JP2023151917A - Component mounting apparatus - Google Patents

Abstract

To provide a component mounting apparatus capable of increasing the anti-vibration performance.SOLUTION: A component mounting apparatus 1 includes: an apparatus body 10 that executes a positioning control of a head 16 for mounting a component 200 onto a substrate 100; and a support leg 30 that is placed between the apparatus body 10 and floor F to support the apparatus body 10. The support leg 30 includes: a pedestal part 40 that is placed on the floor F; a leg 50 that connects the pedestal part 40 and apparatus body 10 therebetween; and at least one damper 60 with one end 61 connected to the apparatus body 10 and the other end 62 connected to the pedestal part 40.SELECTED DRAWING: Figure 2

Description

The present invention relates to a component mounting apparatus.

Conventionally, in a component mounting apparatus, a configuration is known in which a vibration-proof rubber sheet is arranged between the legs of the mounting apparatus and the floor surface in order to reduce vibrations (see, for example, Patent Document 1). .

International Publication No. 2017/1085840

In recent years, there has been a demand for higher vibration damping performance. Therefore, an object of the present invention is to provide a component mounting apparatus that can further improve vibration isolation performance.

In order to achieve the above object, a component mounting apparatus according to one aspect of the present invention is arranged between an apparatus main body that performs positioning control of a head for mounting components on a board, and the apparatus main body and a floor surface. and a support leg that supports the device main body, the support leg having a pedestal installed on the floor, a leg connecting the pedestal and the device main body, and one end of which is connected to the device main body. and at least one damper whose other end is connected to the pedestal.

According to the present invention, it is possible to provide a component mounting apparatus with improved anti-vibration performance.

FIG. 1 is a schematic diagram showing a schematic configuration of a component mounting apparatus according to an embodiment. FIG. 2 is a schematic diagram showing a schematic configuration of a support leg according to an embodiment. FIG. 7 is a schematic diagram showing a schematic configuration of a supporting leg according to Modification 1. FIG. FIG. 7 is a schematic diagram showing a schematic configuration of a supporting leg according to a second modification. FIG. 7 is a schematic diagram showing a schematic configuration of a supporting leg according to modification 3. FIG. 7 is a schematic diagram showing a schematic configuration of a support leg according to modification example 4; 7 is a schematic diagram showing a schematic configuration of a supporting leg according to modification 5. FIG.

(Inventor's knowledge)
When vibration countermeasures are taken with a rubber sheet for vibration isolation, as in the conventional component mounting equipment described above, if the rubber sheet is relatively soft, vibrations on the floor side can be reduced, but vibration becomes large. On the other hand, if the rubber sheet is relatively hard, vibrations on the component mounting apparatus side can be reduced, but vibrations on the floor side will increase. As described above, with anti-vibration measures using rubber sheets, it is difficult to simultaneously reduce vibrations of both the component mounting apparatus and the floor surface.

For this reason, the inventor considered the following three countermeasures. The first is to reduce the vibration-generated energy by reducing the weight of the component mounting device. With this countermeasure, there is a risk that the rigidity of the component mounting apparatus will decrease due to the weight reduction. The second is to reduce the energy acting on each rubber sheet by increasing the number of legs installed in the component mounting apparatus. With this countermeasure, the number of legs increases, which increases the maintenance time for the component mounting apparatus. Third, by changing the input command to the drive source (motor) from a triangular waveform to a trapezoidal waveform when the head that mounts components operates, excessive impact is less likely to occur. This may lead to an increase in component mounting time. Since new problems arise with each countermeasure plan, the inventors of the present invention conducted extensive studies and found a more suitable anti-vibration countermeasure.

(Embodiment)
DESCRIPTION OF THE PREFERRED EMBODIMENTS A component mounting apparatus according to an embodiment of the present invention and a modification thereof will be described below with reference to the drawings. Note that the embodiments and modifications thereof described below are comprehensive or specific examples. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components shown in the following embodiments and modifications thereof are merely examples, and do not limit the present invention. Moreover, each figure is a schematic diagram, and dimensions etc. are not necessarily shown strictly. Furthermore, in each figure, the same or similar components are designated by the same reference numerals.

Further, expressions indicating relative directions or orientations such as parallel and orthogonal include cases where the directions or orientations are not strictly speaking. For example, "two directions are parallel" does not only mean that the two directions are completely parallel, but also that they are substantially parallel, that is, there is a difference of only a few percent, for example. It also means to include.

[Component mounting equipment]
FIG. 1 is a schematic diagram showing a schematic configuration of a component mounting apparatus 1 according to an embodiment. As shown in FIG. 1, the component mounting apparatus 1 is an apparatus that mounts a component 200 on a substrate 100 supplied from an upstream process side and transports the component 200 to a downstream process side. The component mounting apparatus 1 includes an apparatus main body 10 and a plurality of supporting legs 30 that support the apparatus main body 10.

The apparatus main body 10 includes a base 11, a substrate transport section 12, a feeder truck 13, a parts feeder 14, a head moving mechanism 15, a head 16, a parts camera 17, a control device 18, and the like. In the embodiment, for convenience of explanation, the direction in which the substrate 100 flows is referred to as the X-axis direction, the horizontal direction orthogonal to the X-axis direction as the Y-axis direction, and the vertical direction as the Z-axis direction.

The substrate transport section 12 is constituted by a conveyor device, and is provided extending on the upper surface side of the base 11 in the X-axis direction. The substrate transport section 12 transports the substrate 100 supplied from the upstream process side in the X-axis direction and positions it at a predetermined work position.

The feeder truck 13 is connected to both sides of the base 11 in the Y-axis direction. At the top of the feeder truck 13, a flat feeder base portion 13B extending in a horizontal plane is provided. A plurality of parts feeders 14 are attached to the feeder base portion 13B of the feeder truck 13, and each feeds parts 200 to a parts supply position 14K.

The head moving mechanism 15 includes a fixed beam 15a extending above the base 11 in the Y-axis direction, a moving beam 15b extending in the X-axis direction and having one end supported by the fixed beam 15a, and a moving beam 15b. It is composed of a movable plate 15c that is movable along the X-axis direction. The head 16 is attached to a movable plate 15c, and is moved in a horizontal plane by the movement of the movable beam 15b in the Y-axis direction with respect to the fixed beam 15a and the movement of the movable plate 15c in the X-axis direction with respect to the movable beam 15b. .

A plurality of nozzles 16a are attached to the head 16 facing downward. Each of the plurality of nozzles 16a can move in the vertical direction (Z-axis direction) and rotate around the Z-axis with respect to the head 16. A vacuum suction force can be generated at the lower end of each nozzle.

The component cameras 17 are provided in each of the front area and the rear area on the base 11. Each component camera 17 has its imaging field directed upward, and images the component 200 held by the head 16 by suction by the nozzle 16a from below.

The control device 18 is provided in the base 11 of the component mounting apparatus 1 (FIG. 1), and controls the operation of each part of the component mounting apparatus 1. When the component mounting apparatus 1 performs the component mounting work of mounting the component 200 on the board 100, first, the board transport section 12 operates to carry in the board 100 sent from the upstream process side, and place the board 100 at a predetermined work position. position. When the substrate transport unit 12 positions the substrate 100 at the working position, each parts feeder 14 supplies the component 200 to the component supply position 14K, and the head 16 suction-holds the component 200 with the nozzle 16a.

After the nozzle 16a holds the component 200 by suction, the head 16 moves above the component camera 17, and the component camera 17 images the component 200. The control device 18 detects the position of the component 200 based on the image taken by the component camera 17, uses the detection result to move the head 16, and positions the component 200 above the target position of the substrate 100. This operation is positioning control of the head 16. After positioning the component 200 above the target position on the substrate 100, the control device 18 moves the nozzle 16a up and down to mount the component 200 held by the nozzle 16a onto the substrate 100. In this manner, in the component mounting apparatus 1 of the first embodiment, the head 16 serves as a working unit that performs a predetermined work (component mounting work) on the base 11. After the mounting operation of the component 200 on the board 100 as described above is repeatedly executed and the mounting work of the component 200 on the board 100 is completed, the board transport section 12 is activated to transport the board 100 to the downstream process side. .

Note that the control device 18 does not perform machine stand vibration compensation control when controlling the positioning of the head 16. Machine base vibration compensation control is control for reducing residual vibration and shortening moving time when positioning control of the head 16 is executed.

[Support leg]
Next, details of the supporting leg portion 30 will be explained. Here, one of the plurality of supporting legs 30 provided in the component mounting apparatus 1 will be explained as an example, but the other supporting legs 30 have a similar structure. FIG. 2 is a schematic diagram showing a schematic configuration of the supporting leg portion 30 according to the embodiment. In FIG. 2, the outer shape of the base 11 is shown by a chain double-dashed line. A frame body 111 extending in the horizontal direction is provided within the base 11, and a part of the supporting leg portion 30 is connected to this frame body 111.

The supporting leg portion 30 includes a pedestal portion 40, a leg portion 50, and a pair of dampers 60. The pedestal section 40 is a pedestal installed on the floor surface F. On the upper surface of the pedestal section 40, a leg section 50 is installed at the center, and dampers 60 are installed at both ends.

The leg portion 50 is a portion that connects the pedestal portion 40 and the device main body 10. Specifically, the leg portion 50 includes a support portion 51 that is fixed to the bottom surface of the base 11 and supports the base 11, and a leg portion 50 that extends downward from the center of the support portion 51 and has a lower end portion fixed to the base portion 40. It has a column part 52.

The damper 60 is a shock absorber that damps vibrations by expanding and contracting. The expansion/contraction direction of the damper 60 is the direction in which one end 61 of the damper 60 is connected to the other end 62. In this embodiment, the damper 60 is arranged in such a manner that the direction of expansion and contraction is along the vertical direction (Z-axis direction). The pair of dampers 60 are arranged at positions sandwiching the leg portion 50 in the Y-axis direction. One end 61 of each damper 60 is connected to the frame body 111 of the apparatus main body 10, and the other end 62 is connected to the pedestal 40. One end 61 of each damper 60 is arranged above the upper end of the leg 50, and the other end 62 is arranged at the same height as the lower end of the leg 50. More specifically, one end 61 of each damper 60 is rotatably connected to the frame body 111 via a link member 611. The other end 62 of each damper 60 is rotatably connected to the pedestal 40 via a link member 621. Since one end 61 and the other end 62 of each damper 60 are rotatably connected, when the main body 10 of the apparatus vibrates, each damper 60 changes its posture by following the horizontal component of the vibration. It is possible to vary. Note that the one end 61 and the other end 62 of the damper 60 may be fixed to the respective link members 611 and 621. In this case, the damper 60 only operates to expand and contract.

In addition, in the vertical component of vibration, the vibration is attenuated by expanding and contracting each damper 60. The vertical component of vibration is the main cause of vibrations occurring on the floor F. That is, the vibrations transmitted to the floor surface F are reduced by each damper 60, and the vibrations of the apparatus main body 10 itself are also reduced by each damper 60. Here, since the relative displacement between the device main body 10 and the leg portion 50 during vibration is minute displacement (on the order of microns), it is preferable to use the damper 60 that can cope with such minute displacement.

[effect]
As described above, the component mounting apparatus 1 is arranged between the apparatus main body 10 that executes positioning control of the head 16 for mounting the component 200 on the board 100, and the apparatus main body 10 and the floor surface F. The support leg 30 supports the main body 10. The supporting leg portion 30 includes a pedestal portion 40 installed on the floor F, a leg portion 50 that connects the pedestal portion 40 and the device main body 10, one end portion 61 is connected to the device main body 10, and the other end portion 62 is connected to the pedestal portion 40. and at least one damper 60 connected to the damper 60.

According to this, at least one damper 60 connected to the apparatus main body 10 and the pedestal part 40 is provided on the supporting leg 30 that supports the apparatus main body 10, so that the damper 60 allows the vibration to be transmitted to the floor surface F. It is possible to reduce the vibration of the apparatus main body 10 itself while reducing the vibration caused by the apparatus main body 10 itself. In this way, it is possible to improve vibration isolation performance by installing the damper 60 without taking the three vibration isolation measures described above.

Further, one end portion 61 of the damper 60 is arranged above the upper end portion of the leg portion 50.

According to this, since the one end 61 of the damper 60 is disposed above the upper end of the leg 50, the damper 60 receives the vibration of the device main body 10 earlier than the leg 50. That is, it is possible to reduce vibrations with the damper 60 earlier than the vibrations are transmitted from the leg portions 50 to the floor surface F. Therefore, vibrations transmitted to the floor surface F can be reduced more reliably.

The damper 60 is arranged vertically.

According to this, since the damper 60 is arranged in a posture along the vertical direction, the vertical component of vibration can be reduced more reliably. That is, vibrations transmitted to the floor surface F can be reduced more reliably.

Each damper 60 is arranged on both sides of the leg portion 50.

According to this, since each damper 60 is arranged on both sides of the leg part 50, it is possible to reliably reduce vibrations transmitted from the leg part 50 to the floor surface F by the pair of dampers 60.

The apparatus main body 10 can perform positioning control without performing machine vibration compensation.

As described above, since the damper 60 can suppress the vibration of the apparatus main body 10 itself, components can be mounted with high accuracy even if the positioning control of the head 16 is performed without performing machine vibration compensation. I can do it.

(Modified example)
Although the component mounting apparatus 1 according to the embodiment of the present invention has been described above, the present invention is not limited to this embodiment. In other words, the embodiments disclosed herein are illustrative in all respects, and the scope of the present invention includes all changes within the meaning and range equivalent to the scope of the claims. Hereinafter, a modification of the component mounting apparatus 1 according to the present embodiment will be described. Hereinafter, parts that are the same as those in the embodiment described above may be denoted by the same reference numerals, and the description thereof may be omitted.

[Modifications 1 and 2]
In the embodiment described above, the supporting leg section 30 is illustrated in which the dampers 60 are arranged on both sides of the leg section 50. However, the damper 60 may be disposed only on one of both sides of the leg portion 50. FIG. 3 is a schematic diagram showing a schematic configuration of a support leg 30A according to Modification 1. FIG. 3 is a diagram corresponding to FIG. 2. As shown in FIG. 3, in the support leg 30A, the damper 60 is disposed only on the inner side of the leg 50.

FIG. 4 is a schematic diagram showing a schematic configuration of a supporting leg portion 30B according to a second modification. FIG. 4 is a diagram corresponding to FIG. 2. As shown in FIG. 4, in the supporting leg portion 30B, the damper 60 is disposed only on the outer side of the leg portion 50. In addition, in the case of Modification 1, the relative displacement between the device main body 10 and the leg portion 50 can be increased more than in Modification 2, which is preferable.

[Modification 3]
In the above embodiment, the damper 60 is arranged in a vertical direction. However, the damper 60 may be arranged in an inclined position with respect to the floor surface F. FIG. 5 is a schematic diagram showing a schematic configuration of a support leg 30C according to modification 3. FIG. 5 is a diagram corresponding to FIG. 2. As shown in FIG. 5, in the supporting leg portion 30C, the damper 60 is disposed only on the inner side of the leg portion 50. Here, the device main body 10 has a frame body 112 disposed at a lower position than the frame body 111. One end 61 of the damper 60 is rotatably connected to the frame body 112. Thereby, the damper 60 is arranged with one end 61 facing the center of the apparatus main body 10. In other words, the damper 60 is arranged in such a manner that its direction of expansion and contraction is inclined with respect to the floor surface F. In this case, even with one damper 60, it is possible to efficiently reduce the vertical component and horizontal component of vibration.

Note that the damper 60 is preferably arranged with one end 61 facing the drive source of the head 16. In this case, the damper 60 can more reliably reduce vibrations from the drive source, which is the cause of vibrations.

[Modification 4]
In the above embodiment, the damper 60 is arranged in a vertical direction. However, the damper 60 may be arranged along the floor surface F. FIG. 6 is a schematic diagram showing a schematic configuration of a support leg 30D according to a fourth modification. FIG. 6 is a diagram corresponding to FIG. 2. As shown in FIG. 6, in the supporting leg portion 30D, the damper 60 is disposed only on the inner side of the leg portion 50. Here, a connecting portion 113 to which one end portion 61 of the damper 60 is connected is attached to the bottom surface of the base 11. Thereby, the damper 60 is arranged in such a manner that its expansion and contraction direction is along the floor surface F. In this case, it is possible to efficiently reduce the horizontal component of vibration.

[Modification 5]
In the embodiment described above, the case where each damper 60 is arranged in the same posture is illustrated. However, the plurality of dampers may be arranged in different postures. FIG. 7 is a schematic diagram showing a schematic configuration of a support leg 30E according to a fifth modification. FIG. 7 is a diagram corresponding to FIG. 2. As shown in FIG. 7, in the supporting leg portion 30E, of the pair of dampers 60, the inner damper 60 is arranged in a posture along the floor surface F, and the outer damper 60 is arranged in a posture along the vertical direction. In this case, the horizontal component of the vibration is reduced by the inner damper 60, and the vertical component is reduced by the outer damper 60.

Further, forms constructed by arbitrarily combining the constituent elements included in the above embodiments and their modifications are also included within the scope of the present invention. In this case, any number of dampers may be installed on one leg.

The present invention can be applied to a component mounting apparatus that mounts components on a board.

1 Component mounting apparatus 10 Apparatus main body 11 Base 12 Board transfer section 13 Feeder cart 13B Feeder base section 14 Parts feeder 14K Component supply position 15 Head moving mechanism 15a Fixed beam 15b Moving beam 15c Moving plate 16 Head 16a Nozzle 17 Component camera 18 Control Devices 30, 30A, 30B, 30C, 30D, 30E Support leg 40 Pedestal 50 Leg 51 Support 52 Pillar 60 Damper 61 One end 62 Other end 100 Boards 111, 112 Frame 113 Connecting portion 200 Parts 611, 621 Link member F floor surface

Claims (8)

a device body that performs head positioning control for mounting components on a board;
a support leg disposed between the device main body and a floor surface to support the device main body,
The supporting leg is
a pedestal section installed on the floor surface;
Legs connecting the pedestal and the device main body;
A component mounting apparatus comprising at least one damper having one end connected to the apparatus main body and the other end connected to the pedestal. The component mounting apparatus according to claim 1, wherein the one end of the damper is located above an upper end of the leg. The component mounting apparatus according to claim 1 , wherein the damper is arranged in a vertical direction. The component mounting apparatus according to claim 1 , wherein the damper is disposed on at least one of both sides of the leg. The component mounting apparatus according to claim 1 or 2, wherein the damper is arranged in an inclined position with respect to the floor surface. The component mounting apparatus according to claim 5, wherein the damper is arranged with the one end facing the drive source of the head. 3. The component mounting apparatus according to claim 1, wherein the damper is arranged along the floor surface. The component mounting apparatus according to claim 1 or 2, wherein the apparatus main body is capable of executing the positioning control without performing machine stand vibration compensation.

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