JP4147539B2 - Electronic circuit component mounting machine - Google Patents

Description

  The present invention relates to an electronic circuit component mounting machine for mounting an electronic circuit component, which is a component of an electronic circuit, on a circuit board such as a printed wiring board, and in particular, a plurality of electronic circuit component mounting devices are provided in one main body frame. The present invention relates to a type of electronic circuit component mounting machine.

  This kind of electronic circuit component mounting machine is already known. A plurality of electronic circuit component mounting devices (hereinafter abbreviated as mounting devices unless otherwise required) are arranged on a single body frame so as to be aligned along a straight line, and extend in parallel with a row of the plurality of mounting devices. In the state, a substrate carrying / holding device is provided. In this electronic circuit component mounting machine, each of the plurality of mounting devices is fixed and has a shared area of the same size, that is, an area in which the electronic circuit components can be mounted, and the shared areas of mounting devices adjacent to each other. There is a certain space between them. Further, the substrate transport / holding device includes a belt conveyor having a capability of transporting a distance circuit substrate substantially equal to the entire length of the main body frame, and a substrate stop position defining device provided corresponding to each mounting device in the middle of the belt conveyor. And a substrate holding device.

  After a plurality of circuit boards transported at a substantially constant distance by the belt conveyor are stopped at each stop position defined by each board stop position defining device, and fixedly held by each substrate holding device, Electronic circuit components are mounted in parallel by mounting devices corresponding to the circuit boards. Therefore, the size of the circuit board must be smaller than the shared area of each mounting device. In addition, since a plurality of mounting devices perform mounting work in parallel, it is desirable that all mounting devices complete the mounting of the shared electronic circuit component group almost simultaneously. If some mounting devices finish mounting their shared electronic circuit components earlier than other mounting devices, then they will have to wait for the other mounting devices to finish working, and the operation of some mounting devices will continue. This is because the rate drops.

  Of course, in order to prevent such a situation from occurring as much as possible, the plurality of mounting devices are assigned electronic circuit components of a type and amount that can be mounted in the same amount of time as possible, thereby forming a shared electronic circuit component group. However, when moving electronic circuit components from the component feeders and tray component supply units that make up the component supply device to each mounting position on the circuit board, the moving distance changes with each mounting, and is allowed. The amount of acceleration / deceleration applied varies depending on the electronic circuit component, and the number and type of component feeders and trays that can be arranged in the component takeout area of one mounting device are limited. It is extremely difficult to determine the shared electronic circuit component group so that the mounting device finishes the mounting operation almost simultaneously. In addition, if the parts holder has an unloading or mounting error, and if the unloading or mounting operation is performed again, the time required for mounting becomes longer, and this is one of the reasons why the mounting operation cannot be completed at the same time. Become one. However, if the parts holder or parts feeder that has caused a mistake or installation mistake even once is replaced with a new one, the amount of consumption of the parts holder or parts feeder will increase, and it will be necessary to replace it. Since work efficiency is reduced by time, it is better to tolerate some mistakes.

  There is yet another problem. The type of circuit board on which electronic circuit components are to be mounted by the same electronic circuit component mounting machine, that is, the type of electronic circuit to be assembled may change frequently. If the type of electronic circuit changes, the electronic circuit components to be mounted naturally change, and the shared electronic circuit component group assigned to each mounting device also changes. Therefore, every time the type of electronic circuit to be assembled changes, it is necessary to change the component feeder or tray arranged in the take-out area of each mounting device. Actually, it takes place and takes a long time. Therefore, when the type of electronic circuit to be assembled frequently changes, it is inevitable that the operating rate of the electronic circuit component mounting machine will be significantly reduced.

Problems to be solved by the invention, problem solving means and effects

  The present invention has been made with the above circumstances as a background to improve the work efficiency of an electronic circuit component mounting machine of a type in which a plurality of electronic circuit component mounting apparatuses are provided in one main body frame as much as possible. According to the present invention, an electronic circuit component mounting machine according to each aspect described below can be obtained. As with the claims, each aspect is divided into sections, each section is numbered, and is described in a form that cites the numbers of other sections as necessary. This is for the purpose of facilitating understanding of the present invention, and should not be construed as limiting the technical features described in the present specification and the combinations thereof to those described in the following sections. . In addition, when a plurality of items are described in one section, it is not always necessary to employ the plurality of items together. It is also possible to select and employ only some items.

  In each of the following paragraphs, the combination of paragraphs (1), (4) and (8) corresponds to claim 1, and the features of paragraph (2) are added to claim 1. Claim 4 has the features of (3) added to claim 5, claim 5 has added features of claim 6, claim 6 has added features of (6), and claims. The feature of (7) is added to claim 8, the feature of (13) is added to claim 9, the feature of (23) is added to claim 12, and , Respectively.

(1) a main body frame;
A board transport / holding device that is provided on the main body frame, transports the circuit board along a straight line, and holds the circuit board in a fixed manner;
A plurality of feed devices including a common fixed feed portion provided in a state extending in parallel with the transport direction of the substrate transport / holding device, and a plurality of movable feed portions provided for the common fixed feed portion;
A plurality of first moving members that are moved in a direction parallel to the conveying direction by the respective movable feeding portions of the plurality of feeding devices;
A plurality of second movements held by the plurality of first moving members so as to be movable in a direction crossing the circuit board conveyance direction in a plane parallel to the surface of the circuit board held by the board conveyance / holding device. A member,
A plurality of second moving member driving devices for moving the second moving members in directions crossing the conveying direction,
A component holder held by each of the second moving members and holding an electronic circuit component;
A plurality of holder driving devices that move the component holders relative to each of the second moving members to bring the component holders closer to and away from the circuit board held by the substrate transporting and holding device; ,
The plurality of feeding devices, the second moving member driving device, and the holder driving device are controlled so that the electronic circuit components are mounted on the circuit board held by the substrate carrying / holding device. electronic-circuit-component mounting machine and a is not Ru control apparatus.
As the feeding device, for example, a linear motor, a feeding device including a feed screw and a nut, or the like can be used. In the former case, a stator having a large number of permanent magnets constitutes a fixed feed portion, and a mover having a plurality of coils constitutes a movable feed portion. In the latter case, the feed screw constitutes a fixed feed section, and the nut is independent or an electric motor that rotationally drives the nut (a servo motor, stepping motor, or the like that can accurately control the rotation angle) and The movable feed unit is configured jointly. The feed screw is preferably a ball screw.
If the fixed feed portion of the feeding device that moves the plurality of first moving members in the direction parallel to the circuit board conveyance direction is used in common, there is a structural restriction on the movable range of the first movement member in the circuit board conveyance direction. This eliminates the need for an electronic circuit component mounting machine with a high degree of freedom.
For example, by making the control device have the characteristics of the following items (2) to (7), the degree of freedom of mounting work as a whole electronic circuit component mounting machine can be significantly improved. As a result, it is easier than before to finish mounting work of each shared electronic circuit component group on a plurality of mounting devices, and it is easy to improve the operating rate of the electronic circuit component mounting machine.
(2) The electronic circuit component mounting machine according to (1), wherein the control device includes means for changing a movable range of the plurality of first moving members in the transport direction.
(3) In the electronic circuit component mounting machine, each of the plurality of feeding devices, each of the plurality of first moving members, each of the plurality of second moving members, and the plurality of second moving member drives A mounting device comprising: each of the devices; one or more component holders held by each of the plurality of second moving members; and each of the plurality of holder driving devices for driving the component holders. And the control device includes means for making the size of the movable range of the component holder different from one another among the plurality of mounting devices. Electronic circuit component mounting machine.
As before mentioned, conventional removable size (electronic circuit components can be mounted to the circuit board component mounting area of the movable range of the circuit board transfer direction of the plurality of mounting apparatus, the electronic circuit component from the component supply device The size in the circuit board transport direction of the component holder held by each of the second moving members is determined to be equal to each other, and the movable range of each mounting device is While it was indispensable to provide a certain space in between, it is no longer necessary to provide a space between the movable ranges of the component holders of multiple mounting devices. Thus, the size of the movable range of the component holder can be freely varied.
(4) In the electronic circuit component mounting machine, each of the plurality of feeding devices, each of the plurality of first moving members, each of the plurality of second moving members, and the plurality of second moving member drives A mounting device comprising: each of the devices; one or more component holders held by each of the plurality of second moving members; and each of the plurality of holder driving devices for driving the component holders. And the control device includes means for setting the movable range of the component holders of the mounting devices adjacent to each other without providing a space between the movable ranges (1). The electronic circuit component mounting machine according to any one of items) to (3).
(5) The means for setting the movable range of the component holders of the plurality of mounting devices adjacent to each other without providing a space between the movable ranges includes means for overlapping the movable ranges with each other. The electronic circuit component mounting machine according to item (4).
(6) In the electronic circuit component mounting machine, each of the plurality of feeding devices, each of the plurality of first moving members, each of the plurality of second moving members, and the plurality of second moving member drives A mounting device comprising: each of the devices; one or more component holders held by each of the plurality of second moving members; and each of the plurality of holder driving devices for driving the component holders. A plurality of mounting devices that are adjacent to each other, with respect to a single circuit board held and stopped by the substrate transporting and holding device. The electronic circuit component mounting machine according to any one of items (1) to (5), including means for mounting circuit components.
(7) The electronic circuit component mounting machine is
Each of the plurality of feeding devices, each of the plurality of first moving members, each of the plurality of second moving members, each of the plurality of second moving member driving devices, and the plurality of second movements A plurality of mounting devices each including one or more component holders held by each of the members and each of the plurality of holder driving devices that drive the respective component holders;
A component supply device disposed on the side of the substrate transfer / holding device along the substrate transfer / holding device;
And the control device includes means for causing the mounting devices adjacent to each other among the plurality of mounting devices to take out electronic circuit components from the same part of the component supply device. The electronic circuit component mounting machine according to the above.
(8) Further, a component supply device disposed along the substrate transfer / holding device is provided on a side of the substrate transfer / holding device, and the control device supplies the component to each of the plurality of component holders. The electronic circuit component mounting machine according to any one of (1) to (7), wherein the electronic circuit component is taken out from the apparatus and mounted on the circuit board.
(9) The first moving member is an X-axis slide that moves in an X-axis direction parallel to the transport direction, and the second moving member is on the X-axis slide in a Y-axis direction orthogonal to the X-axis direction. A Y-axis slide that moves, wherein the holder driving device is a Z-axis driving device that moves the component holder in a Z-axis direction orthogonal to the X-axis and the Y-axis (1) to (8) The electronic circuit component mounting machine according to any one of the above.
In the electronic circuit component mounting machine according to the present invention, the second moving member may be moved in a direction crossing the circuit board transport direction in a plane parallel to the surface of the circuit board held by the board transport / holding device. Even if it is moved while drawing an arc locus, it may be moved in a direction not orthogonal to the moving direction of the first moving member when moving linearly. However, as in this section, when the movement direction of the first moving member parallel to the circuit board conveyance direction is the X-axis direction, the second movement member is the surface of the circuit board held by the board conveyance / holding device. It is desirable to be able to move in the Y-axis direction of the XY coordinate plane which is an orthogonal coordinate plane parallel to the. This is because, according to the XY coordinates, it is easy to control the movement of the component holder held by the second moving member. For the same reason, it is desirable that the holder driving device also moves the component holder in the Z-axis direction orthogonal to the XY coordinate plane.
“Y-axis slide that moves in the Y-axis direction on the X-axis slide” means “Y-axis slide that moves in the X-axis direction together with the X-axis slide and that moves relative to the X-axis slide in the Y-axis direction” ""
(10) The second moving member driving device is a feed device including a fixed feed portion extending in a direction intersecting the transport direction and a movable feed portion provided for the fixed feed portion. Or the electronic circuit component mounting machine in any one of (9) term | claims.
As in the conventional electronic circuit component mounting machine, the second moving member driving device may include a feed screw, a nut, and a servo motor that rotationally drives the feed screw. If it is configured, the degree of freedom in design is improved. For example, as in the next item, it is easy to provide a plurality of second moving members for one first moving member. For the feeding device including the fixed feeding portion and the movable feeding portion, the description in the above item (1) applies as it is.
(11) The electronic circuit component mounting machine according to (10 ), wherein a plurality of the second moving members are provided for at least one of the first moving members.
If a plurality of second moving members are provided for one first moving member, the efficiency and flexibility of the mounting operation of the electronic circuit components in one mounting device is improved, and eventually the mounting in the entire electronic circuit component mounting machine It becomes easy to improve work efficiency and flexibility.
(12) A retreat area in which at least one of the fixed feed portion of the feed device that moves the first moving member and the fixed feed portion of the feed device that moves the second moving member retracts at least one movable feed portion. The electronic circuit component mounting machine according to (10) or (11), comprising :
According to the feature of this section, at least one of the first moving member and the second moving member can be retreated in the retreat area. One electronic circuit component mounting machine is a plurality of types of electronic circuit component mounting machines in which the number of mounting devices or the number of mounting heads mainly composed of component holders held by the second moving member are different. As a result, the degree of freedom of the mounting operation of the entire electronic circuit component mounting machine is improved.
(13) The electronic circuit component according to any one of (1) to (12) , wherein a position where the circuit board transport / holding device holds the circuit board is changeable in the transport direction. Mounting machine.
According to the feature of this section, for example, when the size of a circuit board changes, the number of circuit boards fixedly held in one electronic circuit component mounting machine can be changed, or a plurality of circuit boards Can be stopped at a position where the mounting operation can be efficiently performed in relation to the component supply device or the like. In addition, in an electronic circuit component mounting machine that has both the features of this section and the previous section, the optimal number of mounting devices and mounting heads are moved to the optimal position according to the holding position of the circuit board that can be variously changed. It can be moved and used, and the work efficiency can be effectively increased.
(14) The substrate conveying / holding device includes a belt conveyor that extends over substantially the entire length of the main body frame and can convey the circuit board to an arbitrary position in the longitudinal direction (1) to (13) The electronic circuit component mounting machine described in 1.
The belt conveyor is simple and inexpensive, and can stop the circuit board at an arbitrary position in the transport direction, and is a component of the board transport / holding device in the electronic circuit component mounting machine according to the present invention. Is particularly suitable.
(15) The substrate carrying / holding device is
A feed device including a common fixed feed portion parallel to the longitudinal direction of the belt conveyor and a plurality of movable feed portions provided for the common fixed feed portion;
The electronic circuit component mounting machine according to (14) , further comprising: a substrate stop position defining device that is moved to an arbitrary position in the longitudinal direction of the belt conveyor by each of the plurality of movable feeding portions.
According to the plurality of feeding devices sharing the fixed feeding section, the substrate stop position defining device can be individually moved to any position in the conveying direction of the belt conveyor, and the substrate conveying / holding according to the above (13) One embodiment of the device can be successfully implemented.
(16) The electronic circuit component mounting machine according to (15 ), wherein the board stop position defining device includes a stopper that comes into contact with an end on the downstream side in the transport direction of the circuit board to stop the circuit board.
If the end on the downstream side in the transport direction comes into contact with the stopper, the circuit board is forcibly stopped, and thereafter the belt conveyor and the circuit board slide. Thereafter, the belt conveyor may be stopped at an appropriate time. Depending on the operation time of the belt conveyor, it may be stopped when it is certain that the circuit board has come into contact with the stopper, and in response to the arrival of the circuit board being detected by the stop position arrival detector described in the next section. May be stopped. It should be noted that the speed at which the circuit board contacts the stopper is desirably small in order to suppress the impact, but on the other hand, it is desirable that the transport speed be large in order to shorten the time required for transporting the circuit board. Therefore, it is desirable that the belt conveyor is decelerated when the circuit board approaches the stopper. For this purpose, the approach of the circuit board to the stopper may be estimated based on the operation time of the belt conveyor, or the circuit board may be detected by the deceleration start position arrival detector described in the next section. .
(17) A deceleration start position arrival detector that detects that the circuit board stop position defining device has reached the deceleration start position;
A stop position arrival detector for detecting that the circuit board has reached the stop position;
A conveyor control device that decelerates and stops the belt conveyor according to each detection of the deceleration start position arrival detector and the stop position arrival detector, and mounting the electronic circuit component according to the item (15) or (16) Machine.
If the deceleration start position arrival detector detects that the circuit board has reached the deceleration start position, the belt conveyor starts decelerating, and the stop position arrival detector detects that the circuit board has reached the stop position. In this case, the belt conveyor is stopped. The belt conveyor may be decelerated from a normal speed to a constant low speed with a relatively large constant deceleration and then continue to move at that constant low speed, with a relatively small constant deceleration until stopping. You may continue slowing down moderately. In any case, when the circuit board reaches the stop position, since the moving speed of the circuit board is sufficiently low, the circuit board can be stopped with little impact. When the electronic circuit component is already mounted on the circuit board, if the impact of the stop is large, the electronic circuit component may be displaced or fall down, but these situations are avoided. When a plurality of circuit boards are conveyed by the belt conveyor at substantially equal intervals, arrival at the deceleration start position is detected almost simultaneously by the plurality of deceleration start position arrival detectors, but is conveyed at unequal intervals. In such a case, the arrival detection time will be different. Therefore, if the circuit board is detected by any of the plurality of deceleration start position arrival detectors, the belt conveyor starts decelerating, and if it is decelerated to a predetermined constant low speed, the low speed is maintained. Te, when the circuit board is detected by all the stop position arrival our detector, it is desirable that the belt conveyor so that is stopped.
When providing the stopper, it is also possible to omit at least one of the deceleration start position arrival detection unit and stop position arrival detection unit. Conversely, when a deceleration start position arrival detector and a stop position arrival detector are provided, the stopper can be omitted.
(18) The electronic circuit component mounting machine according to any one of (1) to (12) , wherein a position where the circuit board transport / holding device holds the circuit board is fixed in the transport direction. .
The characteristics described in the items (16) and (17) can also be applied to the electronic circuit component mounting machine described in this item. In addition, although the thing of the length extended over substantially full length of a main body frame may be sufficient as a belt conveyor, you may comprise the thing shorter than a main body frame in order. In the latter case, for example, by providing a belt conveyor corresponding to each position where the circuit board is held, the circuit boards can be conveyed at different timings. Furthermore, since it is only necessary to fix and provide the substrate stop position defining device, it is easy to reduce the cost.
(19) A plurality of component feeders each containing a large number of electronic circuit components of one type each and sequentially feeding one by one to a predetermined component supply unit, the substrate transporting / holding on at least one side of the substrate transporting / holding device The electronic circuit component mounting machine according to any one of (1) to (18) , including a component supply device arranged side by side in the longitudinal direction of the device.
If the moving range of the first moving member is changed in the electronic circuit component mounting machine of this section, the component feeder located within the moving range is changed, so that it can be taken out by the same mounting device (can be supplied to the same mounting device) Electronic circuit components can be changed.
(20) The first moving member is an X-axis slide that moves in an X-axis direction parallel to the transport direction, and the second moving member is on the X-axis slide in a Y-axis direction orthogonal to the X-axis direction. A moving Y-axis slide, and
A plurality of component feeders each accommodating a large number of electronic circuit components of one type each and sequentially feeding one by one to a predetermined component supply unit, on at least one side of the substrate transport / holding device, the length of the substrate transport / holding device A component supply device arranged side by side in a direction;
At least one of an imaging device and a reflection device provided in a portion between the component supply device of the X-axis slide and the substrate transport / holding device, and the component holder is connected to the electronic circuit component from the component supply device. on the way to move to the substrate transport and holding device receives the, (1) to claim comprising an imaging system for taking an electronic circuit component held by the component holder (8) section to (10) no term ( The electronic circuit component mounting machine according to any one of 18) .
Even if the component holder is moved from the component supply device to the predetermined mounting position of the circuit board held by the substrate transfer / holding device at the shortest distance, the component holder always passes through the imaging device or the reflection device. For this reason, it is not necessary to make the component holder uselessly move for imaging.
(21) a head holding portion provided on the second moving member;
A common mounting part that can be attached to and detached from the head holding part is provided, (a) a first type head that is a mounting head that holds one component holder, and (b) a plurality of component holders linearly. A second type head that is a mounting head to hold side by side, and (c) a rotating body that is rotatably held around one axis, and a plurality of component holders on a circumference around the one axis of the rotating body The electronic circuit component mounting machine according to any one of items (1) to (20) , including at least two types of a third type head that is a mounting head that holds the head.
If a common mounting part is provided for multiple types of mounting heads, select the type of mounting head suitable for the mounting operation to be performed from these multiple types of mounting heads, and use them by attaching them to the head holder. This makes it easy to change the electronic circuit component mounting machine to a state suitable for mounting work on various circuit boards.
(22) A plurality of reference mark imaging devices that capture the reference marks held on each of the plurality of second moving members and provided on the circuit board;
A circuit board relative that causes at least two of the plurality of reference mark imaging devices to respectively image a plurality of reference marks on the same circuit board and obtains a relative position of the same circuit board with respect to each of the at least two reference mark imaging devices. The electronic circuit component mounting machine according to any one of (1) to (21) , including a position acquisition device.
Relative position errors between one circuit board and a plurality of mounting devices each having the at least two reference mark imaging devices are detected. Each mounting device is controlled to perform the mounting operation of the electronic circuit component while correcting the relative position error of the circuit board with respect to each mounting device.
(23) An electronic circuit component using a component holder held by each of the second movable members, wherein the control device is a group of one or more component holders held by each of the plurality of second movable members. The electronic circuit component mounting machine according to any one of items (1) to (22), further including an automatic assignment change unit that automatically changes the time required for mounting the device so that the time required for mounting is actually the same as much as possible.
For example, a shared electronic circuit component group of each mounting device is determined by a computer or by an operator, and the shared electronic circuit component group is actually each of a plurality of mounting devices (each having one or more component holders). As a result of the mounting, if there is a difference in the required time between the mounting devices over the set time, the shared electronic circuit component group is changed by the automatic sharing change unit. A part of the shared electronic circuit component of the mounting apparatus that takes a long time to be mounted is transferred to the shared electronic circuit component group of the mounting apparatus that has a short required time. As a result, if the difference in the required time between multiple mounting devices becomes smaller than the set time, the mounting operation is continued, but if there is still a difference beyond the set time, the shared electronic circuit component group is further changed. Is called. Therefore, the determination of the first shared electronic circuit component group may be somewhat inappropriate. The automatic assignment change unit that operates in this manner can be referred to as an initial stage automatic assignment change unit in the sense that the assignment is changed at the start of the mounting operation (initial stage).
In addition, certain parts holders and parts feeders have been picked up and installed incorrectly, and until that time, the difference in installation time was smaller than the set time, but it exceeded the set time. In some cases, it is also possible to operate the automatic assignment change unit. The automatic assignment change unit that operates in this manner can be referred to as a temporary automatic assignment change unit in the sense that the assignment is changed due to a temporary cause.

The electronic circuit component mounting machine 2 which is one Embodiment of this invention is demonstrated in detail based on figures.
FIG. 1 conceptually shows an electronic circuit component mounting machine 2. In this figure, reference numeral 10 denotes a base, and a wiring board conveyor 14 is provided on the base 10 to convey a printed wiring board 12 as a circuit board along one horizontal direction. Hereinafter, this one direction is referred to as the X-axis direction, and the direction orthogonal to the X-axis direction in the horizontal plane is referred to as the Y-axis direction. On the base 10, a plurality of mounting devices 18 for mounting electronic circuit components (see FIG. 7; hereinafter simply referred to as components) 16 on the printed wiring board 12 and components for supplying the components 16 to the mounting devices 18. Supply devices 20 and 22 are provided.

  As shown in FIGS. 2 and 3, the wiring board conveyor 14 includes a pair of side frames 30 and 32 that extend along the conveying direction, and a part of the side frames 30 and 32 guides the printed wiring board 12. 33. One of the side frames 30 and 32 is a fixed frame 30 fixed so as not to move on the base 10, and the other is provided on the base 10 so as to be movable, and a movable frame 32 that can approach and separate from the fixed frame 30. Has been. Although not shown, a moving device that holds the movable frame 32 and moves it in the Y-axis direction is provided below the movable frame 32, and the movable frame 32 approaches and separates from the fixed frame 30 by the moving device. To be moved. Annular conveyor belts 34 are wound around the frames 30 and 32, respectively, and are driven in synchronism with each other by a conveyor driving motor 36 (see FIG. 12) as a driving source, and convey the printed wiring board 12.

  In the present embodiment, the printed wiring board 12 is conveyed in a horizontal posture by the wiring board conveyor 14, stopped at a predetermined work position by a stop device 40 (see FIG. 2) described later, and the work position of the base 12. Is held by a wiring board holding device 42 which is a substrate holding device provided in a portion corresponding to the above. In the present embodiment, the printed wiring board 12 is held in a horizontal posture on a mounting surface 44 (see FIG. 3) on which components are mounted.

  As shown in FIG. 2, a plurality of stop devices 40 are movably provided along the wiring board conveyor 14. Each of the stop devices 40 can be moved independently of each other by a linear motor 50 which is a feeding device provided along the fixed frame 30. A stator 52 parallel to the frame 30 is provided inside the fixed frame 30, and a plurality of pairs of movable elements (not shown) are movable along the common stator 52. 40 is fixed. Movement of the mover and the stopping device 40 is also guided by the fixed frame 30. Since the configuration of the linear motor 50 is substantially the same as that described in Japanese Patent Application Laid-Open No. 2001-198873, illustration and detailed description thereof are omitted.

  The stop device 40 includes a stopper 54 and two sensors 56 and 58. The stopper 54 is provided so as to be movable up and down by an elevating device, and is located at an ascending end position and an action position that prevents the printed wiring board 12 from moving by contacting the downstream end face of the printed wiring board 12 and a descending end position. Therefore, the printed wiring board 12 can be moved between the non-acting positions that allow the printed wiring board 12 to move. Although not shown, the lifting device includes an air cylinder as a fluid pressure actuator as a drive source. The two sensors 56 and 58 are arranged along the transport direction, and the upstream sensor 56 detects that the printed wiring board 12 being transported has reached the deceleration start position where the deceleration should be started. 56, a downstream sensor 58 is provided adjacent to the upstream side of the stopper 54, and is a stop position sensor 58 that detects that the printed wiring board 12 has reached the stop position. These sensors 56 and 58 are both reflection-type photoelectric sensors, and each detects a light emitter 60 that emits visible light upward, and reflected light that is reflected by the lower surface of the printed wiring board 12. And a light receiver 62. Both sensors 56 and 58 may be configured by proximity switches, limit switches, or the like.

  The plurality of wiring board holding devices 42 are provided in close proximity to each other along the conveying direction, and can hold any wiring board even if the printed wiring board 12 stops at any position on the wiring board conveyor 14. It can be held by the device 42. Even if the printed wiring board 12 is stopped at a position where it protrudes from any of the wiring board holding devices 42, the printed wiring board 12 is held without any trouble by cooperation with the adjacent wiring board holding device 42. The configuration of these wiring board holding devices 42 is common to each other and is almost the same as that described in Japanese Patent Application No. 2001-172915.

  As schematically shown in FIG. 3, the wiring board holding device 42 includes a support base 70 and a plurality of support pins 72, and the lift base 74 is moved up and down by a lift base drive device 76, whereby the printed wiring board 12. Support the back surface of the. In this embodiment, the lifting platform driving device 76 is configured by using an air cylinder 80 that is a fluid pressure actuator as a driving source, and constitutes a printed wiring board holding device lifting device. The printed wiring board 12 is sandwiched and clamped from both upper and lower sides by an upward support surface 82 provided on the frames 30 and 32 and a clamp member 84 provided rotatably. However, the clamp member 84 is omitted in FIG. As shown in FIG. 2, a notch 86 is formed in the support base 70 and the lift base 74 so as to open on the upstream end side and the movable frame 32 side, and the movement in the direction orthogonal to the conveying direction of the leg portion 88 of the movable frame 32. It is not disturbed.

  As shown in FIG. 1, the component supply devices 20 and 22 are provided at fixed positions on both sides of the wiring board conveyor 14 so as to be separated from each other in the Y-axis direction orthogonal to the X-axis direction in the XY coordinate plane. In the illustrated example, a feeder-type component supply device 20 is disposed on the right side (lower side of the screen of the wiring board conveyor) in the conveying direction, and the feeder type is provided on the left side (upper side of the screen of the wiring board conveyor) in the conveying direction. The component supply device 20 and the tray-type component supply device 22 are arranged in a line.

  The feeder-type component supply apparatus 20 includes a component supply table 94 in which a large number of component feeders 90 are arranged on a feeder support table 92 and each component supply unit is arranged in a straight line parallel to the X-axis direction. Each component feeder 90 accommodates a large number of components 16, and arranges the components 16 in a line and sends them one by one to the component supply unit. For example, the components 16 are held on a component holding tape (not shown). It is possible to adopt what is supplied in the form of taped parts.

  The tray-type component supply device 22 is the same as the component supply device described in Japanese Examined Patent Publication No. 2-57719, and detailed description is omitted, but the component 16 is accommodated in the component tray 96 and supplied. One component tray 96 is supported in each of a number of component tray storage boxes (not shown) arranged in the vertical direction. Each of these component tray storage boxes is sequentially raised to a component supply position by a lifting device (not shown), but it is necessary to secure a space for the mounting device 18 to take out the component 16 above the component supply position. . For this reason, the component tray storage box that has finished supplying the component 16 is raised by the above-mentioned space at the same time that the next component tray storage box is raised to the component supply position, and is retreated to the upper retreat area. In this way, the mounting head of the mounting device 18 takes out the components 16 one by one from the component tray 96 in the component tray storage box in which a space is formed above.

  The plurality of mounting devices 18 are provided side by side in the X-axis direction. The mounting device 18 has components of the mounting head 100 shown in FIG. 7, the mounting head 102 shown in FIGS. 8 to 10 and the mounting head 104 shown in FIG. An XY moving device 106 that transports components while being translated in the direction is provided, and is mounted on a mounting surface 44 that is a surface or an upper surface of the printed wiring board 12.

  First, the XY moving device 106 will be described. A pair of support members 108 are provided on a frame (not shown) in parallel to the X-axis direction. As shown in FIG. 4, an X-axis slide 112 that is movable along the support members 108 is provided, and is moved by a linear motor 110 that is a pair of feeding devices provided corresponding to the support members 108. . The linear motor 110 is a linear DC brushless motor, and includes a stator 114 having a large number of permanent magnets, a pair of movers 116 each having a plurality of coils, and a movable member 117 that holds the movers 116. A guide 118 is provided for guiding the movable member 117 in a direction parallel to the longitudinal direction of the stator 114. The stator 114 and the guide 118 that are common to the X-axis slide 112 of each mounting device 18 are provided along the support member 108 so that the mounting devices 18 can move in the X-axis direction independently of each other. . The stator 114 includes a support portion 120 extending vertically downward from the support member 108, and the main body portion 122 of the stator 114 is supported in a horizontal posture at the lower end portion of the support portion 120. The pair of movers 116 is disposed with a slight gap so as to sandwich the main body portion 122 from above and below, and is connected to each other by a connecting portion 124 at the end opposite to the support portion 120 as a whole. The mover assembly has a U-shape. The movable element assembly is further fixed to the movable member 117, and the movable element assembly and the movable member 117 constitute a movable portion 126 of the linear motor 110. The movable portion 126 is engaged with the guide 118 via a guide block 129 holding a large number of balls 128, and is moved to an arbitrary position of the stator 114 by controlling the current supplied to the coil of the movable member 116. Be made.

  The X-axis slide 112 has a length that exceeds the wiring board conveyor 14 and reaches the component supply device 20 and the component supply devices 20 and 22 on both sides thereof. As shown in FIG. 5, the X-axis slide 112 includes a supported portion 130 and a main body portion 132 that extends downward from the supported portion 130, and is fixed to the movable portion 126 in the supported portion 130. . The movable portion 126 is fixed at two positions slightly closer to the center from both ends in the longitudinal direction of the X-axis slide 112. Both ends of the X-axis slide 112 protrude beyond the fixed position with respect to the movable portion 126, and the protruding portions are It is located above the component supply device 20. In particular, one X-axis slide 112 has a long projection, and as described above, the component tray storage box stopped at the component supply position, and the component tray storage box that has finished supplying the component 16 It is possible to enter the space formed between the two.

  The stator 114 and the guide 118 extending in the X-axis direction are moved to at least one of the upstream side and the downstream side of the wiring board conveyor 14 from the component mounting area in which the plurality of wiring board holding devices 42 are disposed (in the illustrated example). To the upstream side). If the X-axis slide 112 is moved to the extending portion that extends beyond the component mounting area, the mounting heads 100, 102, and 104 that move together with the X-axis slide 112 also supply components to the wiring board holding device 42. The devices 20 and 22 are not opposed to each other. That is, the extension portion forms a retreat area 138 in which at least one mounting device 18 can retreat.

  At least one Y-axis slide 140 is supported on the X-axis slide 112 so as to be relatively movable in the Y-axis direction. In the illustrated example, two of the four X-axis slides 112 each support two Y-axis slides 140 so as to be movable, and the other two support one Y-axis slide 140. A pair of guides 144 are provided on the side surface 142 of the main body 132 of the X-axis slide 112 in parallel with the Y-axis direction so as to guide the movement of the Y-axis slide 140. The Y-axis slide 140 is moved in the Y-axis direction by a linear motor 146 that is a feeding device. Between the pair of guides 144, a stator 148 having a large number of permanent magnets is fixed to the side surface 142 of the main body 132 in a state of extending in the Y-axis direction. The Y-axis slide 140 includes a pair of arm portions 152 and has a U-shaped cross section. A guide block 156 holding a large number of balls 154 is attached to the tip of each arm portion 152, and these guide blocks 156 are engaged with the guide 144. A mover 158 is provided on each arm 152 on the side facing the stator 148. In this embodiment, the Y-axis slide 140 is detachable from the X-axis slide 112, and the number of Y-axis slides 140 for one X-axis slide 112 can be changed as necessary.

  Instead of making the Y-axis slide 140 detachable, a retracting area may be provided at at least one end of the X-axis slide 112 so that the number of Y-axis slides 140 to be operated can be adjusted. . Further, a guide and a stator may be provided on the opposite side of the main body 132 of the X-axis slide 112 so that the Y-axis slide can be mounted on both sides.

  As shown in FIG. 4, a reference mark camera 172 that images the reference mark 170 provided on the upper surface of the printed wiring board 12 is supported on the Y-axis slide 140. On the other hand, as shown in FIG. 1, reference marks 170 are provided at two places on the printed wiring board 12. Each Y-axis slide 140 is provided with a reference mark camera 172, and by acquiring the relative position between the mounting heads 100, 102, 104 and the printed wiring board 12, the mounting position of each Y-axis slide 140 is corrected independently. Is done. The reference mark camera 172 includes a CCD (Charge Coupled Device) which is a kind of solid-state image sensor and a lens system including an imaging lens, and a surface imaging apparatus which is a kind of imaging apparatus that acquires a two-dimensional image of a subject at once. Has been. The CCD has a large number of minute light receiving elements arranged on an image pickup surface or image pickup region, and generates an electric signal corresponding to the light receiving state of each light receiving element. An illumination device 173 is provided corresponding to the reference mark camera 172, and illuminates the subject and its surroundings during imaging.

  As shown in FIG. 5, an engaging protrusion 162 protruding from the side surface 160 is formed on the side surface 160 of the Y-axis slide 140 opposite to the arm portion 152. As shown in FIG. 4, the engagement protrusion 162 is provided side by side with the reference mark camera 172. As shown in FIG. 6, the engagement protrusion 162 is gradually increased in width as it is away from the main body 150, and has a maximum width at the end surface 164. The cross-sectional shape is “present” having a so-called dovetail shape (bachi shape), and extends in the vertical direction along the side surface 160. Any one of the mounting heads 100, 102, and 104 is attached to the Y-axis slide 140 using the engaging protrusion 162.

  The mounting head 100 includes a head main body 180 extending in a plate shape in the vertical direction, and an engagement groove in which the above-described engagement protrusion can be engaged along a side surface of the head main body 180 facing the Y-axis slide 140. 182 is formed extending in the vertical direction. The engaging groove 182 is formed to be wider and shallower than the engaging protrusion 162 as a whole, and is formed in a dovetail shape having the largest width at the groove bottom 183. The engagement groove 182 is formed so as to penetrate the head main body 180 in the vertical direction, and protrudes toward the Y-axis slide 140 at the upper end surface of the head main body 180. A stopper member 184 is fixed. When the engaging protrusion 162 is caused to enter the groove from the lower opening of the engaging groove 182, the stopper surface, which is the lower surface of the stopper member 184, comes into contact with the upper end surface of the engaging protrusion 162, whereby the mounting head 100. The position in the vertical direction with respect to the Y-axis slide 140 is uniquely determined.

  As described above, the engaging groove 182 is formed wider than the engaging protrusion 162. However, as shown in FIG. 6, the gap between the engaging groove 182 and the engaging protrusion 162 has a gap. A slightly thinner spacer 186 is provided. A plurality of female screw holes 188 are formed through the head main body 180 from the side surface to the engaging groove 182, and the set screws 190 are screwed together. The tip of the set screw 190 is a tapered portion 194 having a tapered surface 192 corresponding to the side surface of the spacer 186. If the set screw 190 is tightened in a direction to press the spacer 186 against the engaging projection 162, the tapered portion The groove bottom 183 and the side surface 195 of the engagement groove 182 are pressed against the engagement protrusion 162 by the effect of the inclined surfaces of 194 and the spacer 186. As a result, the mounting head 100 is uniquely positioned even in the horizontal direction and is stably held on the Y-axis slide 140. The engaging protrusion 162 constitutes a head holding portion provided on the Y-axis slide 140 as the second moving member, and the engaging groove 180, the spacer 186, and the set screw 190 are detachably attached to the head holding portion. The mounting part is configured.

  A component imaging device 360 that images the holding posture of the component 16 is provided at a position corresponding to the space between the wiring board conveyor 14 and the component supply devices 20 and 22 below the X-axis slide 112. . Since the configuration of the component imaging device 360 is substantially the same as that described in Japanese Patent Application No. 2001-172915, it will be briefly described. However, as shown in FIG. A device 364 is provided. However, FIG. 5 shows only a part of the light guide device 364. A component camera 362 that images the component 16 is fixed downward by a holding member 366 on the opposite side of the X-axis slide 112 from the side on which the mounting head 100 is provided and above the light guide device 364. .

  When the mounting head 100 is moved by the XY moving device 106 and reaches a position located on the light guide device 364 in the Y-axis direction, the component camera 362 can image the component 16. The component imaging device 360 is disposed at a position where an image of the component 16 can be captured on the movement locus of the component 16 when the Y-axis slide 140 moves with respect to the X-axis slide 112. An imaging system including the camera 362 and the light guide device 364 images an imaging target object such as the component 16 from below. Similar to the reference mark camera 172, the component camera 362 is a CCD camera which is a surface imaging device. Although not shown, an illumination device for irradiating ultraviolet light and visible light is provided at a portion of the light guide device 364 facing the mounting head 100, and the component camera 362 projects a projected image and a front image of the component 16. And can be selectively imaged.

Since the mounting head 100 of FIG. 7 has substantially the same configuration as that described in Japanese Patent Application No. 2001-287339, it will be described briefly.
The mounting head 100 is a multiple holding head that includes a plurality of component mounting units 198 (three in this embodiment) and can hold a plurality of components at a time. These three component mounting units 198 are provided on the X-axis slide 112 in a row in parallel to the X-axis direction. These component mounting units 198 have the same configuration, and one of them will be described as a representative. The component mounting unit 198 includes a suction nozzle 200 as a component holder, a nozzle holder 202 that holds the suction nozzle 200, a holder lifting device 204, and a holder rotating device 206. The holder lifting / lowering device 204 moves the nozzle holder 202 in a direction parallel to the vertical direction, which is a direction perpendicular to the horizontal XY coordinate plane, and moves the nozzle holder 202 closer to and away from the printed wiring board 12. It can also be called a device or an approach / separation device. The holder rotating device 206 rotates the nozzle holder 202 around its vertical rotation axis.

  The holder lifting / lowering device 204 includes a lifting / lowering member 210 and a lifting / lowering member moving device 212 which are movable members provided on the head main body 180 so as to be movable in the vertical direction. The elevating member moving device 212 uses an elevating motor 216 as a drive source, and the rotation thereof is transmitted to a ball screw 224 which is a feed screw by a rotation transmitting device including a driving pulley 218, a driven pulley 220 and a driving belt 222. The ball screw 224 is provided on the head main body 180 so as to be rotatable about a vertical axis and not to be movable in the axial direction, and is screwed to a nut 226 fixed to the elevating member 210, whereby the ball screw 224 is rotated. The elevating member 210 is moved up and down. The raising and lowering of the elevating member 210 is guided by a guide device including a pair of rail-shaped guide members (one is shown in FIG. 3) 228 provided in the vertical direction on the head main body 180. The driving pulley 218 and the driven pulley 220 are constituted by timing pulleys, and the driving belt 222 is constituted by a timing belt.

  The nozzle holder 202 is provided on the elevating member 210 so as to be rotatable about a vertical axis, holds the suction nozzle 200 in a detachable manner, and rotates the nozzle holder 202 so that the suction nozzle 200 is rotated around a vertical rotation axis. Rotated. Further, the nozzle holder 202 is raised and lowered by raising and lowering the raising and lowering member 210, whereby the suction nozzle 200 is raised and lowered. In this embodiment, for example, the nozzle holder 202 is configured in the same manner as the nozzle holder described in Japanese Patent No. 3093339, and detailed illustration and description thereof will be omitted.

  The holder rotating device 206 is provided on the elevating member 210. The holder rotating device 206 uses the rotation motor 240 as a drive source, and the rotation of the holder rotation motor 240 is transmitted to the nozzle holder 202 by the driving gear 242 and the driven gear 244 so that the nozzle holder 202 is rotated around its own vertical axis. It can be rotated at an arbitrary angle in both forward and reverse directions.

  The suction nozzle 200 has a nozzle body 250 and a suction pipe 252 fitted to the nozzle body 250. The nozzle body 250 forms a held portion, and the suction pipe 252 forms a suction portion. The nozzle body 250 is held by the nozzle holder 202 so as to be relatively movable in the axial direction and not to be relatively rotatable. The suction nozzle 200 sucks the component 16 with a negative pressure, and is connected to a negative pressure source, a positive pressure source and the atmosphere (not shown) through a passage provided in the nozzle holder 202 and the like. By switching the electromagnetic directional switching valve device, the suction pipe 252 is selectively brought into communication with the negative pressure source, the positive pressure source and the atmosphere to suck and hold the component 16 and release it.

In the three component mounting units 198, the pitch in the direction parallel to the X-axis direction between the rotation axes of the nozzle holders 202 (designated normal pitch) is an integral multiple of the feeder holding pitch in the feeder support table 92. It is provided as follows.
The types of the three suction nozzles 200 that are respectively attached to the nozzle holder 202 of these three component mounting units 198 are often different from each other, but here, in order to simplify the explanation, the three suction nozzles 200 are used. The types of 200 are the same, and the suction nozzle 200 can hold any type of component even if the types of components supplied by the plurality of feeders 90 of the component supply apparatuses 20 and 22 are different.

  Next, another mounting head 102 will be described with reference to FIGS. Since the mounting head 102 is substantially the same as that described in Japanese Patent Application No. 2000-357367, it will be briefly described. However, the mounting head 102 is a large component head that can be mounted by sucking and holding relatively large components. .

  As shown in FIG. 8, the mounting head 102 includes an elevating member 280 attached to the head main body 180 so as to be elevable. A pair of guides 282 provided on the elevating member 280 are fitted into guide blocks 283 provided on the head main body 180. Guided by a guide device including the guide 282 and the guide block 283, the elevating member 280 is moved up and down by a feed screw 284 and a Z-axis motor 286 (see FIG. 12). The rotation of the Z-axis motor is transmitted to the feed screw 284 through the timing pulley 288, the timing belt 289, etc., and the feed screw 284, the timing belt 289, the timing pulley 288, the Z-axis motor, etc. constitute the lifting device 290. is doing. As the Z-axis motor, an electric motor that can accurately control the rotation angle, such as a servo motor or a stepping motor, is suitable. The lifting device may be a fluid pressure actuator such as an air cylinder.

  As shown in FIG. 9, the elevating member 280 holds a rotary shaft 292 via a bearing 291 so as to be relatively rotatable and not relatively movable in the axial direction. A backlash-removed driven gear 294 composed of two gears is fixed to a flange-shaped attachment portion 293 provided integrally with the lower end portion of the rotating shaft 292. The driven gear 294 is engaged with a driving gear (not shown) fixed to the output shaft of the θ-axis motor 296 (see FIG. 8), and when the driven gear 294 is rotated, the rotating shaft 292 is rotated around the vertical axis. To be rotated. A support shaft 304 is provided coaxially in the rotation shaft 292 and is fixed so as not to be relatively movable in the axial direction and not to be relatively rotatable.

  A passage 314 penetrating along the axis is formed in the support shaft 304. A radial passage 316, a rotary joint 318, a hose 320, and an electromagnetic direction switching valve 322 (see FIG. 12) formed in the rotary shaft 292 are formed. ) To a negative pressure source (not shown). Supply and interruption of the negative pressure to the passage 314 are performed by switching the electromagnetic direction switching valve 322.

  The portion of the support shaft 304 that protrudes from the mounting portion 293 of the rotating shaft 292 holds the nozzle holder 332 coaxially as shown in FIG. The nozzle holder 332 holds the suction nozzle 334 in a detachable manner. The nozzle holder 332 is attached to the protruding end portion of the support shaft 304 so as not to be relatively rotatable and relatively movable in the axial direction. In the present embodiment, the suction nozzle 334 constitutes a component holder, and the nozzle holder 332 constitutes a holder. Alternatively, the entire portion (rotating shaft 292, support shaft 304, etc.) that can be moved up and down together with the lifting member 280 including the nozzle holder 332 can be considered as a holder. The adsorption nozzle 334 includes an adsorption tube holder 340 and an adsorption tube 342. An intake passage (not shown) penetrating along the axis is formed inside the adsorption pipe holder 340 and the adsorption pipe 342 and opens to the adsorption surface 344 of the adsorption pipe 342. According to this mounting head 102, since the opening in the suction surface 344 of the suction pipe 342 is formed with a large diameter, even if the component 16 is large, it can be reliably sucked and held.

Further, another mounting head 104 will be described with reference to FIG. Since the mounting head 104 has substantially the same configuration as that described in Japanese Patent Laid-Open No. 10-163677, it will be briefly described.
The mounting head 104 is formed with an arm portion 400 that extends in the opposite direction to the stopper member 184 at the upper end portion of the head main body 180, and the arm portion 400 is intermittently rotated around the vertical axis 402. Is supported in a suspended state. By the intermittently rotating body, the suction nozzles 404 as a plurality of component holders are held at equal angular intervals around the rotation axis so that they can be relatively rotated and moved up and down. The suction nozzle 404 is turned around the rotation axis along with the intermittent rotation of the intermittent rotating body 402, and is stopped at a stop position set at regular intervals. At each stop position, for example, a component receiving / mounting position for receiving a component from a component supply device or mounting a component on a printed wiring board, a posture detection position for detecting the posture of a sucked component, and a component posture are corrected. The posture correction position is included.

  The mounting heads 100, 102, and 104 described above are selected according to the type, size, and shape of the component 16 to be mounted and attached to the Y-axis slide 140. Further, the suction nozzles 200, 334, 404, and the like are exchanged according to the type of the part 16, whereby the various parts 16 are favorably held by suction. Here, the mounting head 100 or the mounting head 104 having a plurality of suction nozzles 200 is attached to the upstream mounting device 18, and the mounting head 102 having the suction nozzle 334 capable of holding a large component in the downstream mounting device 18. Is attached.

  The electronic circuit component mounting machine 2 is controlled by a control device 410 shown in FIG. The control device 410 is configured mainly by a computer 420 having a CPU 412, a ROM 414, a RAM 416 and a bus connecting them. An input / output interface 422 is further connected to the bus. Various actuators such as the linear motor 50 and the conveyor drive motor 36 are connected to the input / output interface 422 via a drive circuit 426. Further, the reference mark camera 172 and the component camera 362 are connected to the input / output interface 422 via the control circuit 427. An origin detector 428 and a position detector 430 are connected to the input / output interface 422, and the linear motor 50 is controlled based on these detection results. The encoder 432 of the drive motor 36 is also connected to the input / output interface 422.

  The input / output interface 422 is further connected to a host computer 440 and a parts data generator (hereinafter abbreviated as PDG) 442. The host computer 440 and the PDG 442 store a mounting program corresponding to the type of the printed wiring board 12, data including the type and shape of the component 16 to be mounted, and the supply position in the component supply devices 20 and 22, and this mounting Information necessary for the work is transmitted to the computer 420 and stored in the RAM 416. The ROM 414 stores basic programs and data necessary for mounting the printed wiring board 12.

  Hereinafter, the mounting operation of the component 16 by the electronic circuit component mounting machine 2 will be described. However, the description of the already well-known part of the mounting operation will be omitted, and only the part related to the present invention will be described in detail.

First, when the electronic circuit component mounting machine 2 is activated, the stop device 40 is positioned to define the work position on the wiring board conveyor 14 according to the type of the printed wiring board 12 to which the component 16 is to be mounted this time. Is done. In the electronic circuit component mounting machine 2, a work position (work area) where a mounting operation for mounting the component 16 on the printed wiring board 12 is performed is set in advance corresponding to the size of the printed wiring board 12. Each stop device 40 is moved by the linear motor 50 to a position corresponding to the work position.
Depending on the size of the printed wiring board 12, the number of work positions that can be set may be smaller than the number of stop devices 40 that are mounted in advance. In such a case, an extra stop device is used. 40 is saved in the save area, and the required number of stop devices 40 are positioned.

  If all the stop devices 40 are positioned, the conveyance by the wiring board conveyor 14 is permitted. The conveyance is performed simultaneously for the plurality of printed wiring boards 12 on the wiring board conveyor 14, and each printed wiring board 12 is moved toward the work position adjacent to the downstream side. In the stop device 40, the stopper 54 is positioned at the non-operation position before the conveyance is started. Until the printed wiring board 12 reaches the deceleration position, it is kept waiting as it is, and after the printed wiring board 12 positioned by a certain stopping device 40 passes over the stopping device 40, it is stopped this time. The stopper 54 is moved from the non-operating position to the operating position before the printed wiring board 12 reaches the work position to be performed. In this embodiment, if the printed wiring board 12 is detected by the deceleration sensor 56 of any of the stopping devices 40, the stoppers 54 are positioned at the operating positions for all the stopping devices 40, and the wiring board conveyor 14 is decelerated. If the printed wiring board 12 is detected by the stop position sensors 58 of all the stopping devices 40, the wiring board conveyor 14 is stopped assuming that all the printed wiring boards 12 have reached the stop position. In this state, the support base 70 is raised and the printed wiring boards 12 are supported from below by the support pins 72, and the printed wiring boards 12 are clamped by the clamp members 84. In this embodiment, the wiring board holding devices 42 are densely arranged, and even if one printed wiring board 12 is positioned at a position across the plurality of wiring board holding devices 42, it can be held without any trouble. Therefore, the printed wiring board 12 is satisfactorily held regardless of the work position of the printed wiring board 12.

  As described above, when the printed wiring board 12 is positioned and held at the work position where the component 16 is to be mounted this time, the mounting operation is performed by the mounting device 18. The component feeder 90 and the component tray 96 of the component supply devices 20 and 22 are associated with one of the mounting devices 18, and a shared component group that is a component 16 to be mounted for each mounting device 18 is set. The shared component group is set according to the type of the printed wiring board 12. In the present embodiment, the component supply devices 20 and 22 are set in common for a plurality of types of printed wiring boards 12 during the setup operation. However, by changing the shared component group of each mounting device 18, each mounting device The time required for 18 operations can be made substantially uniform.

  The shared parts group will be described. In the present embodiment, each component 16 is basically set on the supply portion of the component supply devices 20 and 22 and the printed wiring board 12 among the printed wiring boards 12 positioned at a plurality of work positions. The printed circuit board 12 is associated with the printed circuit board 12 so that the distance from the component mounting position is as short as possible. The shared component group includes a mounting device 18 having a mounting head corresponding to each component 16 among the mounting heads 100, 102, and 104, depending on the number of components assigned to each mounting device 18. The working time is determined to be almost equal. The shared component group may be determined based on the distance between the supply units of the component supply devices 20 and 22 and the component mounting position of the printed wiring board 12, the allowable acceleration and deceleration of the component 16, and the like.

  In the present embodiment, the setup of the component supply devices 20 and 22 is common to a plurality of types of printed wiring boards 12, so that depending on the type of the printed wiring board 12, it should be mounted at a certain work position. There are cases where the number of parts 16 increases and the number of parts 16 to be mounted in another work position decreases. However, in the electronic circuit component mounting machine 2, the mounting device 18 is movable in the X-axis direction along the common stator 114. In such a case, the mounting device 18 is a certain mounting device 18. A part of the mounting work at a work position that is another work position and that has a large number of parts 16 to be mounted is assigned to the work that is performed on the printed wiring board 12 at a work position that has few parts 16 to be mounted. Thus, the working time of the mounting device 18 can be equalized.

  Furthermore, it is possible to further improve the work efficiency by increasing the mounting device 18 without being restricted by the number of work positions.

As described above, when a shared component group is set for each mounting device 18, the printed wiring board 12 is carried in and mounting work is started.
The plurality of printed wiring boards 12 are conveyed all at once by the wiring board conveyor 14. If any one of the plurality of printed wiring boards 12 is detected by the deceleration start position sensor 56 of the stop device 40, the wiring is performed. The plate conveyor 14 is controlled to start deceleration. If the conveyance speed by the wiring board conveyor 14 is reduced to a speed at which the printed wiring board 12 does not receive an excessive impact when contacting the stopper 54 of the stopping device 40, all the printed wiring boards 12 reach the working position. Until then, the conveyance is continued at the low speed. When all the printed wiring boards 12 come into contact with the stopper 54 and are detected by the stop position sensor 58, the conveyance by the wiring board conveyor 14 is stopped. The printed wiring board 12 is positioned and held at each work position by the wiring board holding device 42.

  Next, the relative position between each mounting device 18 and the printed wiring board 12 is detected. For each mounting device 18, the reference mark 170 is imaged by the reference mark camera 172 of the mounting device 18 for all the printed wiring boards 12 to which components are to be mounted, and the parallel movement position of the corresponding printed wiring board 12 and A rotational position about the vertical axis is detected. In this embodiment, even when a plurality of mounting heads 100, 102, 104 are provided in one mounting device 18, the reference mark camera 172 is provided for all of the plurality of mounting heads 100. The relative position with respect to the printed wiring board 12 is detected for each mounting head 100 or the like, and the mounting position is corrected. However, when one mounting device 18 is provided with a plurality of mounting heads 18 and the like, only one of the mounting heads 100 and the like is provided with the reference mark camera 172, and only the reference mark camera 172 is provided. The mounting position may be corrected based on the imaging result.

  The mounting operation is performed according to a mounting order (mounting program) predetermined for each shared component group. This execution order is determined so that, for example, the small component 16, in particular, the component 16 having a low height is mounted first. If the component 16 having a high height is mounted first, it is necessary to mount the subsequent component 16 while avoiding interference with the high component 16, and the mounting efficiency is often lowered accordingly. Because. If the part 16 that is mounted first is high and the high part 16 is positioned in the passage of the suction nozzle 200 and the part 16 when the subsequent part 16 is mounted, the part 16 is high in plan view. It is necessary to curve the passage path so as to avoid 16 or move the suction nozzle 200 and the component 16 directly above the mounting point while keeping the suction nozzle 200 and the component 16 at a high position, and then descend vertically. In any case, the time required from taking out the component 16 to mounting becomes longer, and the efficiency of the mounting work is reduced.

  In the electronic circuit component mounting machine 2, the total moving distance of the mounting head 100 and the like necessary for mounting all the components of one shared component group (a plurality of components of one type may be mounted) is calculated. It is necessary to mount all components in consideration of the acceleration and deceleration allowed by the mounting head 100 etc. in relation to not only the total moving distance but also the type of components so that it can be as short as possible. The arrangement of the component feeder 90 is determined so that the time can be as short as possible.

  However, in the electronic circuit component mounting machine 2, it is not indispensable to provide a space between the mounting areas, and the mounting areas may be set to be close to each other or partially overlap in the X-axis direction. is there. In that case, it is necessary to determine the mounting order and the arrangement of the component feeders 90 so that the mounting devices 18 adjacent to each other do not interfere with each other in the vicinity of the end of each mounting region. For example, at least for the mounting devices 18 that interfere with each other, if the mounting order is determined so that the mounting is performed from the upstream side or the downstream side of the wiring board conveyor 14, it is easy to avoid the mounting devices 18 from interfering with each other. can do. However, if this rule is completely followed, the mounting efficiency is often lowered.In practice, this rule and the above-mentioned rules are appropriately combined to reduce the mounting efficiency as much as possible within the range where interference can be avoided. It is desirable that the mounting order and the arrangement of the component feeders 90 are determined so as to be improved.

  In this electronic circuit component mounting machine, even when the mounting work is being performed on the same type of printed wiring board 12, a group of parts shared by the mounting device 18 is determined based on the work result of each mounting device 18. Be changed. In the initial stage when the mounting operation is started, even if the determination of the shared parts group is somewhat inappropriate, the time difference of the required time between the mounting devices 18 is reduced while the mounting operation is repeatedly performed. It will be made to share appropriately. In addition, even after appropriate sharing has been realized, there are cases in which an extraction error or a mounting error may occur in a specific suction nozzle 200 or component feeder 90 as time elapses. The required time is increased by the amount of time required for the operation to be performed, and the difference from the required time of the other mounting devices 18 may increase. Therefore, when the difference in the required time of each mounting device 18 exceeds a preset time difference, the parts belonging to the shared parts group of the mounting device 18 whose required time has become longer are the other mounting devices 18. The working time is made uniform by turning to the shared parts group.

An example of the control for that is demonstrated based on the automatic assignment change routine shown in FIG.
First, in step S1 (hereinafter simply referred to as S1, the same applies to other steps), the required time tn of the component mounting operation executed last time is acquired for each of the n mounting devices 18. Next, in S2, the maximum value tmax and the minimum value tmin of the required time tn are acquired. Proceeding to S3, it is determined whether or not the time difference between the maximum value tmax and the minimum value tmin is greater than a predetermined set time t0. If the time difference is equal to or less than the set time t0, the determination in S3 is NO, and one execution of this program ends. On the other hand, when the time difference is larger than the set time t0, the determination in S3 is YES, and the process proceeds to S4, where the shared component group of each mounting apparatus is changed. Since the amount of the shared parts group of the mounting device 18 having the longest required time is reduced and the amount of the shared parts group of the mounting device 18 having the shortest required time is increased, the sharing of the mounted parts is changed. is there. At that time, if the mounting device 18 with the longest required time and the mounting device 18 with the shortest time are adjacent to each other, only the change between them is sufficient, but if there is another mounting device 18 in between, A part is turned from the mounting device 18 having the longest required time to another adjacent mounting device 18, and an excessively large part group of the adjacent mounting device 18 is further turned to the adjacent mounting device 18. It is necessary or desirable to increase the shared parts group of the mounting device 18 that has been required to travel in the shortest time. When the mounting device 18 having the longest required time skips the other mounting device 18 and directly turns the component to the mounting device 18 having the shortest required time, the mounting device 18 moves to take out the component. In addition, it interferes with other mounting devices 18 or the travel distance of the mounting devices 18 becomes unnecessarily long. When the change of the assigned parts group in S4 is completed, one execution of this program is completed.

When a series of mounting operations for a predetermined number of printed wiring boards 12 of one type is completed and then a mounting operation is performed on another type of printed wiring board 12, the printed wiring board 12 is connected to the component supply device 20, If the setup of 22 is already performed, the mounting operation can be started without replacing the component feeder 90 and the component tray 96 of the component supply devices 20 and 22.
The electronic circuit component mounting machine 2 of the present embodiment is configured such that mounting work is performed in parallel on a plurality of printed wiring boards 12, and the total length of the mounting work area is long. Therefore, the number of component feeders 90 and component trays 96 that can be arranged along the mounting work area is large. In addition, since the movable range in the X-axis direction of each mounting device 18 is wide, it is possible to mount a component feeder 90 and a component tray 96 to which components 16 should be supplied to a plurality of types of printed wiring boards 12. It can be done.

  When the components 16 are mounted on the various types of printed wiring boards 12, different combinations of component feeders 90 and component trays 96 are required, and some of them are common to a plurality of types of printed wiring boards 12. Are also included and can be used in common for a plurality of printed wiring boards 12. Therefore, even if the types of target printed wiring boards 12 increase, the types of component feeders 90 and component trays 96 that are necessary for the increase do not increase. For this reason, the component feeder 90 and the component tray 96 corresponding to a plurality of types of printed wiring boards 12 can be mounted together, and each time the type of the printed wiring board 12 changes, the component feeder that is mounted in advance. 90 or a part tray 96 that is appropriately selected is used. Since this selection is performed automatically, even if the type of the printed wiring board 12 changes, the mounting operation can be continued with almost no interruption.

  However, since the group of component feeders 90 that supply the component 16 to each of a plurality of types of printed wiring boards 12 cannot be mounted at the same position, the plurality of types of printed wiring boards 12 are stopped at different positions. It is desirable that This is because stopping at positions as close as possible to the group of component feeders 90 that supply the components 16 to each of them is desirable in order to reduce the total moving distance for mounting and improve mounting efficiency. Therefore, in the present embodiment, the position of the stopping device 40 is changed in a direction parallel to the transport direction according to the type of the printed wiring board 12. This change is automatically performed by executing the stop device control program.

  As is clear from the above description, in the electronic circuit component mounting machine 2, the part of the control device 410 that executes the automatic sharing change routine constitutes an “automatic sharing change unit”.

  In the above embodiment, the program of FIG. 13 is executed every time the mounting operation on one printed wiring board 12 is completed. However, the program is executed every set number of sheets or every predetermined time. It may be. For example, immediately after the start of a series of mounting operations for a certain type of printed wiring board 12, it is executed every time so that appropriate sharing can be realized early in the initial stage of the mounting operation. After the required time becomes substantially uniform, the time difference between the required times may be monitored every time the mounting operation on the set plurality of printed wiring boards 12 is completed. Thus, it is possible to satisfactorily realize both changing the assignment at the start of the mounting operation and changing the assignment in response to a change in the required time over time.

  Moreover, in the said embodiment, although the setup of the component supply apparatuses 20 and 22 was made common to multiple types of printed wiring boards 12, this is not indispensable, and this invention It also includes an electronic circuit component mounting machine in which the component supply devices 20 and 22 are replaced each time the type changes. Of course, the electronic circuit component mounting machine 2 of the above embodiment can be used in that mode, but can be used only in that mode, and the component supply devices 20 and 22 can be set up for a plurality of types of printed wiring boards 12. An electronic circuit component mounting machine that cannot be made common also belongs to the present invention.

  Furthermore, in the above-described embodiment, the feeding device that sends the X-axis slide 112 and the Y-axis slide 140 is the linear motors 110 and 146. However, this is not indispensable, and at least one of these feeding devices is used as a feed screw. And a nut may be provided. In the latter case, a ball screw, which is a feed screw, is fixedly provided to constitute a fixed feed portion, and a nut provided on each slide is used alone or in combination with an electric motor such as a servo motor that rotationally drives the nut. Thus, the movable feeding part is configured.

  Furthermore, in the embodiment, the stop position of the printed wiring board 12 is movable in the transport direction. However, the stop position may be fixed and set at a predetermined position. In the latter case, it is not indispensable to convey the plurality of printed wiring boards 12 at the same time by setting the wiring board conveyor 14 to have a length extending substantially over the entire length of the base 10. For example, a plurality of short conveying lengths may be combined, and it is desirable to provide wiring board conveyors corresponding to the stop positions of the printed wiring board 12 side by side. As a result, it is possible to transport a plurality of printed wiring boards 12 at the same time, but it is also possible to transport them at different timings. Specifically, the work on the downstream printed wiring boards 12 is completed. At the same time, it can be sequentially conveyed.

  As mentioned above, although some embodiment of this invention was described in detail, these are only illustrations and this invention was described in the above-mentioned section of [the subject which invention intends to solve, a problem-solving means, and an effect]. The present invention can be implemented in various forms including various modifications and improvements based on the knowledge of those skilled in the art.

BRIEF DESCRIPTION OF THE DRAWINGS It is a top view which shows notionally the electronic circuit component mounting machine which is one Embodiment of this invention, Comprising: (a) is a figure which illustrates a mode that each sharing component group is mounted | worn with each mounting apparatus, (b). FIG. 8 is a diagram showing a state where another shared component group is mounted. It is a top view which shows the wiring board holding | maintenance apparatus of the said electronic circuit component mounting machine. It is a side view (partial cross section) of the wiring board holding device shown in FIG. It is a front view (partial cross section) which shows a part of component mounting apparatus of the said electronic circuit component mounting machine. It is side surface sectional drawing which shows another part of the said component mounting apparatus. It is plane sectional drawing which shows another part of the said component mounting apparatus. It is a side view which shows the mounting head of the said component mounting apparatus. It is a side view which shows another mounting head of the said component mounting apparatus. It is front sectional drawing which shows another principal part of the said mounting head. It is a front view (partial cross section) which shows another principal part of the said mounting head. It is front sectional drawing which shows another mounting head of the said component mounting apparatus. It is a functional block diagram for demonstrating the control apparatus which controls the said electronic circuit component mounting machine. It is a flowchart for demonstrating the automatic assignment change routine stored in the said control apparatus.

Explanation of symbols

2: Electronic circuit component mounting machine 12: Printed wiring board 14: Wiring board conveyor 16: Electronic circuit component 18: Mounting device 20: Component supply device 22: Component supply device 40: Stop device 50: Linear motor 54: Stopper 56: Start Position sensor 58: Stop position sensor 100, 102, 104: Mounting head 106: XY movement device 108: Support member 110: Linear motor 112: X-axis slide 138: Retraction area 140: Y-axis slide 146: Linear motor 162 Engagement protrusion Portion 170: Reference mark 172: Reference mark camera 180: Head body 182: Engagement groove 184: Stopper member 186: Spacer 188: Female screw hole 190: Set screw 19 : Component mounting units 410: Control unit 412: CPU 414: ROM 416: RAM 420: Computer 422: input-output interface 426: drive circuit 428: Origin detector 430: the position detector 432: Encoder 440: host computer 442: PDG

Claims (12)

Body frame,
A board transport / holding device that is provided on the main body frame, transports the circuit board along a straight line, and holds the circuit board in a fixed manner;
A component supply device disposed along the direction of conveyance of the substrate conveyance / holding device on the side of the substrate conveyance / holding device,
(a) and the solid is provided in a state extending in parallel to the conveying direction constant feeding unit, a feeder and a variable dynamic feed unit provided for fixed feed portion of its, (b) the feed a first moving member that is moved in a direction parallel to the transport direction by the movable feed unit of the apparatus, the first moving member that (c), parallel to the surface of the circuit board held by the board conveying and holding device a second moving member which is movably held in a direction intersecting the transport direction of the circuit board in a plane, (d) moving a second Before moving in a direction intersecting the second movable member and each of the transport direction a member driving device, (e) is pre SL held by the second moving member, and parts for the holder that holds the electronic circuit components, (f) relative to the component holder for the second moving member by moving to, close to parts products holder to the circuit board held by the board conveying and holding device Includes spaced apart so Ru retained instrument drive unit and respectively, and, a plurality of mounting devices sharing the fixed feed unit,
The feed device of the plurality of mounting devices, and controls the second moving member driving device and the holder driving device, each of the component holder of the plurality of mounting apparatus, the electronic circuit component from the component supply device was removed, seen including a control device for mounting on a circuit board held by the board conveying and holding device, and the control device, movable in the component holder of one adjacent of said plurality of mounting apparatus An electronic circuit component mounting machine including means for setting a range without providing a space between the movable ranges . The feed device is a linear motor including a stator constituting the stationary feeding part, wherein comprising a number of permanent magnets plurality of mounting devices share and a movable element constituting the movable feed unit comprises a co-yl The electronic circuit component mounting machine according to claim 1. Fixing feeding portion to which the plurality of mounting devices are shared, the main body frame comprises a fixing of the feed screw, before hear dynamic feed portion, and a nut which is held by the first moving member, rotation drives the nut The electronic circuit component mounting machine according to claim 1, further comprising a nut rotation driving device that performs the operation. The electronic circuit component mounting machine according to any one of claims 1 to 3, wherein the control device includes means for changing a movable range in the transport direction of each first moving member of the plurality of mounting devices . Before SL controller, among the plurality of mounting apparatus, the electronic circuit component mounting machine according to any of claims 1 to 4 including means for varying the size of the movable range of the component holder together. Means for setting without providing a space between them movable range movement range of the component holder of one adjacent of said plurality of mounting apparatus, according to claim 1 including means for overlapping the movable range with each other The electronic circuit component mounting machine according to any one of 5 to 5 . Before SL controller, the circuit board that is stopped is held by the substrate transport and holding device, means for mounting electronic circuit components cooperate with one another in those adjacent ones of said plurality of mounting apparatus The electronic circuit component mounting machine according to any one of claims 1 to 6 . Before SL controller, the electronic circuit component mounting according to any one of claims 1 to 7 comprising a means for the same portion of the component supplying device in which adjacent remove the electronic circuit components to each other among the plurality of mounting devices Machine. The electronic circuit component mounting machine according to any one of claims 1 to 8, wherein a position where the circuit board transport / holding device holds the circuit board is changeable in the transport direction. 10. The electronic circuit component mounting machine according to claim 1, wherein the board transfer / holding device is capable of changing the number of circuit boards fixedly held in one electronic circuit component mounting machine. . 11. The control device according to claim 1, further comprising means for causing one of the plurality of mounting devices to perform a mounting operation on a circuit board on which the mounting operation is performed by another one of the plurality of mounting devices. The electronic circuit component mounting machine according to any one of the above. Mounting the electronic circuit component by the component holder held by each of the second movable members by using the component holder that holds the component holder held by each of the second movable members of the plurality of mounting devices. The electronic circuit component mounting machine according to any one of claims 1 to 11, further comprising an automatic assignment change unit that automatically changes the time required for the change to be as substantially as possible.

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