JP2018067658A - Mounting device and mounting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately mount a variety of types of components with a vertical articulated robot, while improving production tact with a simple and compact device structure.SOLUTION: A mounting device which mounts a component on a substrate includes: a vertical articulated robot (20) which conveys the component from a supply device (15) to the mounting position of the substrate; a recognition unit (30) which recognizes the shape of the component during conveyance by the vertical articulated robot; a first calculation unit (41) which calculates the deviation amount of a holding position of the vertical articulated robot to the component from the component shape; and a first correction unit (42) which, based on the deviation amount of the holding position, corrects mounting operation of the vertical articulated robot to the component.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a mounting apparatus and a mounting method for mounting components on a substrate.

  2. Description of the Related Art Conventionally, a mounting apparatus having a gantry type transport mechanism that moves a mounting head in the X direction and the Y direction is known. In this type of mounting apparatus, a component is picked up from a feeder by a nozzle and moved to above the substrate, and the component is mounted by lowering the nozzle to the mounting point of the substrate. In such a mounting apparatus, it is difficult to mount a special component such as a leaded component on the substrate, and it is usually attached to the substrate by manual work. For this reason, mounting mistakes such as incorrect polarity and direction of parts occur, and the working time differs depending on the ability of the operator.

  Although it is conceivable to incorporate an articulated robot in the mounting device instead of manual work, it is difficult to obtain sufficient accuracy because the articulated robot mounts parts by combining arm turning. As a mounting apparatus that solves such a problem, a part is temporarily placed on a temporary work by the first articulated robot and the posture of the part is corrected, and then the part is mounted on the work by a second articulated robot. The thing is proposed (for example, refer patent document 1). With this configuration, it is possible to mount a component on the workpiece with sufficient accuracy by an articulated robot regardless of the type of component.

International Publication No. 2015/029142

  However, in the mounting apparatus described in Patent Document 1, a variety of components can be automatically mounted on a substrate by an articulated robot. However, a temporary placement line is required in addition to a mounting line. The apparatus configuration has become complicated and the apparatus has become larger. For this reason, a sufficiently large installation space is required, and the installation location of the mounting apparatus is limited. In addition, since the first multi-joint robot performs a temporary placement operation and the second multi-joint robot performs a mounting operation, there is a problem that the production tact is slowed and the cost of the production line is increased.

  The present invention has been made in view of the above points, and a mounting apparatus and a mounting method capable of accurately mounting various parts with a vertical articulated robot while improving production tact with a simple and small device configuration. The purpose is to provide.

  A mounting apparatus according to the present invention is a mounting apparatus that mounts a component supplied from a supply device on a substrate, and includes a vertical articulated robot that transports the component from the supply device to a mounting position of the substrate, and the vertical articulated robot. A recognition unit for recognizing the shape of a part during conveyance, a first calculation unit for calculating a deviation amount of the holding position of the vertical articulated robot with respect to the part from the part shape, and the vertical multiple based on the deviation amount of the holding position. And a first correction unit for correcting the mounting operation of the parts of the joint robot.

  The mounting method of the present invention is a mounting method for mounting a component supplied from a supply device on a substrate, the step of transporting the component from the supply device to a mounting position of the substrate by a vertical articulated robot, and the vertical articulated joint A step of recognizing the shape of the part by the recognition unit during conveyance by the robot, a step of calculating a shift amount of the holding position of the vertical articulated robot with respect to the component from the part shape, and And a step of correcting the mounting operation of the parts of the joint robot.

  According to these configurations, components that are manually mounted can be mounted on the mounting position of the substrate by the vertical articulated robot. Further, the deviation of the holding position with respect to the component of the vertical articulated robot is corrected based on the component shape recognized during the conveyance of the component. Since the mounting accuracy can be improved without temporarily placing the component, the component can be accurately mounted with a simple configuration including a recognition unit. Moreover, since components are mounted in one line, space saving can be achieved without increasing the size of the apparatus.

  In the mounting apparatus, the vertical articulated robot includes a robot arm and a hand unit coupled to the robot arm, and the hand unit includes a suction nozzle for sucking parts and a drive motor for rotating the suction nozzle. It has. According to this configuration, since a part of the component (the upper part of the component) is sucked by the suction nozzle, the component can be easily mounted even in a narrow position on the substrate that is likely to interfere with other components.

  In the above mounting apparatus, the recognition unit includes a light emitting unit that emits light toward a component, and a light receiving unit that faces the light emitting unit with the component interposed therebetween, and the vertical multiple unit between the light emitting unit and the light receiving unit. The part shape is recognized from the light shielding width of the part by rotating the part held by the joint robot. According to this configuration, the component outer shape can be specified from the change in the light-shielding width when the component is rotated, and the amount of deviation with respect to the component holding position can be easily calculated from the component outer shape.

  In the above mounting apparatus, an imaging apparatus that images a reference mark on a substrate, a second calculation unit that calculates a deviation amount of the mounting position of the vertical articulated robot with respect to a target position based on the reference mark, and a mounting position And a second correction unit that corrects the mounting operation of the vertical articulated robot on the part based on the amount of deviation. According to this configuration, it is possible to correct the displacement of the mounting position with respect to the substrate of the vertical articulated robot with a simple configuration.

  In the mounting apparatus described above, the vertical articulated robot conveys components from a plurality of supply devices arranged in multiple stages to a mounting position on the board. By arranging a large number of supply devices in a narrow space, it is possible to realize space saving of the mounting device.

  According to the present invention, the vertical articulated robot can improve the production tact with a simple and small device configuration by recognizing the shape of the part by the recognition unit while the parts are being conveyed by the vertical articulated robot. Can be implemented with high accuracy.

It is a perspective view of the whole mounting apparatus of this Embodiment. It is a perspective view of the mounting head of this Embodiment. It is a control block diagram of the mounting apparatus of this Embodiment. It is explanatory drawing of the correction process at the time of the actual mounting of the components of this Embodiment. It is explanatory drawing of the adjustment process at the time of apparatus assembly | attachment of this Embodiment. It is a transition diagram of the mounting operation by the mounting apparatus of the present embodiment. It is a flowchart of the mounting control by the mounting apparatus of this Embodiment.

  Hereinafter, the mounting apparatus of the present embodiment will be described with reference to the accompanying drawings. FIG. 1 is a perspective view of the entire mounting apparatus of the present embodiment. FIG. 2 is a perspective view of the mounting head of the mounting apparatus according to the present embodiment. In addition, the mounting apparatus of this Embodiment is only an example, and can be changed suitably.

  As illustrated in FIG. 1, the mounting apparatus 1 is configured to mount components supplied from various feeders (supply apparatuses) 15 </ b> A to 15 </ b> C on a mounting surface of the substrate W by a vertical articulated robot 20. On the base 10 of the mounting apparatus 1, a transport unit 11 that transports the substrate W toward the work area in front of the vertical articulated robot 20 is disposed. The transport unit 11 forms a transport path by a pair of guide rails 12 that guide the transport of the substrate W and a pair of conveyor belts (not shown) that send the substrate W along the pair of guide rails 12. On the base 10, a radial feeder 15 </ b> A, a stick feeder 15 </ b> B, and a bowl feeder 15 </ b> C are disposed behind the vertical articulated robot 20.

  The radial feeder 15A is equipped with a carrier tape in which a large number of radial parts are connected in a row, and the radial parts are sent to the pickup position of the vertical articulated robot 20 by tape conveyance. A magazine stick containing a large number of chip parts is mounted on the stick feeder 15B at an angle, and the chip parts slid out of the magazine stick are fed to the pickup position of the vertical articulated robot 20 by belt conveyance. . The bowl feeder 15C accommodates a large number of loose parts in the bowl, and the loose parts are sent out to the pickup position of the vertical articulated robot 20 by vibration conveyance.

  The vertical articulated robot 20 is configured by connecting a robot arm 22 to a turntable 21 on a base 10 and attaching a hand unit 24 to a wrist unit 23 at the tip of the robot arm 22. A turntable 21 is installed on the base 10 so as to be rotatable about a vertical axis, and a robot arm 22 is connected to the turntable 21. The robot arm 22 has a multi-joint structure in which a plurality of arm portions are connected to each other, and a hand portion 24 is connected to the tip of the robot arm 22 via a wrist portion 23. The rotation of each joint of the vertical articulated robot 20 is controlled by a servo motor or the like, so that the hand unit 24 is adjusted to a desired position and posture.

  As shown in FIG. 2, the hand portion 24 is configured by attaching a suction nozzle 26 to a hand main body 25 connected to the wrist portion 23 (see FIG. 1). The suction nozzle 26 is supported by the hand main body 25 via a rotation shaft 27, and rotates in the θ direction around the center line of the suction nozzle 26 by the rotation shaft 27. The rotary shaft 27 is connected to a drive motor 34 via a belt 33. The suction nozzle 26 is rotated by driving the drive motor 34. Further, the suction nozzle 26 is connected to a suction source (not shown), and sucks and holds the component by the suction force from the suction source. The hand main body 25 is provided with an imaging device 29 via a bracket 28, and a coordinate system is set on the substrate W based on a captured image of a reference mark such as a BOC mark captured by the imaging device 29.

  Returning to FIG. 1, in the vertical articulated robot 20, the parts supplied from the various feeders 15 </ b> A to 15 </ b> C are sucked and held by the suction nozzle 26 (see FIG. 2). Be transported. A recognition unit 30 for recognizing the component shape during component conveyance is provided in the middle of the conveyance path of the vertical articulated robot 20. In the recognition unit 30, a light emitting unit 31 (see FIG. 4A) and a light receiving unit 32 (see FIG. 4A) are opposed in the horizontal direction, and light emitted from the light emitting unit 31 toward the component is received by the light receiving unit 32. At this time, the component shape is recognized from the change in the light shielding width of the component rotated by the vertical articulated robot 20 between the light emitting unit 31 and the light receiving unit 32.

  In addition, the mounting apparatus 1 is provided with a control unit 40 that performs overall control of each part of the apparatus. The control unit 40 includes a processor that executes various processes, a memory, and the like. The memory is composed of one or a plurality of storage media such as a ROM (Read Only Memory) and a RAM (Random Access Memory) depending on the application, and a control program for the mounting apparatus 1 and a mounting method for the mounting apparatus 1 are used. A program to be executed is stored. In the mounting apparatus 1 configured in this way, components that have been mounted in the manual mounting process, such as components with leads, can be mounted on the substrate W by the vertical articulated robot 20.

  By the way, since the amount of movement in the height direction is limited in a gantry-type orthogonal robot, special parts that have been mounted in the manual mounting process have been mainly mounted by dedicated machines. Since a dedicated machine must be prepared for each part height and type, there is a problem that a large installation space is required and the cost increases. For this reason, in the mounting apparatus 1 of the present embodiment, the use of the vertical articulated robot 20 improves the ability to cope with the height direction. It is possible to deal with a wide range of parts up to the special parts that were mounted in.

  However, since the vertical articulated robot 20 moves in combination with the turning motions of the turntable 21, the robot arm 22, and the hand unit 24, errors are likely to occur compared to the linear motion of the orthogonal robot. Therefore, in the mounting apparatus 1 of the present embodiment, the displacement of the suction position of the vertical articulated robot 20 with respect to the component is corrected from the component shape recognized by the recognition unit 30 when the component is actually mounted. Further, the mounting position of the vertical articulated robot 20 is corrected from the reference mark of the substrate W imaged by the imaging device 29. As a result, the mounting accuracy by the vertical articulated robot 20 is improved, and various components can be mounted on the substrate W with high accuracy.

  Furthermore, since the amount of movement of the vertical articulated robot 20 in the height direction has increased, it is possible for one mounting apparatus 1 to handle a plurality of types of feeders 15A-15C having different heights. Further, on the base 10 of the mounting apparatus 1, radial feeders 15A and stick feeders 15B are arranged in a narrow space in multiple stages. Thereby, by arranging the plurality of radial feeders 15A and the plurality of stick feeders 15B in a narrow space on the base 10, it is possible to realize space saving of the mounting apparatus 1, and from various types of feeders 15A-15C. Many types of parts can be taken out by the vertical articulated robot 20.

  With reference to FIGS. 3 to 5, correction processing of the mounting apparatus will be described. FIG. 3 is a control block diagram of the mounting apparatus according to the present embodiment. FIG. 4 is an explanatory diagram of the correction process when the component according to the present embodiment is actually mounted. FIG. 5 is an explanatory diagram of the adjustment process when the apparatus according to this embodiment is assembled.

  As shown in FIG. 3, the vertical articulated robot 20 is connected to the control unit 40 via a robot controller 46, and the suction nozzle 26 is connected via a θ-axis motor 47. The control unit 40 is connected to a recognition unit 30, an imaging device 29, and various I / Os 48 such as sensors and valves. Further, the control unit 40 includes a first calculation unit 41 that calculates a deviation amount when the vertical articulated robot 20 is attracted, a first correction unit 42 that corrects the deviation amount, and a vertical articulated robot when the apparatus is assembled. A second calculation unit 43 that calculates the mounting position of the vertical articulated robot 20 from the amount of deviation 20 and the reference mark of the substrate W, and a second correction unit 44 that corrects the amount of deviation are provided.

  In the mounting apparatus 1, when the component shape is recognized by the recognition unit 30, the recognition result of the component shape is output to the first calculation unit 41. The first calculation unit 41 calculates a displacement amount of the suction position of the vertical articulated robot 20 with respect to the component from the component shape, and outputs the displacement amount of the suction position to the first correction unit 42. In the first correction unit 42, the control amount of the robot controller 46 is corrected based on the shift amount of the holding position, and the mounting operation of the vertical articulated robot 20 is corrected via the robot controller 46. In this manner, the displacement of the suction position with respect to the component by the vertical articulated robot 20 is corrected.

  Further, the imaging device 29 captures an image of the reference mark on the substrate, and a coordinate system based on the reference mark is output to the second calculation unit 43. The second calculation unit 43 calculates the amount of deviation of the mounting position of the vertical articulated robot 20 with respect to the target position with reference to the reference mark, and outputs the amount of deviation of the mounting position to the second correction unit 44. In the second correction unit 44, the control amount of the robot controller 46 is corrected based on the shift amount of the mounting position, and the mounting operation of the vertical articulated robot 20 is corrected via the robot controller 46. In this manner, the positional deviation of the mounting position with respect to the substrate by the vertical articulated robot 20 is corrected.

  Along with the mounting operation of the vertical articulated robot 20, the orientation of the suction nozzle 26 is adjusted via the θ-axis motor 47, and the pneumatic valve connected to the suction nozzle 26 is opened and closed by the I / O 48. In addition, in the vertical articulated robot 20, the direction of the suction nozzle 26 can be changed in addition to the vertical direction. Therefore, in addition to the position coordinates (X, Y, Z) from the control unit 40 to the robot controller 46, the position An angle (A, B, C) indicating the direction of the suction nozzle 26 with respect to the coordinates is designated. Thereby, it is possible to pick up an unaligned component such as a loose component or to mount the component on the substrate W from an oblique direction other than the vertical direction.

  As shown in FIG. 4A, in the correction process when components are actually mounted, the component 50 is positioned between the light emitting unit 31 and the light receiving unit 32 of the recognition unit 30 by the vertical articulated robot 20 (see FIG. 1). When the light emitting unit 31 emits light toward the component 50, the component shape when the component 50 is viewed from one side is projected onto the light receiving unit 32 as a shadow. When the component 50 is rotated around the suction position P2 by the suction nozzle 26 (see FIG. 3), the light shielding width of the component 50 projected on the light receiving unit 32 changes. Then, the component shape of the component 50 and the center position P1 of the component 50 are determined according to the rotation angle of the component 50 and the light shielding width projected on the light receiving unit 32 at each rotation angle.

  More specifically, as shown in FIG. 4B, a set of tangents to the outer surface of the part, that is, string art is obtained from both ends of the light shielding width projected at each rotation angle of the part 50. In this case, the string art is drawn as if the recognition unit 30 was rotated around the component 50. As shown in FIG. 4C, the part shape is obtained from the string art, and the center position P1, the angle, and the width of the part shape viewed from the rotation center (suction position P2) are calculated. Then, the center position P1 of the component 50 with respect to the suction position P2 is obtained, and the deviation amount ΔL1 of the suction position P2 of the vertical articulated robot 20 (see FIG. 1) with respect to the component 50 is obtained.

  As a result, the mounting position of the vertical articulated robot 20 (see FIG. 1) with respect to the substrate is corrected by the amount of deviation ΔL1 of the suction position P2, and the positional deviation at the time of suction by the vertical articulated robot 20 is cancelled. Specifically, the displacement ΔL1 (ΔL1x, ΔL1y, ΔL1y, ΔL1y of the holding position from the position coordinates (X, Y, Z) of the mounting position designated by the robot controller 46 (see FIG. 3) from the control unit 40 (see FIG. 3). ΔL1z) is offset. The recognition unit 30 may have a configuration in which LED light is emitted from the light emitting unit 31 and LED light is received by the light receiving unit 32, or laser light is emitted from the light emitting unit 31 and laser light is received by the light receiving unit 32. It may be configured.

  As shown in FIG. 5, in the adjustment process at the time of assembling the apparatus, the vertical articulated robot 20 positions the imaging device 29 directly above the reference mark M on the jig substrate W1. By imaging the reference mark M by the imaging device 29, a coordinate system based on the reference mark M is set on the jig substrate W1. When the vertical articulated robot 20 is moved to the mounting position in the coordinate system set on the jig substrate W1, that is, when the mounting position on the jig substrate W1 is set as the target position P3, the target position A deviation amount ΔL2 of the mounting position P4 of the vertical articulated robot 20 with respect to P3 is obtained.

  Thereby, the mounting position of the vertical articulated robot 20 is corrected by the amount of deviation ΔL2 of the mounting position P4, and the positional deviation at the time of mounting by the vertical articulated robot 20 is cancelled. Specifically, the mounting position shift amounts (ΔL2x, ΔL2y, ΔL2z) from the position coordinates (X, Y, Z) of the mounting position designated by the control unit 40 (see FIG. 3) from the robot controller 46 (see FIG. 3). ) Is offset. In the present embodiment, the imaging device 29 is configured to measure the positional relationship between the reference mark M and the vertical articulated robot 20 by imaging the reference mark M on the jig substrate W1. The positional relationship may be measured by using it.

  For example, the vertical articulated robot 20 actually mounts components on the jig substrate W1 and measures the components with a three-dimensional measuring instrument. By measuring the positional deviation amount of the parts on the jig substrate W1, the positional deviation of the mounting position of the vertical articulated robot 20 can be corrected. In the correction process for the mounting position, the jig substrate W1 may be divided into a plurality of (for example, 10 × 10) areas, and the amount of positional deviation may be calculated for each area. As described above, the vertical articulated robot 20 has the offset amount ΔL2 when the apparatus is assembled by the imaging device 29 or the three-dimensional measuring instrument in addition to the offset amount ΔL1 when the laser recognition unit 30 is actually mounted. The accuracy of the mounting operation is improved.

  Next, the mounting operation by the mounting apparatus will be described with reference to FIG. FIG. 6 is a transition diagram of the mounting operation of the present embodiment. In FIG. 6, it is assumed that the amount of deviation at the time of assembling the device is adjusted in advance, and the case where the components supplied from the radial feeder are mounted on the mounting device will be described.

  As shown in FIG. 6A, a plurality of radial feeders 15A are arranged in multiple stages on the base 10 so that the supply positions of the plurality of radial feeders 15A do not overlap. When the component 50 is sent out to the supply position by the uppermost radial feeder 15A, each arm portion of the vertical articulated robot 20 turns to position the suction nozzle 26 directly above the supply position. The tip of the suction nozzle 26 contacts the upper surface of the component 50, and the component 50 is sucked and held by the suction nozzle 26. When the component 50 is sucked by the suction nozzle 26, the component 50 is lifted by the vertical articulated robot 20, and the component 50 is transported toward the substrate W by the vertical articulated robot 20.

  As shown in FIG. 6B, when the conveyance of the component 50 is started by the vertical articulated robot 20, the suction nozzle 26 is moved to the recognition unit 30 provided in the middle of the conveyance. The component 50 is positioned between the light emitting unit 31 and the light receiving unit 32 of the recognition unit 30, the light emitting unit 31 emits light toward the component 50, and the light blocking width of the component 50 is recognized by the light receiving unit 32. At this time, the component 50 is rotated around the suction position by the suction nozzle 26, and the component shape is recognized from the light shielding width projected on the light receiving unit 32 for each rotation angle. Then, the amount of displacement of the suction position with respect to the center of the component 50 is calculated, and the component 50 is transported toward the mounting position of the substrate W by the vertical articulated robot 20.

  As shown in FIG. 6C, when the suction nozzle 26 is moved above the substrate W, the movement position of the vertical articulated robot 20 is corrected based on the amount of displacement of the suction position. As a result, it is possible to correct the positional deviation caused by the combined motion of the vertical articulated robot 20, and the component 50 can be accurately positioned directly above the mounting position of the substrate W. Then, the suction nozzle 26 is lowered and the component 50 is mounted at the mounting position on the substrate W. At this time, since part of the component 50 (the upper part of the component) is sucked by the suction nozzle 26, the component 50 can be easily mounted even in a narrow position on the substrate W that is likely to interfere with other components.

  Next, the mounting control will be described with reference to FIG. FIG. 7 is a flowchart of mounting control by the mounting apparatus according to the present embodiment. Also in FIG. 7, it is assumed that the amount of deviation at the time of assembling the apparatus is adjusted in advance, and the corrected mounting position is set in the control unit. For convenience of explanation, the reference numerals in FIGS. 3 and 6 are used as appropriate.

  As shown in FIG. 7, the control unit 40 designates the movement destination of the suction nozzle 26 at a predetermined position (PICK_X, PICK_Y, Z0) above the supply position of the feeder 15 (step S01). At this time, the angle (A0, B0, C0) is specified so that the suction nozzle 26 is directed downward, and the rotation angle of the suction nozzle 26 is specified as the suction angle θ. Next, when the suction nozzle 26 is moved above the supply position of the feeder 15, the suction nozzle 26 is lowered to the suction height (PICK_X, PICK_Y, PICK_Z 1) designated by the control unit 40, and The tip is brought into contact with the component (step S02).

  Next, the suction nozzle 26 is lowered to the pushing height (PICK_X, PICK_Y, PICK_Z2) designated by the control unit 40, and the parts are sucked and held by the suction nozzle 26 (step S03). Next, the component is lifted by the suction nozzle 26 to above the supply position of the feeder 15, and the suction nozzle 26 is moved to a predetermined position (LAS_X, LAS_Y, Z0) above the recognition position of the recognition unit 30 designated by the control unit 40. Is moved (step S04). Next, the suction nozzle 26 is lowered to the recognized height (LAS_X, LAS_Y, LAS_Z) designated by the control unit 40, and the part shape is recognized (step S05).

  Next, the center position of the part is obtained based on the part shape, and the displacement amount ΔL1 (ΔL1x, ΔL1y, ΔL1z) of the suction position with respect to the center position of the part is calculated (step S06). Next, the mounting position is corrected by the control unit 40 based on the deviation amount ΔL1, and the suction nozzle 26 is moved to predetermined positions (PLACE_X, PLACE_Y, Z0) above the corrected mounting position (step S07). At this time, the angle (A0, B0, C0) of the suction nozzle 26 is adjusted by the control unit 40 so that the suction nozzle 26 faces directly below, and the rotation angle of the suction nozzle 26 is adjusted to the mounting angle θ.

  Next, when the suction nozzle 26 is moved above the mounting position of the feeder 15, the suction nozzle 26 is lowered to the mounting heights (PLACE_X, PLACE_Y, PLACE_Z1) designated by the control unit 40, and the lower surface of the component is Contact is made with the upper surface of the substrate W (step S08). Next, the suction nozzle 26 is lowered to the push-in height (PLACE_X, PLACE_Y, PLACE_Z2) designated by the control unit 40, and the component is mounted on the mounting position of the substrate W by the suction nozzle 26 (step S09). Then, the suction nozzle 26 is moved above the feeder 15 and the processing from step S01 to step S09 is repeated.

  As described above, the mounting apparatus 1 according to the present embodiment can mount components that are manually mounted on the mounting position of the substrate W by the vertical articulated robot 20. Further, the deviation of the holding position with respect to the component of the vertical articulated robot 20 is corrected based on the component shape recognized during the conveyance of the component. Since the mounting accuracy can be enhanced without temporarily placing the component, the component can be mounted with a simple configuration including the recognition unit 30 with high accuracy. In addition, since components are mounted in one line, it is possible to save space without increasing the size of the apparatus.

  In the present embodiment, the parts are not limited to radial parts supplied by a radial feeder, chip parts supplied by a stick feeder and a bowl feeder. The component may be another electronic component such as an axial component, and is not particularly limited to the electronic component as long as it can be mounted on the substrate.

  Moreover, in this Embodiment, although the radial feeder, the stick feeder, and the bowl feeder were illustrated as a supply apparatus, other feeders, such as a tape feeder and a bulk feeder, may be sufficient. Moreover, it is not limited to a feeder, and supply by a tray or the like is also possible. That is, the supply device is a concept including not only a feeder but also a tray and the like.

  In the present embodiment, the substrate is not limited to a printed circuit board as long as various components can be mounted, and may be a flexible substrate mounted on a carrier substrate.

  In the present embodiment, the recognition unit only needs to be able to recognize the component shape while being transported by the vertical articulated robot. For example, the recognition unit may recognize the component shape from a captured image obtained by capturing the component with the imaging device. . Further, although the recognition unit is provided on the base, the present invention is not limited to this configuration. A recognition unit may be provided at the tip of the vertical articulated robot to improve production tact.

  In the present embodiment, the first calculation unit calculates the displacement amount of the holding position of the vertical articulated robot, and the second calculation unit calculates the displacement amount of the mounting position of the vertical articulated robot. However, it is not limited to this configuration. The shift amount of the holding position and the shift amount of the mounting position of the vertical articulated robot may be calculated by a single calculation unit.

  In the present embodiment, the first correction unit corrects the shift of the holding position of the vertical articulated robot, and the second correction unit corrects the shift of the mounting position of the vertical articulated robot. It is not limited to this configuration. You may correct | amend the shift | offset | difference of the holding position and mounting position of a vertical articulated robot with a single correction | amendment part.

  In this embodiment, the vertical articulated robot is configured to correct the shift of the holding position and the shift of the mounting position. However, only one of them may be corrected.

  Moreover, in this Embodiment, the radial feeder and the parts feeder were each arrange | positioned in multistage, However, It is not limited to this structure. The radial feeder and the parts feeder need not be arranged in multiple stages.

  Further, in the present embodiment, the vertical articulated robot is configured to have the suction nozzle, but is not limited to this configuration. The vertical articulated robot only needs to have a holding part capable of holding components, and may have a gripper nozzle, for example.

  Moreover, although embodiment and modification of this invention were demonstrated, what combined the said embodiment and modification as the other embodiment of this invention entirely or partially may be sufficient.

  The embodiments of the present invention are not limited to the above-described embodiments and modifications, and various changes, substitutions, and modifications may be made without departing from the spirit of the technical idea of the present invention. Furthermore, if the technical idea of the present invention can be realized in another way by technological advancement or another derived technique, the method may be used. Accordingly, the claims cover all embodiments that can be included within the scope of the technical idea of the present invention.

  In the present embodiment, the configuration in which the present invention is applied to the mounting apparatus has been described. However, while improving the production tact with a simple and small-sized apparatus configuration, a wide variety of components can be mounted with high accuracy using a vertical articulated robot. It can be applied to other devices that can.

  Furthermore, in the above-described embodiment, the mounting apparatus mounts a component supplied from a feeder on a substrate, and the vertical articulated robot that transports the component from the feeder to the mounting position of the substrate, and the component being transported by the vertical articulated robot. A recognition unit for recognizing the shape of the robot, a first calculation unit for calculating a shift amount of the holding position of the vertical articulated robot with respect to the component from the component shape, and mounting on the component of the vertical articulated robot based on the shift amount of the holding position And a first correction unit that corrects the operation. With this configuration, components that are manually mounted can be mounted on the mounting position of the substrate by the vertical articulated robot. Further, the deviation of the holding position with respect to the component of the vertical articulated robot is corrected based on the component shape recognized during the conveyance of the component. Since the mounting accuracy can be improved without temporarily placing the component, the component can be accurately mounted with a simple configuration including a recognition unit. Moreover, since components are mounted in one line, space saving can be achieved without increasing the size of the apparatus.

  As described above, the present invention has an effect that a variety of parts can be accurately mounted by a vertical articulated robot while improving production tact with a simple and small device configuration. This is useful for a mounting apparatus and mounting method for mounting attached radial parts or the like on a substrate.

1 Mounting Device 15A-15C Feeder (Supply Device)
DESCRIPTION OF SYMBOLS 20 Vertical articulated robot 22 Robot arm 24 Hand part 26 Suction nozzle 29 Imaging device 30 Recognition unit 31 Light emission part 32 Light receiving part 34 Drive motor 41 1st calculation part 42 1st correction part 43 2nd calculation part 44 2nd 50 correction parts M reference mark W substrate W1 jig substrate

Claims (6)

A mounting device for mounting a component supplied from a supply device on a substrate,
A vertical articulated robot that conveys components from the supply device to the mounting position of the board;
A recognition unit for recognizing the shape of a part during transport by the vertical articulated robot;
A first calculation unit that calculates a shift amount of the holding position of the vertical articulated robot with respect to a component from a component shape;
A mounting apparatus comprising: a first correction unit that corrects a mounting operation of components of the vertical articulated robot based on a shift amount of a holding position. The vertical articulated robot is composed of a robot arm and a hand unit connected to the robot arm,
The mounting apparatus according to claim 1, wherein the hand unit includes a suction nozzle that sucks a component and a drive motor that rotates the suction nozzle.   The recognition unit includes a light emitting unit that emits light toward a component, and a light receiving unit that faces the light emitting unit with the component interposed therebetween, and is held by the vertical articulated robot between the light emitting unit and the light receiving unit. The mounting apparatus according to claim 1, wherein the component shape is recognized from the light shielding width of the component by rotating the component. An imaging device for imaging a fiducial mark on the substrate;
A second calculation unit that calculates a deviation amount of the mounting position of the vertical articulated robot with respect to a target position based on the reference mark;
The mounting apparatus according to claim 1, further comprising: a second correction unit that corrects a mounting operation of the vertical articulated robot on a component based on a shift amount of the mounting position. .   5. The mounting apparatus according to claim 1, wherein the vertical articulated robot conveys a component from a plurality of supply apparatuses arranged in a multistage manner to a mounting position of the substrate. A mounting method for mounting a component supplied from a supply device on a board,
Transporting components from the supply device to the mounting position of the substrate by a vertical articulated robot;
Recognizing the shape of a part with a recognition unit during conveyance by the vertical articulated robot;
Calculating a deviation amount of the holding position of the vertical articulated robot with respect to the part from the part shape;
And a step of correcting the mounting operation of the parts of the vertical articulated robot based on the shift amount of the holding position.

Images