JP2019186450A - Mounting device and mounting method - Google Patents

Abstract

To appropriately mount an insertion component with multiple types of protrusions on a board.SOLUTION: A mounting device, which holds an insertion component (50) provided with multiple types of protrusions (53A, 53B, 53C) with different lengths by a nozzle (32), and inserts the protrusion into a through hole (61) of the board (60) to mount the insertion component on the board, acquires the position information of the tips of at least two types of protrusions among the multiple types of protrusions, and controls the nozzle such that the tips of each protrusion is inserted into the through hole of the board in order from the longest of the at least two types of protrusions while correcting the position for each type of protrusion on the basis of the position information of the tip.SELECTED DRAWING: Figure 5

Description

  The present disclosure relates to a mounting apparatus and a mounting method.

  2. Description of the Related Art As a mounting device, a device that mounts an insertion component on a substrate by inserting protrusions such as lead terminals and bosses of the insertion component into a through hole of the substrate is known (for example, see Patent Document 1). In the mounting apparatus described in Patent Document 1, the insertion part is picked up by the nozzle, and the positions of the plurality of protrusions protruding from the insertion part are recognized by the imaging device. Then, the insertion component is transported directly above the plurality of through holes formed on the substrate, and the insertion component is lowered vertically toward the through hole of the substrate, so that each protrusion of the insertion component becomes each through hole of the substrate. Is inserted straight into.

Japanese Patent Laid-Open No. 62-143497

  However, when multiple types of protrusions are provided on the insertion part, if one type of protrusion is aligned as a reference, misalignment occurs in the other types of protrusions, and the insertion is inserted into each through hole on the board. It was difficult to insert each protrusion of the component.

  This indication is made in view of this point, and it is one of the objectives to provide the mounting apparatus and mounting method which can mount appropriately the insertion component provided with a plurality of kinds of projections with respect to a substrate. To do.

  A mounting device according to an aspect of the present disclosure holds an insertion component provided with a plurality of types of protrusions having different lengths by a nozzle, and inserts the protrusion into a through hole of the substrate to mount the insertion component on the substrate. In the mounting apparatus, the information acquisition unit that acquires position information of the tips of at least two types of projections among the plurality of types of projections, and the longest of the at least two types of projections, for each type of projection And a nozzle control unit that controls the nozzle so as to insert the tip of the protrusion into the through hole of the substrate while correcting the position based on position information of the tip of the protrusion.

  In the mounting method according to an aspect of the present disclosure, an insertion component provided with a plurality of types of protrusions having different lengths is held by a nozzle, and the protrusion is inserted into a through hole of the substrate to mount the insertion component on the substrate. In the mounting method, the step of obtaining positional information of the tips of at least two types of projections among the plurality of types of projections, and the longest of the at least two types of projections. And controlling the nozzle so as to insert the tip of the protrusion into the through hole of the substrate while correcting the position based on the position information of the tip.

  According to these configurations, the tip of the protrusion and the through hole of the substrate are aligned for each type of protrusion, and the tip of the protrusion is inserted into the through hole of the substrate first from the long protrusion. The position of the protrusion error is corrected one by one, and the tip of the protrusion is inserted into the through hole of the substrate, so that it is possible to reduce mistakes in inserting a plurality of types of protrusions into the through hole of the substrate. Therefore, the insertion component provided with a plurality of types of protrusions can be appropriately mounted on the substrate.

  In the mounting apparatus according to an aspect of the present disclosure, the insertion component is a combination of a plurality of components, and the at least two types of protrusions are provided on separate components. According to this configuration, even if the plurality of types of protrusions are provided on separate components and the insertion component is difficult to obtain positional accuracy, it is possible to reduce mistakes in inserting the plurality of types of protrusions into the through holes of the substrate.

  In the mounting apparatus according to an aspect of the present disclosure, the insertion component has positional accuracy of the plurality of types of protrusions for each of the plurality of components. According to this configuration, by correcting the protrusion error for each component, it is possible to reduce mistakes in inserting a plurality of types of protrusions into the through holes of the board.

  In the mounting apparatus according to one aspect of the present disclosure, the acquisition unit acquires three-dimensional position information of the tips of the at least two types of protrusions. According to this configuration, it is possible to determine the insertion order by obtaining the length relationship of a plurality of types of protrusions from the three-dimensional position information of the tips of the protrusions.

  In the mounting apparatus according to an aspect of the present disclosure, the acquisition unit acquires the three-dimensional position information of the tips of the at least two types of protrusions by a phase shift method. According to this configuration, the three-dimensional position information of the tip can be obtained with high accuracy even at the tip of the projection having no gloss.

  In the mounting device according to an aspect of the present disclosure, the control unit may include the insertion amount of the at least two types of protrusions, the insertion order of the current protrusion and the insertion order being smaller than the difference in length of the next protrusion, and the current time. The nozzle is controlled so that the tip of the protrusion is inserted into the through hole from the surface of the substrate. According to this configuration, the protrusion is not inserted too much, and another type of protrusion does not collide with the substrate during the insertion of the protrusion. Therefore, a plurality of types of protrusions can be inserted into the through holes of the substrate in stages.

  In the mounting device according to one aspect of the present disclosure, the insertion part is a USB connector in which a plug part is assembled to a housing part, the housing part is provided with a first boss, and the plug part is provided with the first boss from the first boss. Also, a short second boss and a lead terminal shorter than the second boss are provided. According to this configuration, the USB connector can be properly mounted on the board by inserting the first boss, the second boss, and the lead terminal into the through hole of the board while correcting the positions of the protrusions in order. it can.

  According to the present disclosure, since the tip of the protrusion and the through hole of the substrate are aligned for each type of protrusion, and the tip of the protrusion is inserted into the through hole of the substrate first from the long protrusion, a plurality of types of protrusions are provided. The inserted component can be appropriately mounted on the board.

It is an upper surface schematic diagram of the mounting apparatus of this Embodiment. It is a schematic diagram of the insertion component of this Embodiment. It is a control block diagram of the mounting apparatus of this Embodiment. It is a figure which shows an example of mounting operation | movement of the insertion component of this Embodiment. It is a figure which shows an example of mounting operation | movement of the insertion component of this Embodiment.

  Hereinafter, a mounting apparatus including the image processing apparatus according to the present embodiment will be described with reference to the accompanying drawings. FIG. 1 is a schematic top view of the mounting apparatus of the present embodiment. In addition, the mounting apparatus of this Embodiment is only an example, and can be changed suitably. FIG. 2 is a schematic diagram of the insertion component of the present embodiment.

  As shown in FIG. 1, the mounting device 1 is configured to pick up an insertion component 50 from a component supply device 15 by a mounting head 30 and mount it at a predetermined position on a substrate 60. A substrate transport unit 11 that transports the substrate 60 in the X-axis direction is disposed at substantially the center of the base 10 of the mounting apparatus 1. The board transport unit 11 loads and positions the board 60 before component mounting from one end side in the X-axis direction below the mounting head 30, and carries the board 60 after component mounting from the other end side in the X-axis direction. Yes. In addition, tray feeders are provided as component supply devices 15 on both sides of the substrate transport unit 11, and a large number of inserted components 50 are placed on each tray of the tray feeder.

  An XY moving unit 20 that moves the mounting head 30 in the X-axis direction and the Y-axis direction is provided on the base 10. The XY moving unit 20 includes a pair of Y axis moving units 21 extending in parallel with the Y axis direction and an X axis moving unit 22 extending in parallel with the X axis direction. The pair of Y-axis moving parts 21 are supported by support parts (not shown) erected at the four corners of the base 10, and the X-axis moving part 22 moves on the pair of Y-axis moving parts 21 in the Y-axis direction. It is installed as possible. A mounting head 30 is installed on the X-axis moving unit 22 so as to be movable in the X-axis direction. The mounting head 30 is horizontally moved by the X-axis moving unit 22 and the Y-axis moving unit 21, and the insertion component 50 is conveyed from the component supply device 15 to a desired position on the substrate 60.

  The mounting head 30 has a plurality of (three in the present embodiment) head portions 33 each having a nozzle 32. The head unit 33 moves the nozzle 32 up and down in the Z-axis direction by a Z-axis motor (not shown) and rotates the nozzle 32 around the Z-axis by a θ motor (not shown). Each nozzle 32 is connected to a suction source (not shown), and sucks and holds the insertion component 50 by a suction force from the suction source. The nozzle 32 of the mounting head 30 is not limited to the suction nozzle described above, and may be configured by, for example, a gripper nozzle as long as the insertion component 50 can be taken out from the component supply device 15 and mounted on the substrate 60. .

  The mounting head 30 is provided with a height measuring unit 34 that measures the height of the measurement target, and a suction imaging unit (not shown) that images the insertion component 50 sucked by the nozzle 32. For example, the height measurement unit 34 measures the distance from the mounting head 30 to the measurement target by emitting light from the light emitting element toward the measurement target and receiving the reflected light from the measurement target with the light receiving element. The suction imaging unit images the insertion component 50 sucked by the nozzle 32 from the side, and the suction state of the insertion component 50 by the nozzle 32 is recognized by the side image. Further, in the suction imaging unit, the height of the suction component is measured in order to adjust the pushing amount of the insertion component 50 with respect to the substrate 60.

  In addition, the mounting head 30 is provided with a substrate imaging unit 35 that images a mark on the substrate 60 and a component imaging unit 36 that images a mounting operation of the insertion component 50 by the nozzle 32. The substrate imaging unit 35 images the mark on the substrate 60 from directly above, and the coordinate system is set on the substrate 60 by the upper surface image of the mark, and the position and warpage of the substrate 60 are recognized. The component imaging unit 36 images before and after the insertion component 50 is attracted to the component supply device 15 and also images before and after the insertion component 50 is mounted on the substrate 60. With these component images, the presence or absence of component adsorption by the nozzle 32 is inspected, and the presence or absence of component mounting on the substrate 60 is inspected.

  On the base 10 of the mounting apparatus 1, a projection imaging unit 37 that images the projection 53 (see FIG. 2B) of the insertion component 50 held by the nozzle 32 is provided. The projection imaging unit 37 images the insertion component 50 being conveyed by the mounting head 30 from directly below, and the position of the projection 53 extending from the insertion component 50 is recognized by the captured image of the insertion component 50. Further, the mounting apparatus 1 is provided with a control unit 40 that performs overall control of each part of the apparatus. In such a mounting apparatus 1, a production program is downloaded from the host system, and the mounting operation of the insertion component 50 on the board 60 is performed based on the production program.

  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. In addition to the control program for the entire mounting apparatus 1, the memory stores a program for causing the mounting apparatus 1 to execute a mounting operation. In the mounting apparatus 1, not only the insertion component 50 but also other components such as a chip component may be mounted on the substrate 60.

  As described above, the insertion component 50 is provided with the protrusion 53, and the insertion component 50 is inserted into the substrate 60 by inserting the protrusion 53 of the insertion component 50 into the through hole 61 (see FIG. 5) of the substrate 60. Implemented. In this case, the protrusions 53 of the insertion component 50 and the through holes 61 of the substrate 60 are aligned, but if a plurality of types of protrusions 53 are provided on the insertion component 50, the normal alignment will pass through all the protrusions 53. In some cases, the hole 61 cannot be properly inserted. In other words, when positioning is performed with one type of protrusion 53 as a reference, misalignment occurs in another type of protrusion 53, and appropriate alignment is difficult.

  As shown in FIGS. 2A and 2B, as such an insertion component 50, a USB connector in which a plug component (component) 52 is assembled to a housing component (component) 51 is known. The housing part 51 has a pair of bosses 53A (first bosses) standing as protrusions 53, and the plug part 52 has a pair of bosses 53B (second bosses) and five lead terminals 53C as protrusions 53. It is erected. The boss 53A is the longest, the boss 53B is shorter than the boss 53A, and the lead terminal 53C is shorter than the boss 53B. Further, since the housing part 51 and the plug part 52 are manufactured in separate manufacturing processes, it is difficult to obtain positional accuracy between the boss 53A of the housing part 51, the boss 53B of the plug part 52, and the lead terminal 53C.

  In this case, if the image is recognized by focusing on the tip of the boss 53A, the positional accuracy of the boss 53A and the lead terminal 53C is not obtained. Therefore, an insertion error may occur only by position correction based on the tip coordinates of the boss 53A. is there. On the other hand, when an image is recognized by focusing on the tip of the lead terminal 53C, the positional accuracy of the lead terminal 53C and the boss 53A is not obtained, so that an insertion error occurs only by position correction based on the tip coordinates of the lead terminal 53C. There is a case. In the image recognition focused on one of the boss 53A and the lead terminal 53C, it is difficult to insert all of the boss 53A, the boss 53B, and the lead terminal 53C into the through hole 61 of the substrate 60.

  By finely adjusting the recognition parameter by focusing the height of the tip of the boss 53A and the tip of the lead terminal 53C at the same time that the image can be recognized, the position can be corrected by the boss 53A and the lead terminal 53C to improve the insertion rate. it can. However, adjustment of the focus height and adjustment of the recognition parameters (fine tuning) are required, and an operator who is not familiar with the mounting apparatus 1 cannot make appropriate adjustments. As described above, there is a demand for a mounting method capable of appropriately mounting the insertion component 50 such as a USB connector on the board 60 without performing complicated adjustment work such as the focus height.

  Therefore, in the present embodiment, the tip of the projection 53 is image-recognized and corrected for each type of projection 53, and the tip of the projection 53 is inserted into the through hole 61 of the substrate 60 first from the long projection 53. Yes. In a state where the position of the boss 53A is corrected and the tip of the boss 53A is inserted into the through hole 61 of the substrate 60, the position is corrected by the boss 53B and the lead terminal 53C, and the insertion operation is performed. Since the boss 53A, the boss 53B, and the lead terminal 53C are inserted while being corrected one by one in order, insertion errors of a plurality of types of protrusions 53 with respect to the through holes 61 of the substrate 60 can be reduced. Therefore, the insertion component 50 such as a USB connector can be appropriately mounted on the board 60.

  Hereinafter, the control configuration of the mounting apparatus will be described with reference to FIG. FIG. 3 is a control block diagram of the mounting apparatus according to the present embodiment. In the control block diagram of FIG. 3, the control block of the mounting apparatus is illustrated in a simplified manner, but the configuration that the mounting apparatus normally includes is assumed to be included.

  As shown in FIG. 3, a projection imaging unit 37 that images the projection 53 of the insertion component 50 is connected to the control unit 40 of the mounting apparatus 1 (see FIG. 1). The projection imaging unit 37 is a camera for three-dimensional measurement, and projects the striped pattern light from the projector 39 onto the insertion component 50 and shifts the phase of the striped pattern light a plurality of times. A plurality of types of protrusions 53 are imaged. A plurality of projection images in which the phase of the pattern light is changed are input to the control unit 40 from the projection imaging unit 37. The control unit 40 includes an information acquisition unit 41, an order determination unit 42, an insertion amount calculation unit 43, a correction value calculation unit 44, and a nozzle control unit 45.

  In the information acquisition unit 41, the plurality of projection images input from the projection imaging unit 37 are subjected to image processing by the phase shift method, and the three-dimensional position information (X, Y, Z) is acquired. Since the phase shift method is used, the tip heights of the plurality of types of protrusions 53 can be obtained with higher accuracy than the focus method in which the height is detected from the in-focus position. In the present embodiment, the information acquisition unit 41 is provided in the control unit 40, but the information acquisition unit 41 may be provided in the protrusion imaging unit 37. That is, not the projection image but the three-dimensional position information of the tip of the projection 53 may be input from the projection imaging unit 37 to the control unit 40.

  In the order determination unit 42, the insertion order of the protrusions 53 is determined from the position information of the plurality of types of protrusions 53 acquired by the information acquisition unit 41. In this case, since the height from the imaging surface (reference plane) of the projection imaging unit 37 to the tip of each projection 53 is obtained as height information, the lengths of the plurality of types of projections 53 are determined from this height difference. A size relationship is required indirectly. The insertion order of the plurality of types of protrusions 53 with respect to the through holes 61 of the substrate 60 is determined so that the long protrusions 53 are inserted first. As a result, the tips of the protrusions 53 can be inserted into the through holes 61 of the substrate 60 step by step in order from the longer one of the protrusions 53.

  In the insertion amount calculation unit 43, the insertion amount of each projection 53 with respect to the through hole 61 is calculated from the surface of the substrate 60 from the difference in length of the plurality of types of projections 53. In this case, the difference between the lengths of the projections 53 of the plurality of types of projections 53 whose insertion order is the current projection 53 and the projection order 53 of the next time is calculated, and the insertion amount of the current projection 53 is smaller than this difference. Is set. That is, the difference between the lengths of the nth longest protrusion 53 and the (n + 1) th longest protrusion 53 is calculated, and the insertion amount of the nth longest protrusion 53 is adjusted to be smaller than the difference. Therefore, the projection 53 is not inserted too much, and another type of projection 53 does not collide with the substrate 60 during the insertion of the projection 53.

  In the correction value calculation unit 44, the correction value is calculated from the position information of the plurality of types of protrusions 53 acquired by the information acquisition unit 41. In this case, the deviation amounts of the plurality of types of protrusions 53 are calculated as correction values based on the imaging center of the protrusion imaging unit 37. The nozzle control unit 45 receives position information of the protrusion 53 from the information acquisition unit 41, an insertion order from the order determination unit 42, an insertion amount from the insertion amount calculation unit 43, and a correction value from the correction value calculation unit 44. In the nozzle control unit 45, the tip of the protrusion 53 is inserted into the through hole 61 while the correction is made based on the position information of the tip of the protrusion 53 for each type of protrusion 53 from the longest of the plurality of kinds of protrusions 53. Thus, the nozzle 32 is controlled.

  With such a configuration, the position of the protrusion 53 is corrected one by one from the long protrusion 53, and the tip of the protrusion 53 is inserted into the through hole 61 of the substrate 60. By inserting a plurality of types of protrusions 53 into the through holes 61 of the substrate 60 in stages, even the insertion component 50 provided with a plurality of types of protrusions 53 having different lengths is appropriately mounted on the substrate 60. It is possible to do. In particular, even if the insertion component 50 is a combination of a plurality of components, and a plurality of types of protrusions 53 are provided on separate components and the positional accuracy is difficult to be obtained, a plurality of types of components with respect to the through hole 61 of the substrate 60 are provided. Insertion mistakes of the protrusion 53 can be reduced.

  Next, with reference to FIGS. 4 and 5, the mounting operation of the insertion component will be described. 4 and 5 are diagrams illustrating an example of the mounting operation of the insertion component according to the present embodiment. Here, the USB connector shown in FIG. 2 will be described as an example of the insertion part. However, the insertion part is not particularly limited as long as a plurality of types of protrusions having different lengths are provided. For convenience of explanation, description will be made using the reference numerals in FIG.

  As shown in FIG. 4A, the insertion component 50 is lifted from the component supply device 15 (see FIG. 1) by the nozzle 32, and is positioned at a reference height above the protrusion imaging unit 37. Above the projection imaging unit 37, a striped pattern light is projected from the projector 39 to the insertion component 50 while shifting the phase, and the projection imaging unit 37 captures a plurality of projection images having different pattern light phases. . Then, the information acquisition unit 41 performs image analysis on the plurality of projection images by the phase shift method to recognize the image of the boss 53A, the boss 53B, and the lead terminal 53C provided in the insertion component 50, and to position the tip. Information (X, Y, Z) is acquired.

  As described above, the insertion part 50 is configured by assembling the plug part 52 to the housing part 51. The housing part 51 is provided with a pair of resin bosses 53A. The plug part 52 includes a pair of resin parts. Boss 53B and five metal lead terminals 53C are provided upright. Since the tips of the bosses 53A and 53B are rounded so that light is easily diffused and is less glossy than the resin-made metal lead terminals 53C, sufficient recognition accuracy cannot be obtained by focusing method image recognition. . However, in this embodiment, since the phase shift method is used, the three-dimensional position information of the tip can be obtained with high accuracy regardless of the tip shape and material of the boss 53A and the boss 53B.

  Further, in the information acquisition unit 41, image recognition is performed by grouping for each type of protrusion, and position information is obtained for each group. That is, the pair of bosses 53A is recognized as the first group, the pair of bosses 53B is recognized as the second group, and the five lead terminals 53C are recognized as the third group. By grouping, it is possible to perform processing separately for each type of protrusion. Since the boss 53B and the lead terminal 53C are provided on the same plug component 52, when the positional accuracy of the boss 53B and the lead terminal 53C is high, the pair of bosses 53B and the five lead terminals 53C are combined. One group may be used.

  As shown in FIG. 4B, when the position information of the tips of the boss 53A, the boss 53B, and the lead terminal 53C is acquired, the through of the substrate 60 is determined from the height coordinates (Z) of the tips of the boss 53A, the boss 53B and the lead terminal 53C. The insertion order for the holes 61 (see FIG. 5) is determined. Since the protrusion becomes longer as the height coordinate is lower, the insertion order is No. 1 for the first group of bosses 53A, No. 2 for the second group of bosses 53B, and No. 3 for the third group of lead terminals 53C. To be determined. Based on the length relationship of the boss 53A, the boss 53B, and the lead terminal 53C, the insertion order is set in order from the longer one.

  4C, the insertion amounts of the boss 53A and the boss 53B from the surface of the substrate 60 are calculated from the height coordinates of the tips of the boss 53A, the boss 53B, and the lead terminal 53C. A difference L1 between the lengths of the boss 53A and the boss 53B is obtained from the height coordinates of the tips of the boss 53A and the boss 53B, and the amount of insertion of the first group of the boss 53A is smaller than the difference L1 by L1-ΔL (ΔL <L1) is calculated. A difference L2 between the lengths of the boss 53B and the lead terminal 53C is obtained from the height coordinates of the tips of the boss 53B and the lead terminal 53C, and the amount of insertion of the second group of the boss 53B is smaller than the difference L2 by L2-ΔL. (ΔL <L2) is calculated. In addition, since the lead terminal 53C is inserted to the back, the insertion amount of the third group of the lead terminal 53C is not calculated here.

  As shown in FIG. 4D, correction values for the boss 53A, the boss 53B, and the lead terminal 53C are calculated from the horizontal coordinates (X, Y) of the tips of the boss 53A, the boss 53B, and the lead terminal 53C. The deviation amount of the center coordinates of the boss 53A, the boss 53B, and the lead terminal 53C is obtained as a correction value with reference to the imaging center of the protrusion imaging unit 37. Since the positional accuracy of the protrusions is within the group, a correction value common to each group is calculated. The correction value A is calculated for the first group of bosses 53A, the correction value B is calculated for the second group of bosses 53B, and the correction value C is calculated for the third group of lead terminals 53C.

  As illustrated in FIG. 5A, when the insertion component 50 is positioned directly above the insertion position of the substrate 60 by the nozzle 32, the position of the pair of bosses 53 </ b> A of the first group is corrected using the correction value A. Thereby, the tip of the pair of bosses 53A and the pair of through holes 61 of the substrate 60 are aligned, and the tip of the boss 53A is inserted into the through hole 61 of the substrate 60 by lowering the nozzle 32 holding the insertion component 50. The When the tip of the first group of bosses 53A is inserted from the surface of the substrate 60 to the insertion amount L1-ΔL, the nozzle 32 is lowered just before the tip of the second group of bosses 53B reaches the surface of the substrate 60. Stopped.

  As shown in FIG. 5B, the position of the pair of bosses 53 </ b> B of the second group is corrected using the correction value B in a state where the tip of the boss 53 </ b> A is inserted into the through hole 61 of the substrate 60. As a result, the tips of the pair of bosses 53B and the pair of through holes 61 of the substrate 60 are aligned, and the nozzle 32 holding the insertion component 50 is lowered again so that the tips of the boss 53B are inserted into the through holes 61 of the substrate 60. Is done. When the tip of the second group of bosses 53B is inserted from the surface of the substrate 60 to the insertion amount L2-ΔL, the nozzle 32 descends before the tip of the third group of lead terminals 53C reaches the surface of the substrate 60. Is stopped.

  As shown in FIG. 5C, the position of the plurality of lead terminals 53 </ b> C of the third group is corrected using the correction value C in a state where the tips of the boss 53 </ b> A and the boss 53 </ b> B are inserted into the through holes 61 of the substrate 60. As a result, the tips of the plurality of lead terminals 53C and the plurality of through holes 61 of the substrate 60 are aligned, and the tip of the lead terminal 53C is inserted into the through hole 61 when the nozzle 32 holding the insertion component 50 descends again. The When all of the bosses 53 </ b> A, boss 53 </ b> B, and lead terminal 53 </ b> C of the first to third groups are inserted to the back, the holding of the nozzle 32 with respect to the insertion component 50 is released and the insertion component 50 is mounted on the substrate 60.

  As described above, in the mounting apparatus 1 of the present embodiment, the tip of the protrusion 53 and the through hole 61 of the substrate 60 are aligned for each type of the protrusion 53, and the tip of the protrusion 53 is aligned with the substrate 60 before the long protrusion 53. Is inserted into the through hole 61. Since the errors of the protrusions 53 are corrected one by one and the tips of the protrusions 53 are inserted into the through holes 61 of the substrate 60, it is possible to reduce mistakes in inserting a plurality of types of protrusions 53 into the through holes 61 of the substrate 60. Therefore, the insertion component 50 provided with a plurality of types of protrusions 53 can be appropriately mounted on the substrate 60.

  In the present embodiment, the information acquisition unit is configured to acquire the position information of all the tips of the plurality of types of protrusions, but is not limited to this configuration. The information acquisition part should just be the structure which acquires the positional information on the front-end | tip of at least 2 types of protrusion among several types of protrusion. For example, when the position accuracy of the tip of the longest protrusion and the tip of the second longest protrusion is obtained, the position information of the longest protrusion is not acquired, and the tips of the second and third longest protrusions are acquired. You may acquire position information.

  Moreover, in this Embodiment, although the information acquisition part was set as the structure which acquires the three-dimensional position information of the front-end | tip of several types of protrusion by a phase shift method, it is not limited to this structure. The information acquisition unit may acquire the two-dimensional position information (X, Y) of the tips of the plurality of types of protrusions, and may acquire the length or height information of the plurality of types of protrusions from the part information of the production program.

  Further, in this embodiment, when the insertion part is a combination of a plurality of parts, and the positional accuracy of the protrusions is obtained for each of the plurality of parts, a plurality of types of protrusions provided on the same part are simultaneously displayed. You may make it the structure inserted in the through hole of a board | substrate. For example, a USB connector may be configured such that a boss and a lead terminal of a plug part are simultaneously inserted into a through hole of a board.

  In the present embodiment, the nozzle control unit is configured such that a plurality of types of protrusions are inserted into the through-hole of the substrate first from the longest, but the present invention is not limited to this configuration. The nozzle controller may be configured to be inserted into the through hole of the substrate first from the longest of at least two types of projections among the plurality of types of projections.

  Further, in the present embodiment, the boss and the lead terminal are exemplified and described as the protrusion of the insertion component, but the present invention is not limited to this configuration. The protrusion of the insertion part only needs to be formed so as to protrude from the outer surface of the part, and may be a bulge protruding from the outer surface of the part.

  In the present embodiment, the USB connector has been described as an example of the insertion part. However, the present invention is not limited to this configuration. The insertion component only needs to be provided with a plurality of types of protrusions, and may be, for example, a LAN connector.

  Further, in the present embodiment, the structure is formed by assembling a plurality of parts as insertion parts, but the present invention is not limited to this structure. The insertion component may not be formed by assembling a plurality of components as long as a plurality of types of protrusions are provided.

  Moreover, the program of this Embodiment may be memorize | stored in a storage medium. The storage medium is not particularly limited, but may be a non-transitory recording medium such as an optical disk, a magneto-optical disk, or a flash memory.

  Moreover, although this Embodiment and the modified example were demonstrated, what combined the said embodiment and modified example entirely or partially as another embodiment may be sufficient.

  The technology of the present disclosure is 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. Further, if the technical idea can be realized in another way by the advancement of technology or other derived technology, the method may be used. Accordingly, the claims cover all embodiments that can be included within the scope of the technical idea.

  Furthermore, in the above-described embodiment, there is provided a mounting device that holds an insertion component provided with a plurality of types of protrusions having different lengths by a nozzle, and inserts the protrusion into a through hole of the substrate to mount the insertion component on the substrate. Based on the position information of the tip of each protrusion for each type of protrusion in order from the longest of at least two kinds of protrusions, the information acquisition unit for acquiring the position information of the tips of at least two kinds of protrusions among the plurality of kinds of protrusions And a nozzle controller that controls the nozzle so that the tip of the protrusion is inserted into the through hole of the substrate while correcting the position. According to this configuration, the tip of the protrusion and the through hole of the substrate are aligned for each type of protrusion, and the tip of the protrusion is inserted into the through hole of the substrate first from the long protrusion. The position of the protrusion error is corrected one by one, and the tip of the protrusion is inserted into the through hole of the substrate, so that it is possible to reduce mistakes in inserting a plurality of types of protrusions into the through hole of the substrate. Therefore, the insertion component provided with a plurality of types of protrusions can be appropriately mounted on the substrate.

1: Mounting device 32: Nozzle 41: Information acquisition unit 45: Nozzle control unit 50: Insertion part 51: Housing part 52: Plug part 53: Projection 53A: Boss (first boss)
53B: Boss (second boss)
53C: Lead terminal 60: Substrate 61: Through hole

Claims (8)

A mounting device that holds an insertion component provided with a plurality of types of projections having different lengths by a nozzle, and inserts the projection into a through hole of a substrate to mount the insertion component on the substrate,
An information acquisition unit for acquiring position information of tips of at least two types of projections among the plurality of types of projections;
In order from the longest of the at least two types of protrusions, the nozzles are inserted so that the tips of the protrusions are inserted into the through-holes of the substrate while correcting the position based on the position information of the tips of the protrusions for each type of protrusion. A mounting apparatus comprising a nozzle control unit for controlling.   The mounting device according to claim 1, wherein the insertion component is a plurality of components assembled, and the at least two types of protrusions are provided on separate components.   The mounting device according to claim 2, wherein the insertion component has a positional accuracy of the plurality of types of protrusions for each of the plurality of components.   The mounting apparatus according to claim 1, wherein the information acquisition unit acquires three-dimensional position information of tips of the at least two types of protrusions.   The mounting apparatus according to claim 4, wherein the information acquisition unit acquires three-dimensional position information of tips of the at least two types of protrusions by a phase shift method.   The nozzle control unit includes an insertion amount of the at least two types of protrusions and an insertion amount of the current protrusion that is smaller than a difference in length of the next protrusion, and the tip of the current protrusion is placed on the substrate. The mounting apparatus according to claim 1, wherein the nozzle is controlled to be inserted into the through hole from the surface. The insertion part is a USB connector in which a plug part is assembled to a housing part,
The housing part is provided with a first boss, and the plug part is provided with a second boss shorter than the first boss and a lead terminal shorter than the second boss. The mounting apparatus in any one of Claims 1-6. A mounting method in which an insertion component provided with a plurality of types of projections having different lengths is held by a nozzle, and the projection is inserted into a through hole of a substrate to mount the insertion component on the substrate,
Obtaining positional information of tips of at least two types of protrusions of the plurality of types of protrusions;
In order from the longest of the at least two types of protrusions, the nozzles are inserted so that the tips of the protrusions are inserted into the through-holes of the substrate while correcting the position based on the position information of the tips of the protrusions for each type of protrusion. And a step of controlling.

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