JP5466624B2 - Mounting machine - Google Patents

Description

  The present invention relates to a mounting machine, and more particularly, to a mounting machine having a suction head capable of simultaneously sucking a plurality of components.

  2. Description of the Related Art Conventionally, there is known a component suction conveyance device having a vacuum suction pad (suction head) capable of simultaneously sucking a plurality of components (see, for example, Patent Document 1). The component sucking / conveying device is configured to simultaneously suck and suck a plurality of components from a tray holding a plurality of components for each predetermined number of components, and to transport the plurality of components to a predetermined transport destination. ing. Moreover, this component adsorption | suction conveyance apparatus is considered to be used for the mounting machine for mounting components on a board | substrate. Here, in the conventional mounting machine using such a component suction conveyance device, a defective component is obtained among the plurality of components acquired by performing an operation (normal operation) for simultaneously sucking a plurality of components from the tray. When a part is included, an operation (retry operation) of sucking the same number of parts as the defective part from the tray as an alternative part may be performed.

JP-A-8-294890

  However, in the conventional mounting machine as described above, for example, after a retry operation for sucking only one substitute part of one defective part from the tray is performed, a normal operation for sucking a plurality of parts together next is performed. When this is done, there may be a case where an area where a plurality of parts can be sucked together at the same time is not secured on the tray due to sucking one substitute part. In this case, it is necessary to divide a plurality of parts into two or more times, and there is an inconvenience that it takes time to pick up the parts. For this reason, there is a problem that the total time required for the operation of mounting the components held on the tray on the substrate increases.

  The present invention has been made to solve the above-described problems, and one object of the present invention is to increase the total time required for the operation of mounting the components held on the tray on the substrate. It is providing the mounting machine which can be suppressed.

Means for Solving the Problems and Effects of the Invention

  In order to achieve the above object, a mounting machine according to one aspect of the present invention includes a suction head capable of simultaneously sucking a plurality of first number of components and mounting the components sucked by the suction head on a substrate. From a first number of components, from a tray holding a plurality of second number components arranged in a matrix having a row or column comprising a number of components that is an integer multiple of the first number A control unit that controls the head unit so that the components are sucked to the suction head for each block, and the control unit simultaneously sucks the first number of components from the tray onto the suction head; If at least one component of the first number of components sucked simultaneously by the suction head is not mounted on the substrate, the replacement component of at least one component from the predetermined block of the tray When performing the next normal operation after performing the retry operation, the first operation is performed in a block different from the predetermined block that sucks the substitute part during the retry operation. The head unit is controlled so that several parts are simultaneously attracted to the suction head.

  In the mounting machine according to this aspect, as described above, the control unit performs the normal operation of simultaneously sucking the first number of components from the tray onto the suction head, and the first operation that is simultaneously sucked by the suction head during the normal operation. When at least one of the number of components is not mounted on the substrate, a retry operation is performed in which the suction head sucks at least one substitute component of the at least one component from a predetermined block of the tray, and the retry operation is performed. When the next normal operation is performed later, the head unit is controlled so that the suction head simultaneously sucks the first number of components arranged in a block different from the predetermined block that sucks the substitute component during the retry operation. It is configured as follows. With this configuration, even when a retry operation for sucking at least one alternative part from a predetermined block of the tray is performed, a block different from the predetermined block that picks up the alternative part is placed next to a plurality of blocks. It can be secured on the tray as a block capable of performing a normal operation of simultaneously sucking the first number of components together. As a result, it is not necessary to divide the plurality of first numbers of components into two or more times, so that an increase in the total time required for mounting the components held on the tray on the substrate is suppressed. be able to.

  In the mounting machine according to the above aspect, preferably, when performing the retry operation, the control unit preferentially sucks the substitute component to the suction head from the block that sucked the substitute component during the previous retry operation. Is configured to control. If configured in this way, the block that sucked the substitute part during the previous retry operation can be used as the block for sucking the substitute part. Therefore, more blocks than when sucking the substitute part from any block are used. Can perform simultaneous adsorption by normal operation. As a result, the components on the tray can be efficiently sucked.

  In the mounting machine according to the above aspect, preferably, when performing the retry operation, the control unit causes the suction head to suck the component arranged in the last block in the suction order for each block during the normal operation as an alternative component. Thus, the head unit is configured to be controlled. With such a configuration, even when a block that cannot simultaneously suck components by a normal operation is generated by performing a retry operation, it is not necessary to change the component sucking order until just before the final block. As a result, control processing during the component mounting operation is facilitated, and the components on the tray can be efficiently sucked.

  In this case, preferably, when performing the retry operation, the control unit cannot suck the component arranged in the last block in the suction sequence for each block during the normal operation to the suction head as an alternative component. The head unit is controlled so that the parts arranged in the second block from the last block are attracted to the suction head as substitute parts. With this configuration, even when a retry operation is performed a plurality of times, even if a new block that cannot simultaneously absorb components by the normal operation occurs due to the plurality of retry operations, the component suction is performed. It is not necessary to change the order from the last block to just before the second block. As a result, control processing during the component mounting operation is facilitated, and the components on the tray can be efficiently sucked.

It is a top view which shows the structure of the mounting machine by 1st and 2nd embodiment of this invention. It is a block diagram which shows the structure of the mounting machine by 1st and 2nd embodiment of this invention. It is a top view which shows the tray of the mounting machine by 1st and 2nd embodiment of this invention. It is a figure for demonstrating the adsorption | suction order of the components by the adsorption | suction head of the mounting machine by 1st Embodiment of this invention. It is a flowchart for demonstrating control operation of a control apparatus when components are mounted by the mounting machine by 1st Embodiment of this invention. It is a flowchart for demonstrating the detail of the determination process of the suction component performed in the flowchart shown in FIG. It is a figure for demonstrating the adsorption | suction order of the components by the adsorption | suction head of the mounting machine by 2nd Embodiment of this invention. It is a flowchart for demonstrating control operation | movement of the control apparatus when components are mounted by the mounting machine by 2nd Embodiment of this invention. It is a flowchart for demonstrating the detail of the determination process of the suction component performed in the flowchart shown in FIG. It is a figure for demonstrating the adsorption | suction order of the components by the adsorption | suction head of the mounting machine by the 1st modification of 1st Embodiment of this invention. It is a figure for demonstrating the adsorption | suction order of the components by the adsorption | suction head of the mounting machine by the 2nd modification of 1st Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
Hereinafter, with reference to FIGS. 1-4, the structure of the mounting machine 100 by 1st Embodiment of this invention is demonstrated.

  As shown in FIG. 1, the mounting machine 100 includes a base 1, a board transfer conveyor 2, and a head unit 3. The mounting machine 100 is a device for mounting components on a printed circuit board (board 50) using the head unit 3. The components are electronic components such as ICs, transistors, capacitors, and resistors.

  The base 1 is provided with three tape component supply units 4, 5 and 6, one tray component supply unit 7, and two component recognition cameras 8. The tape component supply units 4 and 5 are provided at the end of the base 1 on the arrow Y1 direction side. Further, the tape component supply unit 6 and the tray component supply unit 7 are provided on the end of the base 1 on the arrow Y2 direction side. One component recognition camera 8 is provided between the tape component supply unit 4 and the tape component supply unit 5 on the base 1 and between the tape component supply unit 6 and the tray component supply unit 7. ing.

  In the tape component supply units 4, 5 and 6, a plurality of tape feeders 9 holding small components are provided so as to be arranged in the X direction. These tape component supply units 4, 5 and 6 are configured to supply small components via a component extraction unit 9 a at the tip of the tape feeder 9.

  The tray component supply unit 7 is provided with a pallet storage unit 7a and a pallet drawer mechanism 7b. In the pallet storage part 7a, a plurality of pallets 10 having trays 10a for holding large components are stored in a replaceable manner. The pallet drawer mechanism 7b is configured to convey the pallet 10 stored in the pallet storage portion 7a to a predetermined position. That is, the tray component supply unit 7 transports the pallet 10 stored in the pallet storage unit 7a to a predetermined position in the direction of the arrow Y1 by the pallet pulling mechanism 7b, so that the large-size tray 10a held on the pallet 10 is held. It is configured to supply parts.

  The tray 10a is installed on the pallet 10 so that the longitudinal direction is along the X direction. Further, as shown in FIG. 3, 24 parts are held in the tray 10a. These 24 parts are arranged in a matrix having rows of 8 parts and columns of 3 parts. These 24 parts are all the same kind of electronic parts. In the following description, these 24 parts are divided into 6 blocks (referred to as blocks A, B, C, D, E, and F, respectively) for convenience. Each of these six blocks (blocks A to F) is composed of four components arranged in the row direction (X direction).

  The component recognition camera 8 is installed on the base 1 at a height position below the head unit 3. In addition, the component recognition camera 8 is provided so that the imaging direction faces upward. In addition, the component recognition camera 8 is configured to be able to take an image of a component sucked by a suction head 3a (to be described later) of the head unit 3 from the lower surface side. Further, the image data captured by the component recognition camera 8 is used as a criterion for determining whether or not the component sucked by the suction head 3a is a defective component. This determination is performed by the control device 13 (see FIG. 2) described later.

  The substrate transport conveyor 2 has a pair of conveyor portions 2a arranged in the Y direction, and is provided on the base 1 so as to extend in the X direction. This board | substrate conveyance conveyor 2 has the function to convey the board | substrate 50 carried in from the conveyance path which is not illustrated in a X direction. Specifically, the substrate transport conveyor 2 is configured to carry out the substrate 50 loaded from the arrow X2 direction side (upstream side) toward the arrow X1 direction side (downstream side).

  The head unit 3 is configured to be movable in the X direction along a head unit support portion 11 extending in the X direction at a predetermined height position above the base 1. Specifically, the head unit support portion 11 includes a ball screw shaft 11a extending in the X direction and a servo motor 11b (X-axis motor (see FIG. 2)) that rotates the ball screw shaft 11a. When the ball screw shaft 11a is rotated by the servo motor 11b, the head unit 3 moves in the X direction with respect to the head unit support portion 11. The head unit 3 has a ball nut (not shown) that is screwed onto the ball screw shaft 11a.

  Further, the head unit support portion 11 is configured to be movable in the Y direction along a pair of rail portions 12 extending in the Y direction provided so as to straddle the substrate transport conveyor 2 on the base 1. Specifically, the pair of rail portions 12 includes a pair of ball screw shafts 12a extending in the Y direction and a pair of servo motors 12b (Y-axis motor (see FIG. 2)) for rotating the pair of ball screw shafts 12a. Have. The pair of ball screw shafts 12a are synchronously rotated by these servo motors 12b, so that the head unit support portion 11 moves in the Y direction with respect to the pair of rail portions 12. The head unit support portion 11 has a ball nut (not shown) to which the ball screw shaft 12a is screwed. As a result, the head unit 3 is located above the substrate 50 (substrate conveyor 2), above the tape feeder 9 (component take-out portion 9a) of each of the tape component supply units 4, 5 and 6, and on the pallet of the tray component supply unit 7. 10 (tray 10a) and horizontally movable to a position above the component recognition camera 8.

  Further, the head unit 3 is provided with four suction heads 3a arranged side by side with a predetermined interval in the X direction. A suction nozzle (not shown) for sucking and mounting components is attached to each suction head 3a so as to protrude downward at the tip (lower end). Each suction head 3a includes a servo motor (Z-axis motor (see FIG. 2)) that moves the suction nozzle in the vertical direction (Z direction), and a servo motor (R-axis) that rotates the suction nozzle about its axis. A motor (see FIG. 2)) is provided.

  With such a configuration, the head unit 3 moves the upper part of the base 1 in the X and Y directions, thereby sucking components from the component take-out portion 9a of the tape feeder 9 or the tray 10a on the pallet 10, and sucked components. Can be mounted on a printed circuit board (substrate 50) on the substrate transport conveyor 2. In addition, the pitch (interval in the X direction) of the suction nozzles of the suction heads 3a matches the pitch (longitudinal direction) in the X direction of each component arranged on the tray 10a. A substrate recognition camera 3b for recognizing the position of the printed circuit board (substrate 50) is provided on the side of the head unit 3 on the arrow X1 direction side.

  The operation of the mounting machine 100 is controlled by the control device 13 shown in FIG. The control device 13 includes a main calculation unit 13a, a drive control unit 13b, an image processing unit 13c, and a storage unit 13d.

  The main arithmetic unit 13a is configured to control the entire control device 13. The drive control unit 13b includes a motor (X-axis motor 11b, Y-axis motor 12b, Z-axis motor and R-axis motor) for moving the head unit 3 in each direction, a pallet storage unit 7a, and a pallet drawer mechanism. 7b is configured to control the drive of the motors (pallet replacement motor and pallet drawing motor) for operating 7b. In addition, the image processing unit 13c is configured to perform image processing of image data captured by the board recognition camera 3b and the component recognition camera 8. The storage unit 13d is configured to store various programs executed by the main calculation unit 13a, the drive control unit 13b, and the image processing unit 13c.

  Here, in the first embodiment, the control device 13 performs the operation (normal operation) of acquiring four components (four components included in each of the blocks A to F) from the tray 10a. 3 is controlled. Specifically, the control device 13 simultaneously sucks the four components included in each of the blocks A, B, C, D, E, and F in this order on the four suction heads 3a during normal operation. Thus, the head unit 3 is configured to be controlled. For example, as shown in FIG. 4, when four parts included in the block A as the normal operation are simultaneously sucked by the four suction heads 3 a, four parts included in the block B as the next normal operation. Are simultaneously sucked by the four suction heads 3a. Note that the simultaneous suction is an operation of sucking (acquiring) a maximum of four parts in a single suction operation.

  In addition, the control device 13 is configured to determine whether or not a defective component is included in the four components acquired by the normal operation of the four suction heads 3a. Such determination of the quality of the component is performed based on the imaging data of the component acquired by causing the component recognition camera 8 to image the component sucked by each suction head 3a.

  Further, when the control device 13 determines that the four parts acquired by performing the normal operation include a defective part, the same number of parts as the defective parts are used as alternative parts from the tray 10a. The head unit 3 is configured to control the operation to be acquired (retry operation). The components determined to be defective in this way are loaded into a component collection box (not shown) or the like after the normal components are mounted on the board 50 and collected. In the first embodiment, during the retry operation, each of the blocks F, E, D, C, B, and A of the tray 10a is secured for suction of substitute parts in this order (the order opposite to the normal operation). It is configured as follows.

  Note that the control device 13 selects the component included in the block (any one of the blocks F, E, D, C, B, and A) reserved for sucking the substitute component during the retry operation. The head unit 3 is controlled so as to be sucked by the suction head 3a as an alternative part in order from the part arranged on the arrow X2 direction side. For example, as shown in FIG. 4, when the block F is secured for suction of substitute parts, the substitute parts are sucked by the suction head 3a in order from the part F4 arranged closest to the arrow X2 direction in the block F. Is done.

  Further, the control device 13 is configured to control the head unit 3 so that the substitute component is preferentially adsorbed to the adsorption head 3a from the block that previously adsorbed the alternative component during the retry operation. For example, as shown in FIG. 4, when the part F4 of the block F is sucked by the suction head 3a as a substitute part during the previous retry operation, the substitute parts are picked up in order from the part F3 of the block F during the next retry operation. Adsorbed by the head 3a.

  In addition, when the retry unit is unable to cause the suction head 3a to suck the part arranged in the last block in the part suction order during the normal operation as a substitute part during the retry operation, the control device 13 The head unit 3 is controlled so that the parts arranged in the second block are attracted to the suction head 3a as substitute parts. That is, if all the four parts of the block F are sucked by the suction head 3a at the previous retry operation, the parts of the block E are sucked by the suction head 3a as an alternative part at the next retry operation. Is done.

  With such a configuration, when the suction head 3a performs a normal operation next after performing a retry operation, the four components arranged in a block different from the block in which the replacement component is sucked in the retry operation. Adsorb at the same time. Further, when performing the retry operation, the suction head 3a sucks the component arranged in the last block in the component suction sequence during the normal operation as an alternative component. In the first embodiment, the last block in the suction sequence in the normal operation is a block that is set to include a component arranged at the end of a row of 24 components. For example, if the four parts of the block A are picked up in the first normal operation and a defective part is included in the four parts, the final block is a matrix of 24 parts. The block F is set so as to include the part F4 arranged at the end of the row.

  Note that the control device 13 sets a new pallet 10 stored in the pallet storage portion 7a when the suction head 3a performs normal operation and retry operation and there are no parts that can be sucked from the tray 10a. The pallet drawer mechanism 7b is controlled so as to be conveyed to the position.

  Next, a control flow of the control device 13 when components are mounted by the mounting machine 100 according to the first embodiment of the present invention will be described with reference to FIGS.

  First, as shown in FIG. 5, a suction component determination process (see FIG. 6) described later is performed in step S1. In step S1, the number of parts to be sucked by the suction head 3a and the suction position (block) are determined by the normal operation, and the process proceeds to step S2. Then, in step S2, a process of simultaneously sucking the suction parts (four parts arranged in a predetermined block among the blocks A to F) determined in step S1 of the tray 10a onto the four suction heads 3a. (Normal operation) is performed, and the process proceeds to step S3.

  Next, in step S3, processing for causing the component recognition camera 8 to image the component held by the suction head 3a is performed, and the process proceeds to step S4. In step S4, it is determined whether there is a defective component among the components held by the suction head 3a based on the component image data captured by the component recognition camera 8. If it is determined in step S4 that there is no defective part among the parts held by the suction head 3a, the process proceeds to step S5.

  Next, in step S5, a process of mounting the component held by the suction head 3a on the substrate 50 is performed, and the process proceeds to step S6. In step S6, it is determined whether or not all the components to be mounted have been mounted. If it is determined in step S6 that all the components to be mounted are not mounted, the process returns to step S1. If it is determined in step S6 that all components to be mounted have been mounted, the process ends.

  If it is determined in step S4 that there is a defective part among the four parts sucked in step S2, the process proceeds to step S7. In step S7, a process of mounting normal components other than those determined as defective components among the four components held by the suction head 3a is performed, and the process proceeds to step S8. In step S8, defective parts are put into a collection box (not shown) and collected.

  Next, in step S9, a suction component determination process (see FIG. 6) described later is performed. In step S9, the number of parts to be sucked by the suction head 3a and the suction position are determined by a retry operation, and the process proceeds to step S10. In step S10, the suction parts determined in step S9 (the same number of parts as the parts that are arranged in predetermined blocks among the blocks A to F and are determined to be defective parts in step S4). A process (retry operation) for sucking from the tray 10a to the suction head 3a as an alternative part is performed, and the process returns to step S3.

  Next, with reference to FIG. 6, the details of the suction component determination process executed in steps S1 and S9 of FIG. 5 will be described.

  First, as shown in FIG. 6, in step S11, it is determined whether or not the operation currently performed by the suction head 3a is a retry operation. If it is determined in step S11 that the operation currently performed by the suction head 3a is a normal operation (in the case of step S1 in FIG. 5), the process proceeds to step S12.

  Next, in step S12, it is determined whether there is an unsucked block on the tray 10a on which no part is sucked by the suction head 3a. If it is determined in step S12 that there is no unsucked block on the tray 10a where no component is sucked by the suction head 3a, the process proceeds to step S13. In step S13, a process of supplying a new tray 10a (pallet 10) to the pallet drawer mechanism 7b is performed, and the process proceeds to step S14.

  If it is determined in step S12 that there is an unsucked block on the tray 10a where no part is sucked by the suction head 3a, the process proceeds to step S14. In step S14, the four components arranged in the first block among the unsucked blocks in which the components are not sucked by the suction head 3a are selected as the suction components, and the process ends. For example, as shown in FIG. 3, when no part is sucked from all the blocks (blocks A to F) on the tray 10a by the suction head 3a, the first block among the blocks A to F is used. Four parts arranged in a certain block A are selected as suction parts. Further, as shown in FIG. 4, when the four parts arranged in the block A have already been sucked by the normal operation of the previous suction head 3a, the first block among the remaining blocks BF. The four parts arranged in the block B are selected as suction parts. In this way, the number (four) of parts to be picked up by the suction head 3a during normal operation and the suction position (block) are determined.

  If it is determined in step S11 that the operation currently performed by the suction head 3a is a retry operation (in the case of step S9 in FIG. 5), the process proceeds to step S15. In step S15, it is determined whether there is a block that can suck the substitute part. Specifically, first, it is determined whether or not an alternative component suction block is secured in the tray 10a. If a block for sucking alternative parts is secured on the tray 10a, it is determined whether there is a part that can be sucked as an alternative part in the block.

  In step S15, if it is determined that the substitute component suction block is not secured in the tray 10a, the process proceeds to step S16. Then, in step S16, it is determined whether or not there is an unsucked block on the tray 10a on which no part is sucked by the suction head 3a. If it is determined in step S16 that there is no unsucked block on which the component is not sucked by the suction head 3a on the tray 10a, the process proceeds to step S17. In step S17, a process of supplying a new tray 10a (pallet 10) to the pallet drawer mechanism 7b is performed, and the process proceeds to step S18.

  If it is determined in step S16 that there is an unsucked block on the tray 10a on which no part is sucked by the suction head 3a, the process proceeds to step S18. In step S18, the last block among the unsucked blocks in which no part is sucked by the suction head 3a is selected, and the process proceeds to step S19. In step S19, a necessary number of parts (the same number of parts as the parts determined to be defective in step S4 in FIG. 5) are selected as suction parts, and the process is terminated. For example, as shown in FIG. 4, when there are five blocks (blocks B to F) as non-adsorbed blocks in which the components are not sucked by the suction head 3 a, the five blocks (blocks B to F). The last block (block F) is selected as a block for suction of substitute parts. Then, a necessary number of parts (defects in step S4 in FIG. 5 above) among the four parts (parts F1, F2, F3, and F4) arranged in the block F selected as the substitute part suction block The same number of parts as the parts determined to be the correct parts) are selected as the suction parts in the order of the parts F4, F3, F2, and F1.

  If it is determined in step S15 that a block for substituting an alternative part is secured in the tray 10a and there is a part that can be adsorbed as an alternative part in the block, the process proceeds to step S19. . Then, as described above, in step S19, a necessary number of parts (the same number of parts as the parts determined to be defective in step S4 in FIG. 5) are selected as suction parts, and the process is terminated. For example, as shown in FIG. 4, when the block F is secured as a substitute part suction block on the tray 10a and there are three parts (parts F1 to F3) that can be sucked as substitute parts in the block. The required number of parts (the same number of parts as the parts determined to be defective in step S4 in FIG. 5) among the three parts (parts F1 to F3) are parts F3, F2 and F1. Are selected as suction parts. In this manner, the number of parts to be sucked by the suction head 3a during the retry operation and the suction position are determined.

  In the first embodiment, as described above, the control device 13 includes the normal operation in which the four components from the tray 10a are simultaneously attracted to the suction head, and the four components that are simultaneously attracted by the suction head 3a during the normal operation. When at least one component is not mounted on the substrate 50, the head unit 3 is controlled so as to perform a retry operation for attracting the substitute component of at least one component from the predetermined block of the tray 10a to the suction head 3a. It is configured. Further, when performing the next normal operation after performing the retry operation, the control device 13 picks up the four components arranged in a block different from the predetermined block that sucks the substitute component during the retry operation. The head unit 3 is controlled so as to be adsorbed simultaneously. As a result, even when a retry operation for sucking at least one substitute component from a predetermined block of the tray 10a is performed, a block different from the predetermined block that sucks the substitute component is replaced with the next four components simultaneously. It can be secured on the tray 10a as a block capable of performing the normal operation of sucking together. As a result, since it is not necessary to separate the four components more than once, it is possible to suppress an increase in the total time required for the operation of mounting the components held on the tray 10a on the substrate 50. it can.

  In the first embodiment, as described above, when performing the retry operation, the control device 13 preferentially sucks the substitute component to the suction head 3a from the block that sucked the substitute component during the previous retry operation. The head unit 3 is configured to be controlled. As a result, the block that sucked the substitute component during the previous retry operation can be used as a block for sucking the substitute component. Therefore, compared to the case where the substitute component is sucked from any block, the block is used for normal operation. Simultaneous adsorption can be performed. As a result, the components on the tray 10a can be efficiently adsorbed.

  In the first embodiment, as described above, when performing the retry operation, the control device 13 uses the component arranged in the last block in the adsorption sequence for each block during the normal operation as an alternative component. The head unit 3 is controlled so as to be attracted to the head. As a result, even when a block that cannot simultaneously suck components by a normal operation is generated by performing a retry operation, it is not necessary to change the sucking order of components until just before the final block. As a result, the control process during the component mounting operation is facilitated, and the components on the tray 10a can be efficiently sucked.

  In the first embodiment, as described above, when performing the retry operation, the control device 13 uses the component arranged in the last block in the adsorption sequence for each block during the normal operation as an alternative component. The head unit 3 is configured to control the component arranged in the second block from the last block to be adsorbed to the adsorption head 3a as an alternative component. As a result, when the retry operation is performed multiple times, even if a new block that cannot simultaneously absorb components due to the multiple retry operations has occurred, the final component adsorption order is changed. There is no need to change from the block to just before the second block. As a result, the control process during the component mounting operation is facilitated, and the components on the tray 10a can be efficiently sucked.

(Second Embodiment)
Next, a mounting machine 200 according to a second embodiment of the present invention will be described with reference to FIGS. 1, 2, and 7 to 9. In the second embodiment, unlike the first embodiment in which the substitute part is sucked from the last block among the unsucked blocks on the tray 10a, the substitute part is the one of the unsucked blocks on the tray 10a. An example of adsorption from the first block will be described.

  The control device 23 (see FIG. 2) that controls the operation of the mounting machine 200 (see FIG. 1) according to the second embodiment causes the suction head 3a to perform a normal operation and a retry operation, as in the first embodiment. It is configured to perform control.

  In the second embodiment, the control device 23 causes the suction head 3a to simultaneously suck the four components included in each of the blocks A, B, C, D, E, and F in this order during normal operation. The head unit 3 is configured to be controlled. In the second embodiment, when performing the retry operation, the control device 23 sucks an alternative component from the block next to the block in which the four components sucked by the suction head 3a during the normal operation are arranged. The head unit 3 is controlled so as to be attracted to the head 3a.

  For example, as shown in FIG. 7, when there is a defective part among the four parts of the block A sucked simultaneously by the four suction heads 3a as the normal operation, the next operation of the block A is performed as the retry operation. Block B, which is a block, is secured as a block for sucking alternative parts. Then, a necessary number of parts (the same number of parts as defective parts) among the four parts (parts B1, B2, B3, and B4) included in the block B are sucked by the suction head 3a as substitute parts. . In this case, the distance by which the suction head 3a is moved in the Y direction during the retry operation is smaller than that in the first embodiment, and accordingly, the total required for the operation of mounting the components held on the tray 10a on the substrate 50. It becomes possible to suppress an increase in time.

  Note that, in the second embodiment, the control device 23, in the retry operation, starts with the components included in the block secured for the replacement component replacement in order from the component arranged closest to the arrow X1 direction in the block. The head unit 3 is controlled to be sucked by the suction head 3a as an alternative part. For example, as shown in FIG. 7, when the block B is secured for suction of the substitute parts, the suction head 3a sucks the substitute parts in order from the part B1 arranged closest to the arrow X1 direction in the block B. Is done.

  In addition, the other structure of 2nd Embodiment is the same as that of the said 1st Embodiment.

  Next, a control flow of the control device 23 when components are mounted by the mounting machine 200 according to the second embodiment of the present invention will be described with reference to FIGS. In addition, each process of step S22-S28 and S30 of FIG. 8 performed by the control apparatus 23 of 2nd Embodiment is respectively step S2-S8 of FIG. 5 performed by the control apparatus 13 of the said 1st Embodiment. Since it is the same as each process of S10 and S10, the description is omitted.

  Hereinafter, with reference to FIG. 9, the details of the suction component determination process executed in steps S21 and S28 of FIG. 8 will be described. Note that the processing in steps S31 to S34 in FIG. 9 (processing in step S21 in FIG. 8) is the same as the processing in steps S11 to S14 in FIG. 6 in the first embodiment (processing in step S1 in FIG. 5), respectively. Therefore, explanation is omitted.

  As shown in FIG. 9, in the suction component determination process in step S <b> 28 (see FIG. 8), in step S <b> 31, it is determined that the operation currently performed by the suction head 3 a is a retry operation. move on. Then, in step S35, it is determined whether there is a block that can suck the substitute part. Specifically, first, it is determined whether or not an alternative component suction block is secured in the tray 10a. Further, when a block for sucking alternative parts is secured on the tray 10a, it is determined whether or not there is a part that can be sucked as an alternative part in the block.

  If it is determined in step S35 that the substitute component suction block is not secured in the tray 10a, the process proceeds to step S36. In step S36, it is determined whether or not there is an unsucked block on the tray 10a on which no part is sucked by the suction head 3a. If it is determined in step S36 that there is no unsucked block on the tray 10a where no component is sucked by the suction head 3a, the process proceeds to step S37. In step S37, a process for supplying a new tray 10a to the pallet drawer mechanism 7b is performed, and the process proceeds to step S38.

  If it is determined in step S36 that there is an unsucked block on the tray 10a where no part is sucked by the suction head 3a, the process proceeds to step S38. In step S38, the first block among the unsucked blocks in which no part is sucked by the suction head 3a is selected, and the process proceeds to step S39. In step S39, the required number of parts (the same number of parts as the parts determined to be defective in step S24 in FIG. 8) are selected as the suction parts, and the process ends. For example, as shown in FIG. 7, when there are five blocks B to F on the tray 10a as non-adsorbed blocks in which no component is adsorbed by the adsorption head 3a, the five blocks ( The first block (block B) among the blocks B to F) is selected as a block for suction of the substitute part. Then, a necessary number of parts (determined as defective parts in step S24 in FIG. 8) are selected from the four parts (parts B1 to B4) arranged in the block B selected as the substitute part suction block. The same number of parts as the selected parts) are selected in the order of parts B1, B2, B3, and B4 as suction parts.

  If it is determined in step S35 that an alternative component suction block is secured in the tray 10a and there is a component that can be sucked as an alternative component in the block, the process proceeds to step S39. . Then, as described above, in step S39, the necessary number of parts (the same number of parts as the parts determined to be defective in step S24 in FIG. 8) are selected as the suction parts, and the process ends. For example, as shown in FIG. 7, a block B is secured on the tray 10a as a block for sucking substitute parts, and three parts that can be sucked as substitute parts on the block (block B) (part B2) , B3 and B4), the necessary number of parts (the same number of parts as the parts determined to be defective in step S24 in FIG. 8) out of the three parts (parts B2 to B4). The parts B2, B3, and B4 are selected as suction parts in this order.

  The effect of the second embodiment is the same as that of the first embodiment.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes all modifications within the meaning and scope equivalent to the scope of claims for patent.

  For example, in the first and second embodiments, the example in which the number of suction heads is four and the number of parts held on the tray is 24 is shown, but the present invention is not limited to this. In the present invention, the number of suction heads may be three or less, or five or more as long as the suction head can simultaneously suck a plurality of components. Alternatively, a single suction head having a plurality of suction portions (suction nozzles) by branching the tip may be used. Further, the number of parts held on the tray may be 23 or less, or 25 or more.

  In the first and second embodiments, the example in which four parts arranged in the X direction on the tray are used as one block has been described. However, the present invention is not limited to this. In the present invention, any type of block may be used as long as simultaneous suction by the suction head is possible. For example, three parts arranged in the Y direction on the tray may be used as one block.

  In the first and second embodiments, an example in which the four parts included in each of the blocks A, B, C, D, E, and F are simultaneously sucked by the suction head in this order during normal operation. Although shown, the present invention is not limited to this. In the present invention, the four parts included in each of the blocks A to F may be simultaneously sucked by the suction head in a suction order other than the above.

  Further, in the first embodiment, as shown in FIG. 4, in the retry operation, the example in which the substitute parts are sucked in order from the last block (block F) in the picking order of the parts in the normal operation is shown. The present invention is not limited to this. In the present invention, as in the first modification shown in FIG. 10, the substitute parts may be sucked in order from the block E during the retry operation. In the first modification, the component E1 that is disposed closest to the arrow X1 direction in the block E is sequentially picked up as a substitute component.

  In the first embodiment, as shown in FIG. 4, the example in which the normal operation and the retry operation are performed in one tray 10 a is shown, but the present invention is not limited to this. In the present invention, a normal operation and a retry operation may be performed on the two trays 10a as in the second modification shown in FIG. In the second modification, the suction head performs suction of parts in this order from the blocks A, B, C, D, E, and F of the tray 10a arranged on the arrow Y1 direction side during normal operation. The components are sucked in this order from the blocks A, B, C, D, E, and F of the tray 10a arranged on the arrow Y2 direction side. Further, in the second modification, the suction head performs suction of substitute parts in this order from the blocks F, E, D, C, B, and A of the tray 10a arranged on the arrow Y2 direction side during the retry operation. After that, the replacement parts are sucked in this order from the blocks F, E, D, C, B and A of the tray 10a arranged on the arrow Y1 direction side.

3 Head unit 3a Suction head 10a Tray 13, 23 Control device (control unit)
50 Substrate 100, 200 Mounting machine

Claims (4)

A head unit that has a suction head capable of simultaneously sucking a plurality of first number of components, and that mounts the components sucked by the suction head on a substrate;
A block comprising the first number of components from a tray holding a plurality of second number of components arranged in a matrix having rows or columns of the number of integral multiples of the first number; A control unit for controlling the head unit so as to adsorb the component to the adsorption head every time,
The control unit includes at least one of a normal operation for simultaneously sucking the first number of components from the tray to the suction head, and the first number of components simultaneously sucked by the suction head during the normal operation. When one component is not mounted on the substrate, a retry operation is performed to cause the suction head to suck a substitute component of the at least one component from a predetermined block of the tray, and after performing the retry operation. In performing the next normal operation, the first number of components arranged in a block different from the predetermined block that has sucked the substitute component during the retry operation are simultaneously sucked by the suction head. A mounter configured to control the head unit.   When performing the retry operation, the control unit controls the head unit to preferentially attract the substitute component to the suction head from a block that has sucked the substitute component during the previous retry operation. The mounting machine according to claim 1, which is configured.   The controller, when performing the retry operation, causes the suction unit to suck the component arranged in the last block in the suction order for each block during the normal operation as the substitute component. The mounting machine according to claim 1, wherein the mounting machine is configured to be controlled.   The control unit, when performing the retry operation, when the component placed in the last block of the suction sequence for each block during the normal operation can not be sucked to the suction head as the substitute component, The mounting machine according to claim 3, wherein the mounting unit is configured to control the head unit so that the component arranged in the second block from the last block is sucked to the suction head as the substitute component.

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