device 12, and the result of processing the imaging data is mutually transferred, so that each mounting is performed. A shift in the holding position of the wiring board in the device 12 is detected.

  Next, the mounting head 26 is moved above the component supply device 22, and the electronic component is sucked and held by the suction nozzle 288 in accordance with the set extraction order. Specifically, the mounting unit 290 located at the lifting station is positioned above the component extraction portion of the tape feeder 20 that supplies the electronic components that are to be held, and the mounting unit 290 is lowered at that position. A negative pressure is supplied to the suction nozzle 288 held at the tip, and the electronic component is sucked and held. Then, the mounting unit 290 is intermittently rotated, and a similar component extraction operation regarding the next mounting unit 290 is performed. In this manner, the component extraction operation (in many cases, eight times) is sequentially performed on the mounting unit 290 included in the mounting head 26.

  Next, the mounting head 26 holding the electronic component is moved above the component imaging device 30. At that position, the component imaging device 30 images the held electronic component within one field of view. A shift in the holding position of each electronic component is detected from the obtained imaging data. The mounting head 26 is moved above the wiring board. During the movement, the mounting unit 29 located at the unit rotation station detects the mounting orientation set for the electronic component held by the mounting unit 29. Based on the wiring board holding position deviation amount and the electronic component holding position deviation amount, the motor is rotated to an appropriate rotational position. This rotation operation repeats the intermittent rotation of the mounting unit 290 until the mounting unit 290 that holds the electronic component to be mounted first is positioned at the lifting station, and the mounting unit 20 positioned at the unit rotation station during the intermittent rotation. Against. The mounting unit 290 that is not located at the rotation station is performed during intermittent rotation in the mounting operation.

  Subsequently, the mounting head 26 is moved to above the wiring board, and the electronic components held on the surface of the wiring board are mounted according to the set mounting order. Specifically, first, the mounting unit 290 located in the unit lifting station is positioned above the proper mounting position. At this time, the movement position of the mounting head 26 is optimized based on the detected displacement amount of the wiring board holding position and the detected displacement amount of the electronic component. At that position, the mounting unit 290 is lowered by a predetermined distance, positive pressure is supplied to the suction nozzle 288, and the held electronic component is mounted on the surface of the wiring board. Subsequently, the mounting unit 290 is intermittently rotated, and a similar component mounting operation for the next mounting unit 290 is performed. In this manner, the component mounting operation is sequentially performed on the mounting unit 290 that holds the electronic components.

  The mounting head 26 is reciprocated between the component supply device 22 and the wiring board until the mounting of all scheduled electronic components is completed, and the component extraction operation and the component mounting operation are repeatedly performed. After the mounting of all the electronic components is completed, the support plate lifting / lowering device 158 of the wiring board transport device 24 is lowered, and the fixed holding of the wiring board is released. The wiring board is transferred downstream by the wiring board holding device 24. In this manner, the circuit component mounting work scheduled for the wiring board is completed. The conveyance of the wiring board by the wiring board conveyance device 24 whose description is omitted will be described in detail later. Note that the two mounting devices 12 arranged in the system of the basic mode can perform the circuit component mounting work even on the wiring board having a size straddling both. This will be described later.

<Moving device etc. to system base>
i) Mounting Device Movement Permissive Device As shown in FIG. 3, four rail rows 472 each including a plurality of guide rails 470 arranged in a straight line are provided on the upper portion of the system base 10 (FIG. 1). The illustration is omitted in FIG. When viewed from the front, the left and right outer rail rows 472 are each composed of two guide rails 470, and the inner two rows of rail rows 472 are each composed of three guide rails 470. The four rail rows 472 are arranged in parallel to each other. The four rail rows 472 can be divided into two rail pairs. The rail pair constituted by the two right rail rows 472 is related to the right mounting device 12, and the rail pair constituted by the two left rail rows 472 is related to the left mounting device. It has become. Note that the two rail pairs are equal to each other, and the distance between the rail rows 472 constituting each rail pair is the same.

FIG. 13 is a partial right side sectional view of the system of the above basic aspect, and FIG. The mounting device 12 has a wheel device that rotatably holds a total of eight wheels 474 arranged in two rows of four at a lower portion of the frame portion 14 via bearings, and the wheels 474 serve as engaging members. , Each pair of rails 47
2 is engaged with a guide rail 470 as a track forming member constituting the two. Thereby, the mounting device 12 can be moved relative to the system base 10 in the front-rear direction. That is, the mounting device 12 is a movable device that can move along a device track extending in the front-rear direction. The device track is a straight track that intersects the right and left direction, which is the wiring board conveyance direction, at right angles, and extends horizontally. Further, the present system includes two mounting device movement permission devices as movable device movement permission devices that allow the movement of the mounting device 12 as a movable device. Are provided with a pair of rails 472 as a device trajectory forming portion provided at a fixed position on the system base 10 and fixed at a position on the mounting device 12 and are movable relative to the guide rail 470. It is comprised including the wheel apparatus as a paired track | orbit engaging part. In addition, when the mounting apparatus 12 moves forward, one of the wheels 474 may be located at a position where the guide rail 470 does not exist (gap between the rails) in one rail row 472. The wheels 474 engage with any one of the guide rails 470 constituting the pair of rail rows 472. The wheel device functions as a movable device movement facilitating means, and the mounting device 12 can be easily moved by human power.

  As shown in FIG. 14, the outer peripheral portion of the wheel 474 is flattened, but the guide rail 70 constituting the pair of rail rows 472 has an outer portion in the left-right direction that prevents the wheel 474 from being removed. Thus, the mounting device 12 which is a movable device is prevented from being out of the device track. The shapes of the guide rail 470 and the wheel 474 that are engaged with each other are not limited to the above shapes. For example, a guide rail with a flat top shape and a wheel provided with a collar that prevents the wheel from coming off are engaged (similar to the relationship between a rail and a wheel in a railway vehicle), and a guide rail having a chevron-shaped cross section and fitting to it The upper surface of a pair of guide rails that engage with a wheel having a groove having a V-shaped cross-sectional shape is inclined in opposite directions to each other (for example, inclined so as to form a “C” shape) and fitted into the taper. It can also be set as the aspect of employ | adopting the wheel which has a shape outer peripheral surface.

ii) Mounting Device Fixing Device As shown in FIG. 3, the system base 10 has a locking member for locking a contact member 480 as a locked member fixedly provided on the lower rear side of the mounting device 12. Each of the stoppers 482 is provided in the middle of each of the two rail pairs at the rear of the upper part. When the mounting device 12 is moved along the device trajectory, a part of the abutting member 480 comes into contact with a part of the stopper 482, and the rearward movement of the mounting device 12 is prohibited. Further, the system base 10 has a cylinder device 486 as a biasing force generating device, and can bias a biased member 488 fixedly provided at the lower portion of the mounting device 12 via a link mechanism. A biasing device 490 is provided for each of the two rail pairs at an intermediate portion between the two rail rows 472 constituting the rail pair near the central portion in the front-rear direction. 3 shows a state in which the biasing device 492 of the biasing device 490 is in the non-biasing position, and in FIG. The state in the biased position is shown. The abutting member 488 is urged backward by the urging device 490 in a state where the abutting member 480 is abutted against the stopper 482, whereby the abutting state of the abutting member 480 to the stopper 482 is changed. Maintained and forward movement of the mounting device 12 is prevented. That is, this system includes a mounting device fixing device as a movable device fixing device that fixes the movable device at a fixed position on the device trajectory, and the contact member 480 and the stopper 482 are arranged on the device trajectory of the mounting device 12. The urging device 490 and the member to be urged 488 are in contact with each other when the urging device 490 and the member to be urged 488 are in contact with each other. It functions as a contact state release prohibiting portion that prohibits the release, and the mounting device fixing device is configured to include these contact portions and the contact state release prohibiting portion. A fixing position of the mounting device 12 by the mounting device fixing device is a predetermined arrangement position of the mounting device 12 with respect to the system base 10.

iii) Table device When the fixing by the mounting device fixing device is released and the mounting device 12 is moved forward along the device track, the mounting device 12 can be moved so as to overhang from the system base 10, When the moving distance is large, the mounting device 12 may fall from the system base 10. Therefore, in this system, a table device on which at least a part of the mounting device 12 can be placed is prepared. FIG. 15 shows a table device and a use state of the table device. The table device 500 has a width slightly larger than the width in the left-right direction of the mounting device 12 (width in the wiring board conveyance direction), is substantially the same as the length in the front-rear direction of the mounting device 12, and is almost the same as the upper surface of the system base 10. It is mainly composed of a base portion 502 having a height upper surface. Two guide rails 504 having the same cross-sectional shape as the above-described guide rail 470 are provided on the upper surface of the base portion 502. The two guide rails 504 are arranged in parallel with each other, and the distance between them is equal to the distance between the two rail rows 472 constituting the one rail pair. The table apparatus 500 is arranged so that each of the two guide rails 504 extends in front of the system base 10 so as to extend each pair of rail rows 472 engaged with the mounting apparatus 12 to be moved. It is positioned and placed beside it.

  After placing the table device 500, the mounting device fixing device described above is operated to release the fixing of the mounting device 12, and the mounting device 12 is moved forward. A part of the mounting device 12 is placed on the table device 500 in a state where the distance is moved to some extent. Specifically, some of the plurality of wheels 474 of the mounting device 12 engage with the guide rail 504 provided in the table device 500. In this state, a part of the moved mounting device 12 is shifted forward with respect to the other adjacent mounting device 12, so that operations such as maintenance and adjustment can be easily performed. That is, the table device 500 functions as an auxiliary base unit in the system. And the mounting apparatus 12 will be in the state transferred to the table apparatus 500 by moving the mounting apparatus 12 further ahead. FIG. 15 shows this transferred state. In FIG. 15, the state indicated by the alternate long and short dash line is a state in which a part of the mounting device 12 is placed on the table device 500. In the state where the mounting device 12 is transferred to the table device 500, the mounting device 12 is separated from the system base 10. By using the table device 500 in this system, the table device-side movable device movement permitting device is configured including the guide rail 504 as the extended track forming member and the wheel 474 as the engaging member engaged therewith. It is.

  The table device 500 is provided with a stopper 506 as a table-side locking member at a front portion on the upper surface of the base portion 502 and at an intermediate portion between the two guide rails. Further, an urging device 508 having a structure similar to that of the urging device 490 provided in the system base 10 is provided. The stopper 506 locks a contact tool (not shown) different from the above-described one fixedly provided on the mounting device 12, and the biasing device 508 is fixedly provided on the mounting device 12. A biased member (not shown) different from the above-described one is biased. That is, the table device side movable device fixing device is configured including the stopper 506, the biasing device 508, and the like. Since the function is the same as that of the mounting device fixing device on the system side described above, the description is omitted, but the position of the mounting device 12 is fixed at a fixed position on the extension track by the fixing device on the table side. In the table device 500, the mounting device 12 can be fixed at a position where the mounting device 12 is separated from the system base 10 and transferred to the table device 500.

Further, the table device 500 has a caster 510 as a movement facilitating unit at a lower portion, and is a movable table that can be easily moved by human power. By moving the table device with the mounting device 12 mounted on the upper surface, the mounting device 12 can be transported to a maintenance area or the like existing outside the mounting line, for example. In other words, the table device 500 also functions as a substrate work apparatus transport device that transports the substrate work apparatus disposed in the system base 10.

  In this system, in order to facilitate positioning of the table device 500 at a position where the device track is extended, a connecting device that connects the system base 10 and the table device 500 is employed. FIG. 16 shows the connecting device. As shown in FIG. 16A, a pair of connection blocks 520 as base-side connection portions are provided on the front surface of the system base 10 for each mounting device 12 (only one is shown in the figure). Further, as shown in FIG. 16B, a pin projecting device 524 for projecting the fitting pin 522 upward is provided on the surface of the table device 500 that faces the front surface of the system base 10. One pair is provided corresponding to 520 (only one is shown in the figure). If the lever 526 of each pin protruding device 524 is pushed down with the table device 500 moved to the approximate position, each fitting pin 522 is fitted into the corresponding fitting hole 528 of each connecting block 520. To do. In this state, the table device 500 is positioned so that the guide rail 504 of the table device 500 and the rail row 472 of the system base 10 are positioned on a straight line. In order to achieve such a state, the positions of the connecting portions are optimized. In this system base 10, there are two pairs of connecting blocks 520 corresponding to both of the mounting devices 12 so that the same table device can be used when moving any of the two mounting devices 12. Is provided.

iv) Relative movement restriction device between devices In the present system exemplified as a basic mode, both of the two mounting devices 12 are movable devices, and can move independently with respect to the system base 10, and It is separable alone. Further, in the present system, since the device trajectories of the two mounting devices 12 are parallel to each other, they can be moved together and separated together. That is, relative movement with respect to the system base 10 is possible while maintaining the relative position of the two mounting devices 12 substantially constant. In that case, instead of the table device 500 described above, a table device on which two mounting devices 12 can be placed, specifically, a table device having two pairs of guide rails parallel to each other can be employed.

  As an effective means for moving the two mounting devices 12 together while maintaining the relative positional relationship between them, in this system, the device relative movement restriction device for limiting the relative movement between the mounting devices 12 is provided respectively. The mounting device 12 has. This will be described with reference to FIGS. 13 and 14. The mounting device 12 is provided with a pin projecting device 542 for projecting the fitting pin 540 from the left side surface of the device at a front portion thereof, specifically, a lower portion of the portion of the frame portion 14 where the component supply device 22 is provided. In addition, a fitting hole 544 into which the fitting pin 540 is fitted is provided in the right side portion of the frame portion 14 of the corresponding device. The pin protruding device 542 is mainly composed of a cylinder device 546. The fitting pin 540 is supported by a support hole 548 provided in a portion located on the left side surface of the frame portion 14 so as to be movable in the front-rear and up-down directions and in the left-right direction so as to extend in the left-right direction. Yes. The rear end portion of the fitting pin 540 is connected to the rod tip portion of the cylinder device 546, and when the cylinder device 546 is operated, the fitting pin 540 protrudes from the left side surface of the mounting device 12 and does not protrude. The state can be selectively switched.

FIG. 13 shows a pin projecting device 542 provided on the right mounting device 12, and as shown in the figure, the two projecting devices 12 are projected when both are located at predetermined positions. For example, the tip of the fitting pin 540 is in a state of being fitted into the fitting hole 544 of the left mounting device 12. That is, the fitting pin 540 functions as an engaging portion of one mounting device 12 and the fitting hole 544 functions as an engaging portion of the other mounting device 12. The outer dimension of the fitting pin 540 is reduced to have a slight gap with respect to the inner dimension of the fitting hole 544 (
The arrangement accuracy of the fitting pin 540 and the fitting hole 544 in the mounting device 12 is taken into consideration). When the fitting pin 540 of one mounting device 12 and the fitting hole 544 of the other mounting device 12 are engaged with each other, the relative movement of the two mounting devices 12 is limited in the direction in which the device track extends. Both of them can be moved together along the device trajectory while maintaining the relative positional relationship between them. On the other hand, when the fitting pin 540 is in the non-projecting state, there is no restriction on the relative position with the adjacent mounting device 12, and any mounting device 12 can be moved along the device track alone. It can be done.

  In the present system exemplified as a basic mode, the positions of the two mounting devices 12 can be exchanged, that is, the right one can be arranged on the left side and the left one can be arranged on the right side. In this system, each of the two mounting devices 12 is provided with a pin protrusion device 542 and a fitting hole 544, and even when the two mounting devices 12 are replaced, the pin protrusion on the side that has not been used in the state where they are not replaced. By using the device 542 and the fitting hole 544, it is possible to move the two mounting devices 12 while maintaining the relative positional relationship between them.

  As will be described in detail later, the mounting device 12 can perform a circuit component mounting operation on one wiring board located across both devices in cooperation with the adjacent mounting device 12. In that case, for example, when a trouble occurs in any of the mounting devices 12 during the cooperative work, the mounting device 12 is moved while holding the one wiring board in the wiring board transport device 24 included in both devices. Need to be made. When such a need arises, the inter-device relative movement limiting device is an effective means.

<Variation etc. of the substrate work system>
The board-to-board working system is not limited to the circuit component mounting system of the basic aspect described above, and there are many kinds of various systems including the above. Some of them are described below.

i) Variations Regarding Number of Arrangements for Board-Working Devices FIGS. 1B to 1D are circuit component mounting systems in which the number of mounting devices 12 is different. In the system of the basic mode shown in FIG. 1 (a), there are two mounting devices 12, but in the case shown in FIG. 1 (b), four mounting devices 12 are shown in FIG. 1 (c). FIG. 1D shows a system in which six mounting devices 12 and eight mounting devices 12 shown in FIG. 1D are arranged in the left-right direction, which is the wiring board conveyance direction. The mounting device 12 has the same configuration in any of FIGS. 1 (a) to 1 (d). Each of these systems differs in the width of the system base (the length in the wiring board conveyance direction) according to the number of mounting devices 12, and each of the systems shown in FIGS. 1B, 1C, and 1D is used. The system bases 570, 572, and 574 have widths that are about twice, about three times, and about four times the system base 10 of the system shown in FIG.

  Any of the mounting devices 12 shown in FIG. 1 is the above-described movable device, and the upper surfaces of the system bases 570, 572, and 574 are the same as those in the basic mode shown in FIG. 4 pairs, 6 pairs, and 8 pairs are arranged in accordance with the number of mounting devices 12 arranged. The device tracks formed by the rail rows 472 intersect each other at right angles to the wiring board transport direction and extend horizontally in the front-rear direction. That is, all the mounting devices 12 are provided with the mounting device movement allowance device described above. Also, the number of mounting device fixing devices having the same configuration as described above is provided in accordance with the number of mounting devices 12 arranged. Furthermore, each mounting device 12 is provided with a relative movement restricting device between the devices, and one mounting device 12 is used alone or two or more mounting devices 12 adjacent to each other are maintained in relative positional relationship with each other. However, it can be moved toward the front of the system.

ii) System-based modularization and board-to-board work unit FIG. 17 shows some other aspects of the circuit component mounting system from the above aspects. The system shown in FIGS. 17A to 17C is a system in which a plurality of systems of the basic mode shown in FIG. 1A are aligned in the wiring board conveyance direction. As shown in FIGS. 13 and 14, in the system of the basic aspect, the system base 10 has a plurality of casters 580, and the system itself can be easily moved. Moreover, when installing the system, the jack devices 182 and 184 can be used to adjust the height while installing the system at an arbitrary position. The systems shown in FIGS. 17A to 17C are obtained by arranging two, three, and four systems of the basic mode, respectively, and are externally shown in FIGS. 1B to 1D. And approximate. The difference is that the former has a plurality of the same system bases 10 installed side by side, whereas the latter is constituted by one system base 570, 572, 574 having different widths. That is, in the system of the aspect shown in FIG. 17, each of the system bases 10 functions as a modularized base module, and these systems are system bases 590 and 592 configured by a plurality of the base modules. , 594. Thus, in the on-board work system, the system base may be configured to include a plurality of base modules. The illustrated system bases 590, 5922, and 594 may be simply installed by arranging the system bases 10 as the base modules side by side, or may be integrally connected using a dedicated connecting device.

  In the case of the mode shown in FIG. 17, a circuit component mounting unit (a type of substrate-based unit) is configured including one system base 10 as a base module and two mounting devices 12 arranged thereon. Can also be considered. In other words, the system of the basic aspect described above can be handled here as one circuit component mounting unit. Since the system of the basic mode as a circuit component mounting unit can be moved independently by itself and can be freely replaced for each unit, the versatility of the system becomes high.

iii) Variations Regarding the Device Width of the Board Working Device A circuit component mounting system in which a mounting device different from the mounting device 12 described above is arranged will be described. FIG. 18A shows a system in which mounting devices 600 having different device widths in the wiring board conveyance direction are arranged on the system base 10 used in the system of the previous basic mode. Specifically, it has a device width approximately twice that of the mounting device 12. The wiring board transport device 602 provided in the mounting device 600 has a transport length (apparatus length in the wiring board transport direction) approximately twice that of the wiring board transport device 24 provided in the mounting device 12 according to the device width. have. Therefore, it is possible to mount a circuit component by positioning a wiring board larger than the wiring board that fits in the device area of the mounting device 12 (approximately twice as long) in the device area. Also, the component supply device 604 can mount more tape feeders 20 than the component supply device 22 of the mounting device 12, and the mounting device 600 can mount a wider variety of electronic components. is there. The mounting head and the head moving device have the same configuration as that of the mounting device 12 described above, but the head can be moved in the X-axis direction (wiring board transport direction) as the device width increases. The area has been enlarged. Other deployment devices and the like have the same configuration as the mounting device 12.

In the circuit component mounting system shown in FIG. 18 (b), the system shown in FIG. 18 (a) is used as one circuit component mounting unit, and this unit and the system of the above-described basic mode, which is a separate unit. It is a system configured by arranging them side by side. Each of the two system bases 10 serves as a base module, and constitutes one system base 590, similar to that shown in FIG. This system is a system in which two mounting devices 12 and one mounting device 600 are arranged on the system base 590 so as to be aligned in the wiring board conveyance direction. As will be described in detail later, the two mounting devices 12 can perform a mounting operation in cooperation with respect to the wiring board positioned over both. Therefore, the circuit board is transported from the upstream side to the downstream side (either left or right may be the upstream side), the circuit board is placed in the device area of the mounting device 200, and the circuit component mounting work by one mounting head is performed. A system in which the wiring board is positioned across the two mounting devices 12 and the circuit component mounting work by the two mounting heads is sequentially performed in any order. For example, it is possible to adopt a work form in which a small number of various types of electronic components are mounted by the two mounting devices 12 and a small amount of various types of electronic components are mounted by the mounting device 600. It becomes possible.

  FIG. 19 shows another aspect of the circuit component mounting system in which mounting devices having different device widths are arranged. FIG. 19A shows a system base 572 (same as the system shown in FIG. 1C) on which six mounting devices 12 used in the system of the basic mode can be arranged. In this system, four mounting devices 12 are arranged and arranged adjacent to each other, and a mounting device 600 having a width approximately twice that of the mounting device 12 is disposed. In addition, in FIG. 19B, three mounting devices 12 are aligned on a system base 574 (same as the system shown in FIG. 1D) on which eight mounting devices 12 can be arranged. A mounting device 600 having a width approximately twice that of the mounting device 12 described above is disposed adjacent to them, and a mounting device 610 having a width approximately three times that of the mounting device 12 is further adjacent thereto. It is a deployed system. In this manner, it is possible to adopt a mode in which mounting devices having different widths in the wiring board conveyance direction are arranged and arranged.

iv) Modularization of on-board working devices The circuit component mounting systems of the various modes enumerated so far have a plurality of mounting devices arranged, but all of these mounting devices are modularized. . That is, since the system is configured by arranging a modular device that can be separated from the system base, for example, even when one modular device fails, the system has the same configuration as that device. If other modularized devices are prepared, these devices can be replaced in a short time, and the system can be easily restored. Further, it is possible to quickly cope with a change in system configuration, for example, a change or replacement of the placement position of the mounting device. In particular, the system shown in FIG. 1 and FIG. 17 is a system configured by a single type of mounting device 12, and is configured by a single modularized device.

  All of the mounting devices are modularized in such a manner that various devices such as a component supply device, a wiring board transport device, a mounting head, and a mounting head moving device are provided. Further, the above system has a control device (corresponding to the above-described mounting device control device 36) for controlling those deployment devices for each mounting device, and the control device is also deployed and modularized. System. In addition, the system base is provided with various shared devices and dedicated devices for each mounting device as described above. When the modularized mounting apparatus is fixed at a predetermined arrangement position, the connection between the shared apparatus, the dedicated apparatus, and the mounting apparatus is standardized, and a system with excellent convenience is realized. For example, the power supply line that connects the mounting device and the system base, the positive pressure and negative pressure supply paths, and the signal line that exchanges signals between the control devices are joints that can be connected and disconnected with one touch on the back side of the system. To each other (not shown).

v) Standardization of Adjacent Arrangement of Substrate Working Devices and Device Width In the system of each aspect described above, a plurality of mounting devices are arranged adjacent to each other. That is, each of the mounting devices is a mutually adjacent arrangement device, and constitutes an adjacent device group in which these devices are arranged adjacent to each other. As a result, a compact system is realized. Side surfaces (left and right side surfaces) in the wiring board transport direction of each mounting device are substantially flat, and each mounting device is arranged with almost no gap between the devices. In the system of each aspect described above, each mounting and mounting that constitutes the adjacent device group is a modularized device whose device width is standardized. The apparatus width of the mounting apparatus 12 used in the system of the basic mode described above is used as a unit width, and the adjacent apparatus group is configured only by apparatuses having a device width that is substantially an integral multiple of the unit width. For example, taking the system shown in FIG. 19B as an example, the mounting device 12 has a device width that is about one time the unit width, the mounting device 600 has a device width that is about twice, and the mounting device 610 has a size that is about three times. It is considered as a device with a device width. By configuring the adjacent arrangement group with the modularized apparatus in which the apparatus width is standardized in this way, the width of the entire adjacent apparatus group, that is, the width of the entire system is standardized in the case of the system of the above aspect.

  In the above system, in addition to the standardization of the width of the mounting device, the placement position and layout method of the mounting device are also standardized. FIG. 20 shows a system base 574 on which eight unit width mounting apparatuses 12 can be arranged and arranged. FIG. 21 shows an example of the arrangement system of mounting apparatuses of various widths using the system base 174 as an example. A conceptual diagram is shown. The system base 574 has a pair of rails 472 that are parallel to each other so that the unit-width mounting devices 12 can be disposed adjacent to each other (similar to that of the system of the above basic mode). 8) are provided in parallel with each other. The distance between the two rail rows 472 constituting the rail pair is the same in any of the rail pairs, and the eight rail pairs are arranged at a pitch equal to the unit width.

  In the case of the mounting device 12 having a unit width, the wheels 474 of the mounting device 12 are engaged and arranged as shown in FIG. On the other hand, when the mounting device 600 having a unit width of about twice is arranged, as shown in FIG. 21B, among the four rail rows 472 constituting each of the two rail pairs arranged side by side. The wheels 474 of the mounting device 600 are engaged with the two outer rail rows 472. Similarly, when the mounting device 610 having about three times the unit width is arranged, as shown in FIG. 21 (c), the outer two of the six rail rows 472 constituting the three rail pairs aligned with each other. The wheels 474 of the mounting device 610 are engaged with one rail row 472. Both mounting devices are standardized by providing the wheels 474 so that each of both side surfaces of the device that determines the device width in the wiring board conveyance direction is positioned at the approximate center of the adjacent rail pair. Even if any of the mounting devices is arranged side by side, it is possible to make adjacent mounting devices adjacent to each other with almost no gap between the side surfaces of the devices. Even if the mounting device has a device width of about 4 times the unit width or more, if it is a mounting device that is substantially an integral multiple, it can be placed adjacently in the same manner. In any of the mounting devices described here, the wheel 474 is configured to engage with two rail rows 472 existing on the left and right outer sides. A configuration in which the wheel 474 engages with a part or all of the other rail row 472 existing in the lower part of the apparatus may be adopted.

  The stopper 482 and the urging device 490 constituting the mounting device fixing device as described above are respectively provided in the intermediate portion between the two rail rows 472 constituting one rail pair. Although a detailed description is omitted, in the case of a mounting device having a unit width of about twice or more the unit width, a plurality of stoppers 482, biasing devices 490, and the like exist below the mounting device. In that case, the arrangement position in the front-rear direction may be determined by any one or more of the plurality of stoppers 482 and the like.

As can be understood from the above description, the present system is provided with a plurality of arrangement position determination devices that determine the arrangement positions of the mounting apparatuses that are mutually adjacent arrangement apparatuses. The arrangement position determination device includes a conveyance direction position determination unit that determines an arrangement position in the wiring board conveyance direction, and a cross direction position determination unit that determines an arrangement position in a direction crossing the wiring board conveyance direction, The conveyance direction position determination unit includes a pair of rail rows 472 that constitute the mounting apparatus movement allowing device, and the cross direction position determination unit includes a stopper 4 that constitutes the mounting apparatus fixing device.
82 is comprised. Further, the mounting devices constituting the adjacent device group are all movable devices, and any of the mounting devices can be moved in a direction orthogonal to the wiring board transport direction. The mounting devices are arranged adjacent to each other, but one or more of them can be easily moved without interference with adjacent ones. Note that the above-described apparatus relative movement restriction device described above may be standardized and provided in each of the mounting devices that are mutually adjacently arranged devices.

vi) System in which an on-board work apparatus for performing auxiliary work is arranged The circuit component mounting system exemplified so far is configured by arranging only the mounting apparatus on the system base. In addition to these aspects, there is provided an apparatus for performing at least one of board transfer related work such as transfer, carry-in, carry-out, standby, stock, change of transfer direction / path, change of direction of wiring board, etc. It is also possible to arrange it as an auxiliary work device. An example of the auxiliary work device will be described below.

vi-i) Transport Work Device FIG. 22 shows a circuit component mounting system in a mode in which a transport work device for mainly transporting wiring boards is arranged between mounting devices as an example of an auxiliary work device. In this system, instead of the third mounting device 12 from the right in the system shown in FIG. 1 (d), a transfer work device 620 whose main purpose is the transfer work of the wiring board is arranged at that position. The transfer work device 620 is a device that excludes deployment devices such as the mounting head 26, the head moving device 28, and the component supply device 22, with the wiring board transport device 24 deployed in the mounting device 12 as a main deployment device. Such a transfer work device 220 can be conveniently used when, for example, any of the mounting devices 12 breaks down. In that case, if the other mounting devices 12 share the circuit component mounting work assigned to the mounting device 12 that has been arranged, a significant system operation loss can be avoided. Operation loss can be avoided by holding the same mounting device 12 as a spare, but the transport work device 620 is a simpler device configuration and is lower in cost than the mounting device 12, so the overall cost of the equipment is reduced. There is also an advantage that it can be suppressed. Note that the transfer work device 620 can be used not only in the case of a failure or the like, but also as a device that supplements the empty space when a system is created in which an empty space where no mounting device is arranged on the system base is created. . A substrate transfer-related work device such as the transfer work device 220 is a device useful for improving the flexibility and convenience of the system.

vi-ii) Stock Work Device FIG. 33 shows a perspective view of a stock work device 800 that performs a work of stocking a wiring board as a substrate transfer related work as another example of the auxiliary work equipment. Two mounting apparatuses 12 and one stock work apparatus 800 are arranged adjacent to each other on a system base 804 on which the above-mentioned unit width substrate work apparatuses can be arranged adjacent to each other. Further, in this drawing, a part of the cover of the stock working apparatus 800 is not shown, and the main part of the apparatus is schematically shown. The stock working device 800 includes a lifting platform 810, and a wiring board housing device 812 is provided on the lifting platform 810. In the wiring board housing device 812, simply, the wiring board transport device 24 arranged in the mounting device 12 does not have a board holding function (function to push up and fix the wiring board from below), It can be considered that a conveyor rail is provided.

The wiring board housing device 812 has a front housing portion 814 and a rear housing portion 816, and each can house a plurality of wiring boards. The front accommodating portion 814 includes a plurality of conveyor rails 824 supported by the pair of first rail support members 820 and a plurality of conveyor rails 826 supported by the pair of second rail support members 822. One conveyor section 828 is formed by one pair of conveyor rails 824 and 826 that are equal in height and face each other, and one wiring board is accommodated in the one conveyor section. In the present wiring board accommodation device 812, the front accommodation portion 814 includes six conveyor units 828, and the wiring board accommodation device 812 can accommodate up to six wiring boards in the front accommodation portion 814. Similarly, a plurality of conveyor rails 834 and 836 are respectively supported by the third rail support member 830 and the fourth rail support member 832 so as to face each other, and the rear accommodating portion 816 is also supported by a pair of the conveyor rails 834 and 836. Each of the formed conveyor sections 838 accommodates a wiring board and can accommodate up to six.

  Each of the conveyor units 828 and 838 has a conveyor belt (not shown) that conveys the wiring board and a motor (not shown) that drives the conveyor belt. The conveyor belt (not shown) and the motor are provided one by one on each conveyor rail 824, 826, 834, 836 (hereinafter may be collectively referred to as “conveyor rails 824 to 836”). Two conveyor belts provided on a pair of conveyor rails 824-836 by rotating two motors provided on a pair of conveyor rails 824-836 forming two conveyor sections 828, 838 in synchronization with each other Are driven synchronously to convey the wiring board. It should be noted that a pair of conveyor belts belonging to arbitrary conveyor sections 828 and 838 can be driven in synchronization with each other.

  Usually, loading or unloading of the wiring board is performed by the conveyor units 828 and 838 located at a predetermined height among the plurality of conveyor units 828 and 838. The wiring board is transported by another substrate working machine so as to pass through a transport height position that is a position in the height direction indicated by a plurality of straight lines H in the drawing. The wiring boards are carried in or out by the conveyor sections 828 and 838 located at the positions. The stock working device 800 is provided with an elevating device 840 that elevates the elevating table 810. The elevating device 840 elevates the wiring board housing device 812 together with the elevating table 810, so that the height position of the wiring board housing device 812 is increased. Is changed. When the wiring board is carried in or out, the conveyor parts 828 and 838 that are carried in or out of the plurality of conveyor parts 828 and 838 are positioned at the conveyance height position.

  The wiring board housing device 810 includes three motors 842, and includes three ball screws individually screwed into the second, third, and fourth rail support members 822, 830, and 832. The rail support members can be individually driven to rotate, and the positions of the rail support members in the front-rear direction can be individually changed. That is, similarly to the wiring board transport device 24 arranged in the mounting device 12 described above, the conveyor width in the front housing portion 814 and the conveyor width in the rear housing portion 816 can be changed separately.

  The stock working apparatus 800 includes a control device 850, and the control device 850 controls the raising / lowering of the wiring board housing device 810 as described above, changing the conveyor width, driving of the conveyor units 828 and 838, and the like. The Under the control of the control device 850, the stock working device 800 temporarily stores a plurality of wiring boards transported from the substrate working machine adjacent to the upstream side of the own machine or from the outside of the system, and carries out unloading. When a requested signal is received or input, the wiring board accommodated in the own machine can be carried out of the substrate work machine adjacent to the downstream side of the own machine or outside the system. In addition, the order of the conveyor units 828 and 838 for carrying in / out the wiring board can be freely set. For example, the order from the top one or the bottom one, or the order of carrying-in and carrying-out. Can be performed in the same manner.

By arranging the stock working apparatus 800 in the substrate work machine system, the flexibility and convenience of the substrate work machine system are improved. For example, the stock working apparatus 800 is operated by the substrate work machine arranged upstream of the own machine while the change of the work machine arranged on the downstream side of the own machine is being performed. The circuit board is stocked and can be used for the purpose of carrying out the stocked circuit board to the downstream side while the upstream setup is changed thereafter.

vi-iii) Transfer Route Changing Work Device As yet another example of the auxiliary work device, FIG. 34 shows a perspective view of a transfer route changing work device 900 for performing substrate transfer related work such as changing the transfer route of the wiring board. . The transfer path changing work device 900 includes a support base 910 that is elongated in the front-rear direction, and the support base 910 extends rearward of the system base 10. A transport device moving device 912 is provided on the upper surface of the support base 910, and the transport device moving device 912 has a Y table 914, two guide rails 916, a ball screw 918, and a motor 920. The Y table 914 has a slide member (including a bearing), and the slide member is engaged with the guide rail 916, and the movement direction of the Y table 914 is regulated in the front-rear direction by the two guide rails 916. ing. The Y table 914 has a nut (including a bearing) (not shown), and the nut is screwed with the ball screw 918. When the ball screw 918 is rotated by the motor 920, the Y table 914 is It can be moved back and forth.

  The transfer path changing work device 900 includes a wiring board transfer device 930 and a transfer device rotating device 932 that is fixed on the Y table 914 and supports the wiring board transfer device 930. The transport device rotating device 932 can rotate the wiring board transport device 930 in the horizontal plane, and can arbitrarily change the direction of the wiring board transport device 930. The wiring board transport device 930 simply does not have the substrate holding function (function to push up and fix the wiring board from below) of the wiring board transport device 24 provided in the mounting device 12 described above. You can think of it as one. The wiring board transport device 930 can also change the interval between the two conveyor rails.

  The transfer device moving device 912 can move the wiring board transfer device 930 to the rear end portion of the support base 910 together with the transfer device rotating device 932. The wiring board transport device 930 can carry in or out the wiring board in the left-right direction while being positioned at the rear end of the support base 910. Further, at the rear end portion of the support base 910, the wiring board transfer device 930 does not interfere with other substrate work machines adjacent to the transfer path changing work device 900, so that the wiring board transfer device 930 is moved by the transfer device rotating device 932. The wiring board can be carried in or taken out at an arbitrary rotational position. For example, the wiring board can be carried in or out in the front-rear direction as well as the left-right direction which is the conveyance direction in the system. In the present embodiment, the transport path changing work device 900 has a function as a transport direction changing device. In addition, when carrying in and carrying out the wiring board, a conveyor device or the like may be provided in the rear part of the support base 910.

  This transfer route changing work device 900 is arranged adjacent to another substrate work machine and moves the transferred wiring board in a direction (front-rear direction) perpendicular to the transfer direction of the pair wiring board working system. It is possible to carry it out. Therefore, when the substrate work machine adjacent to the upstream side or the downstream side includes a wiring board transport device having a plurality of conveyor parts, the wiring board can be carried in from any conveyor part of the upstream machine. The wiring board can be carried out to any conveyor part of the machine. For example, if the substrate work machine adjacent to the upstream side and the downstream side of the transfer path changing work apparatus 900 includes a wiring board transfer apparatus having two front and rear conveyor parts, the front conveyor part of the upstream machine Or the conveyance from the rear conveyor part to the conveyor part on the side different from that of a downstream machine is possible. The transfer route changing work device 900 includes a control device 940, and each device is controlled by the control device 940 to carry in or carry out the wiring board as described above, and to move or rotate the wiring board transfer device 930. Etc. are performed.

  By disposing the transfer path changing work device 900 in the substrate work machine system, the flexibility and convenience of the substrate work machine system are improved. For example, when the work speed of the substrate working machine arranged on the upstream side of the transfer path changing work apparatus 900 is high and the work speed of the substrate working machine arranged on the downstream side is slow, the transfer path changing work apparatus 900 is changed. As a result, the wiring board that has been worked by the upstream-side work machine can be distributed to other work systems. Further, for example, when there is a problem with the work on the board for a certain wiring board, the wiring board can be discharged out of the system as a defective product.

vii) Variations on Types of Board Work The system exemplified so far is a system that performs circuit component mounting work, but a system that performs other kinds of work on the board can also be constructed. FIG. 23 shows an on-board working system in which various on-board working apparatuses having different types of on-board work are arranged. The system base 630 of this system is composed of two base modules. One of them is a system base 574 capable of arranging eight unit width-to-board work apparatuses adjacent to each other, and the other one is a system capable of arranging two unit-width-on-board work apparatuses adjacent to each other. Base 10. The system base 574 is located on the upstream side (left side), and the system base 10 is located on the downstream side (right side), and is disposed adjacent to each other. On the system base 574, in order from the upstream side, a solder printing device 632 that performs a cream solder printing operation, which is one type of high-viscosity coating operation, on the wiring board, and an adhesive, which is a type of another high-viscosity coating operation. An adhesive application device 634 that performs the application work, the two mounting devices 12 and mounting devices 600 having the unit widths described above, and a mounting result inspection device 636 that inspects the mounting results of the circuit components are arranged adjacent to each other. Yes. The other devices except for the two mounting devices 12 are devices having a device width approximately twice the unit width. In other words, this system is different from (A) the system base 574 and the solder printing device 632 disposed thereon.
A first substrate-to-board working unit including an adhesive application device 634, two mounting devices 12 and a mounting device 600, and (B) a system base 10 and a mounting result inspection device 6 disposed thereon.
It can be said that the present system is configured to include the second board-to-board work unit including 36. Note that each of the first and second substrate working units is a single substrate working system.

viii) Others For example, the wiring board is brought into the various on-board working systems illustrated above, for example, the wiring board transporting device provided in the upstream on-board working apparatus mainly includes a carry-in machine (for example, a carry-in conveyor). And the unloader can be carried out by the unloader. Also, unloading from the system can be performed by, for example, the unloading machine (for example unloading) It is only necessary to connect equipment mainly composed of a conveyor or the like and carry out the unloader. It is also possible to arrange on the system base, for example, by modularizing it as a kind of the substrate work apparatus provided with the carry-in device and the carry-out device. Moreover, the said board-to-board work system may be used in the aspect which bears a part of mounting line by connecting and using with another system, a board-side work machine, etc.

<Conveyance of wiring board>
With reference to an example of the circuit component mounting system shown in FIG. 1 in which the mounting devices 12 whose device width is a unit width are arranged adjacent to each other, the conveyance of the wiring board will be described below.

i) Configuration of System Transfer Device In the circuit board mounting system of this aspect, the plurality of mounting devices 12 are arranged adjacent to each other. The wiring board transport device 24 has a width substantially equal to the device width of the mounting device 12 (the transport length is the length in the wiring board transport direction), and the plurality of mounting devices 12 are at predetermined arrangement positions. When arranged, the respective wiring board transport devices 24 arranged in the respective mounting devices 12 are positioned adjacent to each other. In addition, the wiring board transport device 24 is arranged at a fixed position in the mounting device 12, and when the plurality of mounting devices 12 are disposed at predetermined positions, the wiring board transport devices 24 are arranged in a straight line. It becomes. By arranging the wiring board transport devices 24 in a line, a device for transporting the wiring boards throughout the system is configured. The apparatus serves as a substrate transfer apparatus in the system, and is referred to as a “system transfer apparatus” to be distinguished from each wiring board transfer apparatus. This system transfer apparatus can be considered to be configured by a series of transfer modules that are partly modularized. That is, each of the wiring board transport devices 24 provided as the deployed transport device in each mounting device 12 corresponds to a transport module in the system transport device. In addition, each mounting device 12 is a device that is also modularized by disposing a transport device, and thus can be referred to as a transport device deployment modular device. In addition, about the structure of the wiring board conveying apparatus 24, it shall refer to the previous description and description here is abbreviate | omitted.

  The circuit component mounting system of the present embodiment is a system in which only the mounting device 12 having a unit width is arranged. As described above, there is also a system in which a mounting device having a device width that is approximately an integral multiple of twice or more the unit width is arranged. Even in such a case, if the wiring board transport device provided in the mounting device has a width corresponding to the device width, a similar system transport device can be configured. Further, in the mounting apparatus having a device width that is approximately an integral multiple of two times the unit width or more, the wiring board transport devices 24 used in the unit width mounting apparatus 12 are arranged in series by the number corresponding to the device width. A similar system transport device can be obtained by deploying to the system.

ii) Recognizing Wiring Board Existence Position In the system transfer device, adjacent wiring board transfer devices 24 cooperate to transfer the wiring board, and at least a part of the wiring board is defined as a work area of the mounting device 12. It is located at the designated work position. For example, it conveys by coordinating the conveyor operations of the mutual wiring board conveying devices 24. That is, transport cooperative control is performed. As a premise for carrying out transport cooperative control, it is necessary to grasp where the wiring board currently exists. In this system transfer device, each of the wiring board transfer devices 24 includes a photoelectric sensor 160 as a wiring board detector, and the presence position of the wiring board is recognized based on the detection result by the photoelectric sensor 160. . Hereinafter, a method for recognizing the position of the wiring board will be described. As described above (see FIG. 4), in the circuit component mounting system of this example, the wiring board can be conveyed by both the front conveyor unit 110 and the rear conveyor unit 112. Considering ease of understanding, only the front conveyor unit 110 will be described. Further, the conveyor operation means the start of the circulation of the conveyor belt 142 (see FIG. 5) for the purpose of conveying and stopping the wiring board, the stop of the rotation, the change of the rotation speed, and the like. These are simply referred to as starting, stopping and changing the speed of the conveyor.

FIG. 24 schematically shows a state in which a plurality of wiring board transfer devices 24 constituting the system transfer device are arranged in the system of this aspect. The figure shows the entirety of four of the plurality of wiring board transfer devices 24, and these wiring board transfer devices 24 are numbered in order from the upstream side (left side) and are referred to as device [X]. I will decide. In the figure, device [1], device [2], device [3], and device [4] are arranged in order from the upstream side. Reflective photoelectric sensors 160 as wiring board detectors (a kind of substrate detectors) are provided at the upstream end portion and the downstream end portion of the rail 100 (see FIG. 4) serving as the reference rail. The photoelectric sensor 160 (hereinafter simply referred to as “sensor”) is capable of emitting a detection signal of a wiring board, and is associated with the number X of the wiring board transport device 24, and each sensor on the upstream side is a sensor [X]. U, downstream sensor [X] L. A downstream sensor [X-1] L of a downstream device [X-1] of a device [X-1] upstream of a certain device [X] passes through the position of the sensor [X-1] L. As a result, an ON state (detection state) is established. Thereby, it is recognized that the wiring board 350 enters the device [X]. Further, the upstream sensor [X + 1] U of the device [X + 1] on the downstream side of the device [X] is turned off when the upstream end of the wiring board 150 passes the position of the sensor [X + 1] U. It becomes a state (non-detection state). Thereby, it is recognized that the wiring board 150 comes out of the device [X]. Based on the recognition result, the wiring board presence / absence information indicating whether or not at least a part of the wiring board 350 exists in a certain device [X] is acquired. The presence / absence of the wiring board is managed by the control device 36 provided in the mounting device 12 in which the target device [X] is provided, and a recognition signal from the sensor of the upstream device [X-1]. The recognition signal from the sensor of the downstream device [X + 1], the wiring board presence / absence information, and the like are exchanged with the mounting device control device 36 provided in the mounting device 12 in which these devices are provided.

iii) Transporting a wiring board that fits within the device area of one mounting device FIG. 25 schematically shows a first example of a wiring board transport method. The conveying method of this example is a wiring board having a length shorter than the width of the wiring board conveying device 24 (length in the wiring board conveying direction), or, in other words, a size that fits within the device area of one mounting device 12. This is a transport method suitable for transporting a wiring board (actually, a wiring board shorter by a predetermined length than the device width due to the structure of the device). First, in the state shown in FIG. 25 (a), the wiring board 150 is fixedly held at the center position in the wiring board conveyance direction of the device [1], and the circuit component by the mounting device 12 that deploys the device [1]. It is in a state where it is used for mounting work. When the circuit component mounting operation is completed, the fixing of the wiring board is released. Subsequently, after it is confirmed that there is no wiring board in the device [2], the conveyor of the device [1] is started. When the wiring board 150 moves and reaches the position shown in FIG. 25 (b), the sensor [1] L is turned ON and the conveyor of the apparatus [2] is started. In addition, the conveyor speed of apparatus [1] and the conveyor speed of apparatus [2] are made equal. Subsequently, when the wiring board 150 reaches the position shown in FIG. 25C, the sensor [2] U is turned on, and the control of the transport distance starting from that point is started. The conveyance distance is controlled by controlling the rotation amount (rotation angle) of the electric motor 344 described above. The length of the wiring board 350 is known, and the rotation amount is controlled so that the downstream end of the wiring board 350 is moved to a set distance from the position of the sensor [2] U. By this control, the wiring board 150 can be stopped at an arbitrary position. In this example, the center of the wiring board 150 is set to stop at the center position in the wiring board conveyance direction. Next, when the wiring board 150 reaches the position shown in FIG. 25 (d), the sensor [2] U is turned OFF and the conveyor of the apparatus [1] stops. Then, as shown in FIG. 25 (e), when the wiring board 350 reaches the set position, the conveyor of the apparatus [2] stops and the control of the transport distance is finished. At this position, the wiring board 150 is fixed and held, and the circuit component mounting work by the mounting device 12 deploying the device [2] is started.

  Each wiring board conveyance device 24 sequentially repeats the conveyance as described above, and the wiring board 150 sequentially moves each mounting device 12. In many cases, each mounting device 12 performs circuit component mounting work in parallel, and a wiring board 150 exists for each wiring board transport device 24 existing in the system. Therefore, in actual conveyance, first, the downstream wiring board conveyance device 24 is made empty (the wiring board 150 is not present), and the wiring board is transferred from the upstream side to fill the empty state. One transfer operation is sequentially performed from the downstream side toward the upstream side, and all the wiring boards 150 existing in the system transfer apparatus are transferred. As another method, the conveyor operations of all the wiring board conveying devices 24 may be performed simultaneously to convey the wiring boards in the system conveying device at the same time. Also, loading into the system (carrying into the wiring board transfer device located at the uppermost stream) and carrying out from the system (carrying out from the wiring board transfer device 24 located at the most downstream position) are also performed on the conveyor device outside the system. It is also possible to perform the transport operation in cooperation with the same method as described above by providing the photoelectric sensor 160. Further, the transfer speed of the wiring board is changed by changing the rotation speed of the conveyor belt 142 based on the detection signal of the photoelectric sensor 160 or by providing another photoelectric sensor and based on the detection signal of the photoelectric sensor. It is also possible to perform the transport cooperative control in the mode of performing.

iv) Method 1 for transferring a wiring board across a plurality of mounting devices
FIG. 26 schematically shows a second example of the method for transporting the wiring board. The transport method of this example is a transport method suitable for transporting a wiring board having a length longer than the width of the wiring board transporting device 24, that is, a wiring board having a size straddling a plurality of mounting devices. This is effective in the case where the wiring boards straddling a plurality of mounting devices 12 adjacent to each other perform circuit component mounting work in cooperation with each other. In this example, a case where a wiring board having a size straddling two mounting devices 12 is conveyed will be described.

  First, in the state shown in FIG. 26A, the center of the wiring board 150 is located at an intermediate position between the device [1] and the device [2], and is fixedly held by these devices. It is in a state where it is used for circuit component mounting work by the two mounting devices 12 in which each of the two devices is provided. When the circuit component mounting operation is completed, the fixing of the wiring board by both devices is released. Subsequently, after it is confirmed that there is no wiring board in the devices [3] and [4], the conveyors of the devices [1] and [2] are started. When the wiring board 150 moves and reaches the position shown in FIG. 26 (b), the sensor [2] L is turned ON and the conveyor of the apparatus [3] is started. Subsequently, when the wiring board 150 reaches the position shown in FIG. 26 (c), the sensor [2] U is turned OFF and the conveyor of the apparatus [1] is stopped. Subsequently, when the wiring board 150 reaches the position shown in FIG. 26 (d), the sensor [3] L is turned on and the conveyor of the apparatus [4] is started. Next, when the wiring board 150 reaches the position shown in FIG. 26 (e), the sensor [4] U is turned on, and the transport distance control (the same control as described above) starting from that point is performed. Be started. Next, when the wiring board 150 reaches the position shown in FIG. 26 (f), the sensor [3] U is turned OFF and the conveyor of the apparatus [2] is stopped. Then, as shown in FIG. 26 (g), when the center of the wiring board 150 reaches an intermediate position between the device [3] and the device [4], the two conveyors of the device [3] and the device [4] are used. Are simultaneously stopped and the control of the transport distance is terminated. At this position, the wiring board 150 is fixed and held, and the circuit component mounting work by the two mounting devices 12 that respectively deploy the devices [3] and [4] is started.

  In the transport method of the present example, the wiring board 150 is sent at a time by two widths of the wiring board transport device 24. The transfer method when many wiring boards exist in the system, the loading of the wiring boards into the system, the method of carrying out the wiring boards from the system, the change of the transfer speed, etc. can be carried out in the same manner as in the first example. It is. As exemplified above, when a mounting device having a device width of about twice the unit width is arranged at any position, the portion is similarly estimated from the above two transport methods. The conveying method (specific description is omitted) may be applied. When the transport method of this example is used, in the system of this aspect, the device [1] and the device [2] constitute one working device group, and the device [3] and the device [4] Constitutes another working device group. According to the transport method of this example, the transport of the wiring board with the working device group as one unit is realized. This transport mode is referred to as a group unit transport mode.

iv) Wiring board transport method 2 across multiple mounting devices
FIG. 27 schematically shows a third example of the method for transporting the wiring board. The transport method of this example is suitable for transporting a wiring board having a length longer than the width of the wiring board transporting device 24, that is, a wiring board having a size straddling a plurality of mounting devices, as in the second example. It is a conveyance method. This is effective in the case where the wiring boards straddling a plurality of mounting devices 12 adjacent to each other perform circuit component mounting work in cooperation with each other. In this example, a case where a wiring board having a size straddling two mounting devices 12 is conveyed will be described.

First, in the state shown in FIG. 27A, the center of the wiring board 150 is located at an intermediate position between the device [1] and the device [2], and is fixedly held by these devices. This is a state in which the circuit component mounting work is performed by the two mounting devices 12 in which each of the two devices is provided.
When the circuit component mounting operation is completed, the fixing of the wiring board 150 is released. Subsequently, after it is confirmed that there is no wiring board in the device [3], the conveyors of the devices [1] and [2] are started. When the wiring board 150 moves and reaches the position shown in FIG. 27 (b), the sensor [2] L is turned on and the conveyor of the apparatus [3] is started. Subsequently, when the wiring board 150 reaches the position shown in FIG. 27C, the sensor [3] U is turned on, and the above-described control of the transport distance starting from that point is started. Next, when the wiring board 150 reaches the position shown in FIG. 27 (d), the sensor [2] U is turned OFF and the conveyor of the apparatus [1] stops. Then, as shown in FIG. 27 (e), when the center of the wiring board 150 reaches an intermediate position between the device [2] and the device [3], the two conveyors of the device [2] and the device [3] Are simultaneously stopped and the control of the transport distance is terminated. In this position, the wiring board 150 is fixed and held, and the circuit component mounting work by the two mounting devices 12 that respectively deploy the devices [2] and [3] is started.

  In the transport method of this example, unlike the second example, the wiring board 150 is transported only one by one for the wiring board transport device 24. Conveying method when many wiring boards are present in the system, carrying the wiring board into the system, carrying out the wiring board from the system, changing the transfer speed, mounting device having a device width approximately twice the unit width The conveyance or the like when the is arranged is the same as in the second example described above. When the transport method of this example is used, in the system of this aspect, the device [1] and the device [2] constitute one working device group, and the device [3] and the device [4] Constitutes another working device group. In other words, it can be said that the device [2] and the device [3] constitute one working device group. According to the transfer method of this example, not the transfer of the wiring board with the working device group as a unit, but the feeding with one mounting device constituting the working device group as a unit is realized. That is, it is fed forward for each mounting device. This conveyance form is referred to as an apparatus unit conveyance form. In the system of this aspect, it is possible to selectively adopt the apparatus unit transport mode and the group unit transport mode described above according to the work mode of the system.

<Collaboration work with multiple mounting devices>
As an example of the circuit component mounting system shown in FIG. 1 in which the mounting devices 12 whose unit width is a unit width are arranged adjacent to each other, a cooperative operation by a plurality of mounting devices will be described below. . In this system, a plurality of mounting devices 12 are arranged adjacent to each other, and the plurality of mounting devices 12 cooperate with each other with respect to the wiring board located across the device regions of the plurality of adjacent devices. Thus, electronic parts can be mounted. Each of the mounting devices 12 is a device having the same configuration, and the wiring board straddling any mounting device 12 can be cooperatively operated with any mounting device 12 adjacent to the mounting device 12. is there. The following description will be made with respect to electronic component mounting on a wiring board straddling the two mounting devices 12, and in particular, it is located at the boundary portion between the two mounting devices 12, which exists in the normal movement operation of the mounting head 26. The moving operation of the mounting head 26 is mainly performed to eliminate the dead zone in the wiring board mounting region. For the configuration and operation of the mounting head 26 and the head moving device 28, the above description made with reference to FIGS.

i) Movement of mounting head not exceeding the device area and specific region In FIG. 28, one mounting device is a target device, and a mounting device adjacent to one side of the mounting device is a side-by-side device. The operation of the above is schematically shown. In the figure, the left mounting device 12 is a device of interest, and the right mounting device 12 is a side-by-side device. The target device is the device [M], and the juxtaposed device is the device [N]. The wiring board is held at a position where the center in the wiring board conveyance direction is located at the center between the apparatus [M] and the apparatus [N]. The apparatus [M] and the apparatus [N] are arranged so that the X-axis direction, which is the moving direction of each first X slide, that is, the specific directions in each apparatus are the same direction.

  As described above, the head moving device 28 moves the mounting head 26 in a state where the first X slide 242 as the second track forming unit is stopped at any of the stations ST1 to ST4 on the first track. Move. As shown in FIG. 11, when the first X slide 242 is positioned at ST2 and ST3, the mounting head 26 to the first X slide 242 do not advance from the own device area. Therefore, when a circuit board is mounted by placing one wiring board in its own device area, the electronic head is usually moved by moving the mounting head 26 with the first X slide 242 positioned at ST2 or ST3. Can be installed.

  FIG. 28A shows a state in which the first X slide 242 of the apparatus [M] is positioned at ST2, and the first X slide 242 of the apparatus [N] is positioned at ST3. In this state, the mounting head 26 and the first X slide 242 of both apparatuses do not interfere with each other, regardless of the position of the mounting heads 26 on the second track. (Hereinafter, the components of the mounting device that may cause interference are abbreviated as “mounting heads”.) However, in this state, within the mounting area of the wiring board (the area related to the mounting position of the electronic component) , There is a specific area 666 (hatched area in the figure) that becomes a dead zone in which neither of the mounting heads 26 of both apparatuses can be mounted. Due to the presence of the specific region 666, the above-described normal movement operation of the mounting head 26 cannot perform satisfactory cooperative work.

ii) Movement of the mounting head beyond the device area and interference avoidance control Therefore, in this system, in order to expand the head movable area of both the device [M] and the device [N], that is, the work region, each other is moved to the other device region. The mounting head 26 can be advanced, and the other mounting heads 26 are allowed to advance into their own device areas. At this time, interference avoidance control for moving the mounting heads 26 to each other is performed while avoiding interference between the work heads of both apparatuses. Speaking of the device [M] that is the target device of interest, specifically, as shown in FIG. 28B, when the first X slide 242 of the device [N] that is a side-by-side device is located at ST2, By positioning the first X slide 242 of the apparatus [M] at ST1, it is possible to mount the electronic component on the specific area 666 by the apparatus [M] while avoiding interference between the mounting heads and the like. Conversely, as shown in FIG. 28 (c), when the first X slide 242 of the device [N] is located or is about to be located at ST4, the first X slide 242 of the device [M] is located at ST3. By doing so, it is possible to mount the electronic component in the specific area 666 by the apparatus [N] while avoiding interference between the mounting heads and the like.

  More detailed description is as follows. Even when the mounting head 26 of one apparatus is positioned at any position on the second track, the working head of the one apparatus does not advance into the apparatus area of the other apparatus. The limit position on the first track where the one first X slide 242 is positioned is determined as the non-advance limit position for one device. Then, ST1 of the device [M] and ST4 of the device [N] are set as the advance stop position which is a stop position set beyond the non-advance limit position in the relationship between both devices. In addition, when the work head of the other device is most advanced into the device area of the one device, the work head 26 of the one device is positioned at any position on the second track. In the range where the working head of one device and the working head of the other device do not interfere with each other, the limit position on the first track where the first X slide 242 of one device is positioned is It is defined as the non-interference limit position for the device. Then, ST3 of the apparatus [M] and ST2 of the apparatus [N] are set as one or more non-interference stop positions that exist at positions that do not exceed the non-interference limit position in the relationship between both apparatuses.

The interference avoidance control is mainly performed by controlling the position of the first X slide 242 which is the second trajectory forming unit. Regarding the device [M] that is the device of interest, in the case where the first X slide 242 of the device [N] is located at a position that does not exceed the non-interference limit position,
The first X slide 242 of the device [M] is allowed to be positioned beyond the non-advance limit position. That is, the first X slide 242 of the apparatus [M] is allowed to stop at ST1 that is the advance stop position. In addition, when the first X slide 242 of the device [N] is positioned at a position beyond the non-advance limit position, the first X slide 242 of the device [M] is positioned beyond the non-interference limit position. It is forbidden. That is, the first X slide 242 of the apparatus [M] is stopped at ST3 which is the non-interference stop position. The same control is performed for the device [N], which is a side-by-side device, in relation to the device [M]. Thus, in the system according to this aspect, the control of the position of the first X slide 242, that is, the position control of the second trajectory forming unit is performed in the interference avoidance control.

  In the system according to this aspect, the mounting device 12 may be arranged on the left side of the device [M] as the target device. In that case, the interference avoidance control is performed with the mounting device 12 on the left side. In relation to the left mounting device 12, ST4 set in the device [M] is the advance stop position, and ST2 is the non-interference stop position. Interference avoidance control may be performed only between one adjacent mounting device 12 or may be performed simultaneously with adjacent mounting devices 12 on both sides.

<Working form for wiring boards across multiple mounting devices>
As an example of the circuit component mounting system shown in FIG. 1 in which the mounting devices 12 having a unit width of unit width are arranged adjacent to each other, the circuit components are arranged on a wiring board extending over a plurality of mounting devices. A working mode when performing the mounting work will be described.

i) Wiring board and working device group FIG. 29 schematically shows a wiring board used for circuit component mounting work. The wiring board 150 shown in the figure is of a size that spans the two mounting devices 12, and for the sake of simplicity, it is assumed that two types of electronic components 690 are mounted. One of the two types of electronic components is referred to as a component a and is numbered as components a1 to a9 sequentially from the left side of the wiring board 150 for convenience. Similarly, another type of electronic component is referred to as component b, and is numbered as components b1 to b8 sequentially from the left side of the wiring board 150 for convenience. If the mounting area, which is the work area of the wiring board 150, is divided into two at approximately the center, the parts a1 to a5 and the parts b1 to b4 are on the left partial area 694, and the parts a6 to a9 and the parts b5 to b8 are on the right side. It is located in the partial area 694. The parts a5 and a6 and the parts b4 and b5 are mounted in the specific area 666 described above. The circuit component mounting system constitutes a working device group including two adjacent ones of the plurality of mounting devices 12. Although the number of work device groups included in the system varies depending on the number of placement devices 12, the description will be given for one of the work device groups. Therefore, it is assumed that the electronic component 690 is mounted in the one working device group. In the circuit component mounting system, two work modes can be selected, and on the premise of the above, the two work modes will be described in order.

ii) Work Form by Collective Work Control FIG. 30 schematically shows one work form of the two work forms. In the figure, the wiring board is conveyed from the left side, which is the upstream side, toward the right side, which is the downstream side. The two mounting devices 12 constituting the working device group are respectively referred to as the device [A] on the upstream side and the device [B] on the downstream side. Note that only the conveyor of the mounting device is illustrated, and other portions are omitted. In this work mode, the wiring board 150 is transported with a working device group as a unit. Specifically, in a state where the previous wiring board 150 does not exist in the device [A] and the device [B], the wiring board 150 is transferred from the upstream side of the device [A], and the center is the device [A] and the device [B]. ] And the electronic component 690 is mounted at that position, and then the downstream side of the device [B] so that the wiring board 150 does not exist in the devices [A] and [B]. It is transferred to. Specifically, the conveyance in the group unit conveyance form among the conveyance forms of the wiring board described above is performed. Note that the work mode described here is referred to as a batch work mode, and control for executing the work in that mode is referred to as batch work control.

  30A shows a state before the electronic component 690 is mounted, and FIG. 30B shows a state after the electronic component 690 is mounted. In this work mode, both the part a and the part b are mounted on the left partial area 694 by the apparatus [A], and the part a, b is mounted on the right partial area 696 by the apparatus [B]. Both parts b are mounted. Specifically, components a1 to a5 and components b1 to b4 are mounted by the device [A], and components a6 to a9 and components b5 to b8 are mounted by the device [B] (see FIG. 29). The electronic component is mounted on the specific area 666 by moving the mounting head 26 by the advance control and interference avoidance control described above. In this work mode performed as described above, the circuit component mounting work determined for each of the devices [A] and [B] is a fixed work. That is, in both the apparatus [A] and the apparatus [B], the mounting area of the wiring board 150 on which each device operates and the electronic component 690 to be mounted are constant for each apparatus.

  In the collective work mode, partial areas 694 and 696 are set as one pattern. Instead of this, the partial area may be a plurality of patterns according to the type of electronic component to be mounted. In other words, for example, the circuit component mounting operation can be performed in such a manner that the mounting area in which each apparatus operates is changed for each type of electronic component 690. In the collective work mode, when each type of electronic component 690 is mounted over the entire mounting area of the wiring board, each type of electronic component must be prepared for each of the plurality of mounting devices 12. That is, the tape feeder 20 that supplies the same type of electronic component 690 must be provided in the component supply device 22 included in each mounting device 12. This is a slight demerit, but compared to the operation mode described below, this operation mode can shorten the time for transporting the wiring board and can perform a quick circuit component mounting operation. There is.

iii) Work Form by Progressive Work Control FIG. 31 schematically shows another work form of the two work forms. The names related to the transport direction of the wiring board, the working device group, and the mounting device 12 constituting the working device group are the same as in the collective work mode. In this work mode, the wiring board 150 is transported in order for each mounting device constituting the work device group. Specifically, first, the wiring board 150 is transferred from the upstream side and stopped at a position where approximately half of the downstream side of the wiring board 150 is accommodated in the device area of the device [A]. At that position, after the electronic component 690 is mounted on the wiring board 150 by the device [A], the wiring board 150 is transferred and stopped at a position where the center is an intermediate position between the devices [A] and [B]. Be made. Next, at the position, after the mounting of the device [A] and the device [B] to the wiring board 150 is completed, the wiring board 150 is transferred and upstream of the wiring board 150 in the device area of the device [B]. It is stopped at the position where approximately half of the side fits. After the device [B] has been attached to the wiring board 150 at that position, the wiring board 150 is transferred to the downstream side of the device [B]. Specifically, transport in the apparatus unit transport mode among the transport modes of the wiring board described above is performed. Actually, several wiring boards 150 are transported in a row, and when approximately half of the downstream side of the wiring board 150 is located in the equipment area of the equipment [A], the inside of the equipment area of the equipment [B]. About half of the upstream side of the previous wiring board 150 is positioned. 31 (a) and 31 (b) show the state. FIGS. 31 (c) and 31 (d) show that the wiring board 150 is centered between the device [A] and the device [B]. It shows a state of stopping at the position. Note that the work mode described here is referred to as a progressive work mode, and control for executing the work of the form is referred to as progressive work control.

31A and 31C show the state before the electronic component 690 is mounted, and FIGS. 30B and 30D show the state after the electronic component 690 is mounted. . The operations for one wiring board 150 will be described in order as follows. First, as shown in FIGS. 31 (a) and 31 (b), parts a6 to a9 are mounted on the right partial region 696 of the wiring board 150 by the device [A] (see FIG. 29 for part numbers). And so on). At this time, the mounting of the part a6 on the specific area 666 is performed by the advance control described above and, if necessary, interference avoidance control. Next, after the wiring board 150 is conveyed by one device, as shown in FIGS. 31C and 31D, the component [A] is applied to the left partial region 694 of the wiring board 150 by the device [A]. A1 to a5 are mounted, and components b5 to b8 are mounted on the right partial region 696 by the device [B]. The mounting of the part a5 and the part b5 to the specific area 666 is performed by moving the mounting head 26 by the aforementioned advance control and interference avoidance control as in the case of the collective work mode. Then, after the wiring board 150 is further conveyed by one device, as shown in FIGS. 31 (a) and 31 (b), the component [b] is applied to the left partial region 694 of the wiring board 150 by the device [b]. b1 to b4 are mounted. Similarly, the mounting of the part a6 on the specific area 666 is performed by the advance control described above and, if necessary, interference avoidance control. At this time, in the apparatus [A], the next wiring board 150 is attached to the partial region 696 on the right side.

  In the collective work mode described above, the circuit component mounting work determined for each of the devices [A] and [B] is a fixed work. On the other hand, in this work mode, both the device [A] and the device [B] change the circuit component mounting work on the wiring board 150 each time. That is, in this aspect, both devices are changed so that two different circuit component mounting operations are sequentially repeated. In the two circuit component mounting operations, the mounting area of the target wiring board 150 is also sequentially changed, and the types and mounting positions of the electronic components 690 mounted in the areas are also changed accordingly. (Note: In this example, only two types of electronic components are shown for the sake of simplification, and only one type of component is mounted on one mounting device. However, it is not the same electronic component to be mounted.) In addition, it is not possible to change the partial area to a plurality of things without making it a single pattern. , As in the case of the collective work mode

  In this work mode, in the relationship between the device [A] and the device [B], only the device [A] mounts the component a, and only the device [B] mounts the component b. Therefore, it is not necessary to prepare the part a in the apparatus [A], and it is not necessary to prepare the part b in the apparatus [A]. That is, the system of the aspect which arrange | positions the tape feeder 20 which supplies the component a only in the component supply apparatus 22 of an apparatus [A], and deploys the tape feeder 20 which supplies the component b only in the component supply apparatus 22 of an apparatus [B]. Can be built. This leads to a reduction in the number of tape feeders 20 provided in the system, and enables a reduction in the width and cost of the system itself in the wiring board conveyance direction.

<Functional blocks related to control of circuit component mounting system>
In the above, several forms about the circuit component mounting operation in the circuit component mounting system and the operation centering on the mounting device 12 according to the form have been described. As described above, the circuit component mounting / mounting system includes a system control device 376 that controls the entire system as a control device, and a substrate work device control device provided in each mounting device 12. And a mounting device control device 36. In the circuit component mounting system, distributed control is performed. Mainly, each mounting device control device 36 exchanges information, signals, and the like with each other by communication to control each mounting device 12. The whole is controlled. Therefore, the function relating to the mounting device control device 36, which is the center of control, will be described below.

FIG. 32 shows a functional block diagram of the mounting device control device 36 with respect to portions deeply related to the present invention. The mounting device control device 36 includes various control units that control various deployment devices and the like deployed in the mounting device 12. As one of them, there is a head movement control unit 710 that performs movement control of the mounting head 26, that is, control of the head moving device 28. Head movement control unit 710
Includes a track stop head control unit 712, an advance control unit 714, and an interference avoidance control unit 716, and the interference avoidance control unit 716 includes a second track formation unit position control unit 718. doing. Each of them is a part that performs various controls related to the movement of the mounting head 26 described above. To briefly explain each of them, the track stop head control unit 712 moves the first X slide 242 that is the second track forming unit to the first. The advance control unit 714 advances the first X slide 242 outside its own device area to move the mounting head 26 while moving the mounting head 26 while stopping at a predetermined stop position on one track. This is the part that performs control outside the device area. The interference avoidance control unit 716 is a part that controls the adjacent mounting device 12 work head and the like so that their work heads do not interfere with each other, and the second trajectory forming unit position control unit 718, in the interference avoidance control, This is a part for controlling the position of the first X slide 242. Each of these control units plays a role to control the movement of the mounting head 26.

  Further, the mounting device control device 36 includes a wiring board transfer control unit 720 that controls the wiring board transfer device 24 as a board transfer module. The wiring board transport device 24 is mainly composed of a conveyor, and when the respective wiring board transport devices 24 operate in cooperation, the system transport device over the entire system as the substrate transport device is operated. Specifically, as described above, transport cooperative control is performed to coordinate the start / stop of each conveyor. The part that performs this transport cooperative control is a wiring board transport cooperative control unit 722 as a board transport cooperative control unit included in the wiring board transport control unit 720.

In the circuit component mounting system, as described above, an operation mode can be selected for a wiring board straddling a plurality of mounting devices 12. As one of the work forms, there is a collective work form, and the mounting apparatus control device 36 has a collective work control part 724 as a control part when performing collective work control. The collective work control unit 724 exists as a part that controls the head movement control unit 710 and the wiring board conveyance control unit 720 in an integrated manner. Similarly, there is a progressive work form as another work form, and a progressive work control unit 726 is provided as a control unit when performing the forward work control. Similarly, the progressive operation control unit 726 also exists as a part that controls the head movement control unit 710 and the wiring board conveyance control unit 720 in an integrated manner. Further, the mounting device control device 36 has a work mode selection control unit 728 as a part for selecting whether to perform batch work control or progressive work control and to execute the control of the selected one. Yes.

DESCRIPTION OF SYMBOLS 10: System base 12: Circuit component mounting apparatus 22: Component supply apparatus 24: Wiring board conveyance apparatus 26: Mounting head 36: Mounting apparatus control apparatus 110: Front conveyor part 112: Rear conveyor part 150: Wiring board 200: Y slide apparatus 202: X slide device 210: Y axis direction guide 214: Y slide 240: First X axis direction guide 242: First X slide 260: Second X axis direction guide 264: Second X slide 472: Rail row 474: Wheel 480: Contact 482: stopper 488: biased member 490: biasing device 500: table device 504: guide rail 520: connection block 570-574: system base 590-594: system base 600: circuit component layer mounting device 602: wiring board Conveyance device 604: component supply device 61 0: Circuit component mounting device 620: Transport work device 630: System base 632: Solder printing device 634: Adhesive application device 636: Mounting result inspection device 666: Specific area 690: Electronic component 694, 696: Partial area 710: Head movement Control unit 712: Track stop head movement control unit 714: Advance control unit 716: Interference avoidance control unit 718: Second track formation unit position control unit 720: Wiring board transfer control unit 724: Wiring board transfer cooperative control unit 800: Stock Work device 900: Transfer route changing work device

The on-board working system of the present invention is
A circuit board working system that performs a planned circuit board work on a circuit board that supports a circuit component and constitutes an electronic circuit,
Base and
One or more on-board working devices for performing a defined circuit board work on a circuit board disposed on the base and located at least in part within its work area;
With
At least one of the one or more substrate-to-substrate working devices is a movable device that can move relative to the base .

In a system in which a plurality of on-board working devices are arranged, for example, when the length of the system is long, a lot of devices are arranged, or the interval between each device is narrow, etc. When performing work such as adjustment and maintenance of the work apparatus, the work is difficult due to the influence of the presence of an adjacent substrate work apparatus. If the device to be adjusted or the like can be moved so as to be extracted from the device array, the convenience of the system is improved.

In the following, some aspects of the invention that can be claimed in the present application (hereinafter sometimes referred to as “claimable invention”) will be exemplified and described. As with the claims, each aspect is divided into sections, each section is given a number, and is described in a form that cites other section numbers as necessary. This is for the purpose of facilitating understanding of the claimable invention, and should not be construed as limiting the technical features described in this specification and combinations thereof to those described in the following sections. Not .

In addition, when a plurality of items are described in one section, it is not always necessary to employ the plurality of items together. It is also possible to select and employ only some items.

Claims (1)

A circuit board working system that performs a planned circuit board work on a circuit board that supports a circuit component and constitutes an electronic circuit,
a head for moving the work head in one plane, comprising: (a) a work head that performs a main work operation on the circuit board; and (b) two linear movement devices that move the work head in two orthogonal directions. An apparatus for working with a substrate, which is a head plane moving type device including a moving device;
A head movement control unit for controlling the head movement device,
At least one of the two linear movement devices moves along the first track and the first track forming unit that forms a first track parallel to the moving direction of the work head by the first linear moving device. A second trajectory forming portion that forms a second trajectory parallel to the trajectory, and a moving portion that holds the working head and moves along the second trajectory, and is configured as a multistage moving device. Anti-substrate work system.

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