JP5990783B2 - Component mounting apparatus and board conveying method in component mounting apparatus - Google Patents

Description

  The present invention relates to a component mounting apparatus and a component mounting including a substrate transport unit in which a plurality of substrate transport mechanisms that carry in an operation of carrying in a substrate sent from the upstream side and carrying it out downstream are arranged in series It is related with the board | substrate conveyance method in a manufacturing apparatus.

  A component mounting apparatus for mounting a component on a substrate includes a substrate transport unit, and the substrate transport unit positions the substrate at a work position to execute a required operation such as a component mounting operation (Patent Document 1). Here, the substrate transport unit has a configuration in which a plurality of substrate transport mechanisms including a conveyor or the like that performs an operation of carrying in a substrate sent from the upstream side and carrying it out to the downstream side are arranged in series. Each substrate transport mechanism includes a substrate detection sensor at an end portion on the substrate carry-out side. Each substrate transport mechanism carries in the substrate sent from the substrate transport mechanism adjacent to the upstream side at a predetermined speed (first speed), and when the front end of the substrate reaches a predetermined deceleration start position, The transport speed is reduced to a speed (second speed) smaller than the first speed, and the transport of the substrate is stopped when the front end of the substrate is detected by the substrate detection sensor. Thereafter, when each substrate transport mechanism resumes transporting the substrate and unloads it to another substrate transport mechanism adjacent to the downstream side, the substrate is transported at the first speed until the rear end of the substrate is detected by the substrate detection sensor. A series of operations such as conveying and sending out are performed.

JP 2009-173433 A

  However, in the component mounting apparatus described above, the length in the board conveyance direction is relatively long, and the front end of the sent-out board has reached the deceleration start position of another board conveyance mechanism adjacent to the downstream side (deceleration has started. ) At that time, if the rear end of the substrate has not yet been detected by the substrate detection sensor of the substrate transport mechanism on the sending side, the substrate transport mechanism on the sending side can detect the substrate straddled between both substrate transport mechanisms. Then, the substrate is continuously transported at a transport speed (first speed) larger than the transport speed (second speed) of the substrate transport mechanism adjacent to the downstream side. As a result, since the substrate is pushed into the conveyor of the receiving side substrate transport mechanism, the substrate cannot be stopped at the normal stop position, and so-called overrun occurs. As a result, the downstream board transport mechanism requires a correction work for stopping the board stop position at the regular position, and there is a problem that the work efficiency of the component mounting apparatus may be reduced accordingly. .

  Therefore, an object of the present invention is to provide a component mounting apparatus and a substrate carrying method in the component mounting apparatus that can prevent the occurrence of overrun and prevent a decrease in work efficiency.

  The component mounting apparatus according to claim 1 is provided with a substrate transfer unit in which a plurality of substrate transfer mechanisms that perform an operation of loading a substrate sent from the upstream side and carrying it out to the downstream side are arranged in series. A component mounting apparatus, wherein each board transport mechanism includes a board detection sensor that is provided at an end portion on the carry-out side of the board and detects the board, and the control unit that controls the operation of each board transport mechanism After the transport mechanism carries in the substrate sent from another substrate transport mechanism adjacent to the upstream side at the first speed, the transport speed of the substrate is increased when the front end of the substrate reaches a predetermined deceleration start position. When the front end of the substrate is detected by the substrate detection sensor, the substrate carry-in operation for stopping the substrate and the conveyance of the stopped substrate are resumed to reduce the rear end of the substrate. By the substrate detection sensor After the substrate is transported at the first speed until it is taken out and controlled to perform a carry-out operation for carrying it out to another substrate carrying mechanism adjacent to the downstream side, each substrate carrying mechanism resumes carrying the substrate, If the front end of the sent-out substrate reaches the deceleration start position of another substrate transport mechanism adjacent to the downstream side before the rear end of the substrate is detected by the substrate detection sensor, the substrate detection sensor Until the rear end of the substrate is detected, the substrate is transported in synchronization with another substrate transport mechanism adjacent to the downstream side.

  The substrate transport method according to claim 2 is a component including a substrate transport unit in which a plurality of substrate transport mechanisms that perform an operation of carrying in a substrate sent from the upstream side and carrying it out to the downstream side are arranged in series. A substrate transport method in a mounting apparatus, wherein each substrate transport mechanism carries a substrate sent from another substrate transport mechanism adjacent to the upstream side at a first speed, and the first step After starting the process, when the front end of the substrate reaches a predetermined deceleration start position, a second step of reducing the substrate transport speed to a second speed smaller than the first speed, and transporting the substrate After the speed is reduced to the second speed, a third step of stopping the substrate when the front end of the substrate is detected by a substrate detection sensor provided at an end portion on the carry-out side of the substrate, and after the third step , Restart the board transfer and the rear edge of the board will be And a fourth step of transporting the substrate at the first speed until it is detected by the substrate detection sensor and carrying it out to another substrate transport mechanism adjacent to the downstream side. In the fourth step, the transport of the substrate is performed. After restarting, before the rear end of the substrate is detected by the substrate detection sensor, when the front end of the sent-out substrate reaches the deceleration start position of another substrate transport mechanism adjacent to the downstream side, Until the rear end of the substrate is detected by the substrate detection sensor, the substrate is transferred in synchronization with the other substrate transfer mechanism adjacent to the downstream side.

  In the present invention, each substrate transport mechanism restarts the transport of the substrate and before the rear end of the substrate is detected by the substrate detection sensor, the front end of the sent-out substrate is the other substrate transport mechanism adjacent to the downstream side. When the deceleration start position is reached, the substrate detection sensor detects the rear end of the substrate, and transports the substrate in synchronization with the other substrate transport mechanism adjacent to the downstream side. There will be no situation in which transport is continued at a transport speed larger than the transport speed of another substrate transport mechanism adjacent to the downstream side. For this reason, the substrate transport mechanism adjacent to the downstream side can surely stop the substrate at the regular position and can prevent the occurrence of overrun, thereby preventing the work efficiency from being lowered.

The perspective view of the component mounting machine in one embodiment of this invention The block diagram which shows the control system of the component mounting machine in one embodiment of this invention The flowchart which shows the operation | movement procedure of each board | substrate conveyance mechanism which comprises the board | substrate conveyance part with which the component mounting machine in one embodiment of this invention is provided. The top view of the board | substrate conveyance part in one embodiment of this invention (A) (b) (c) (d) Operation explanatory drawing of the board | substrate conveyance part in one embodiment of this invention. (A) (b) (c) (d) Operation explanatory drawing of the board | substrate conveyance part in one embodiment of this invention. (A) (b) (c) (d) Operation explanatory drawing of the board | substrate conveyance part in one embodiment of this invention.

  Embodiments of the present invention will be described below with reference to the drawings. A component mounter 1 as an example of a component mounting apparatus shown in FIG. 1 is a device that repeatedly executes an operation of conveying a substrate 2 and positioning it at a work position and mounting a component 3 on the substrate 2. 11 includes a substrate transfer unit 12, a component supply unit 13, and a component mounting unit. Here, for convenience of explanation, the conveyance direction (arrow A shown in FIG. 1) of the substrate 2 in the component mounting machine 1 is the X-axis direction (the left-right direction as viewed from the operator OP), and the horizontal plane direction orthogonal to the X-axis direction ( The front-back direction as viewed from the operator OP) is taken as the Y-axis direction. Also, the vertical direction is the Z-axis direction.

  In FIG. 1, a substrate transport unit 12 transports the substrate 2 in the X-axis direction and positions it at a predetermined work position. The parts supply unit 13 includes a plurality of parts feeders 13a (for example, tape feeders) attached to the base 11, and each parts feeder 13a continuously supplies the parts 3 to the parts supply port 13p.

  The component mounting unit 14 includes a head moving mechanism 21 provided on the base 11 and a mounting head 22 moved by the head moving mechanism 21. The head moving mechanism 21 includes an orthogonal coordinate table provided on the base 11, and moves the mounting head 22 in the horizontal plane direction. The mounting head 22 is provided with a plurality of suction nozzles 22a. The mounting head 22 lifts and lowers the suction nozzle 22a, rotates around the Z-axis, and performs vacuum suction operation by the suction nozzle 22a, and sucks (picks up) the component 3 that each part feeder 13a supplies to the component supply port 13p.

  The mounting head 22 is provided with a substrate camera 23 with the imaging field of view facing downward, and a component camera with the imaging field of view facing upward at a position between the substrate transport unit 12 and the component supply unit 13 on the base 11. 24 is provided. The board camera 23 takes an image of a board mark (not shown) provided on the board 2, and the part camera 24 takes an image of the part 3 sucked by the suction nozzle 22a.

  In FIG. 1, the substrate transport unit 12 includes three substrate transport mechanisms 30 arranged in series in the X-axis direction. Each substrate transport mechanism 30 has the same configuration with a pair of conveyors 30a (the lengths of the conveyors 30a in the X-axis direction may be different), and each substrate 2 sent from the upstream side is loaded. Then, the operation of carrying it out downstream is performed. Here, for convenience of explanation, the upstream mechanism 31, the central mechanism 32, and the downstream mechanism 33 are sequentially referred to from the upstream side of the flow of the substrate 2.

  The upstream mechanism 31 receives the board 2 sent from another component mounting apparatus (not shown) (for example, a printing inspection machine or another component mounting machine 1) installed on the upstream side of the component mounting machine 1 (carry-in) And send it out to the central mechanism 32. The central mechanism 32 receives the substrate 2 from the upstream mechanism 31 and sends it out to the downstream mechanism 33, and the downstream mechanism 33 sends the substrate 2 received from the central mechanism 32 to other components installed on the downstream side of the component mounting machine 1. It sends out to the board | substrate conveyance part with which the apparatus for mounting (for example, other component mounting machines 1 and mounting inspection machines) is provided. Each substrate transport mechanism 30 (upstream side mechanism 31, central mechanism 32, and downstream side mechanism 33) decelerates and stops the loaded substrate, then resumes transport and unloads the substrate 2.

  Each of the three substrate transport mechanisms 30 (upstream mechanism 31, central mechanism 32, and downstream mechanism 33) includes a first sensor S1 at the end of the substrate 2 on the carry-in side (upstream side of the flow of the substrate 2). The second sensor S2 (substrate detection sensor) is provided at the end of the substrate 2 on the carry-out side (downstream side of the flow of the substrate 2). Here, the first sensor S1 is provided at a position where the front end of the substrate 2 just before coming in contact with the conveyor 30a from the upstream side can be detected, and the second sensor S2 is sent out downstream. The substrate 2 is provided at a position where the rear end of the substrate 2 immediately after being separated from the conveyor 30a can be detected.

  In each substrate transport mechanism 30, each of the first sensor S <b> 1 and the second sensor S <b> 2 includes a combination of a projector that projects the inspection light M in the Y-axis direction and a light receiver that receives the inspection light M. When the front end of the substrate 2 being transported reaches the inspection light M, the light receiver that has been in the non-light-receiving state of the inspection light M is switched to the light receiving state of the inspection light M, and the rear end of the substrate 2 becomes the inspection light M When this happens, the light receiving device that has been in the state of receiving the inspection light M is switched to the non-light receiving state of the inspection light M so that the first sensor S1 and the second sensor S2 are the front end and rear end of the substrate 2 respectively. Edges can be detected separately.

  In FIG. 2, the substrate 2 conveyance and positioning operation control by the three substrate conveyance mechanisms 30 (upstream side mechanism 31, central mechanism 32 and downstream side mechanism 33) constituting the substrate conveyance unit 12 are controlled by the control unit of the component mounting machine 1. This is done by the control device 40. In the transfer and positioning operation of the substrate 2 by the three substrate transfer mechanisms 30 by the control device 40, as will be described later, the substrate 2 detected by the first sensor S1 and the second sensor S2 included in each substrate transfer mechanism 30 is described. Detection information on the front end and detection information on the rear end of the substrate 2 are used (FIG. 2).

  Further, the supply operation control of the component 3 by the component supply unit 13 (part feeder 13a), the movement operation control of the mounting head 22 by the head moving mechanism 21, and the lifting and lowering of each suction nozzle 22a by the nozzle drive mechanism 22A built in the mounting head 22 are performed. Further, the rotation control and the suction operation control of the component 3 of each suction nozzle 22a by the suction mechanism 22B built in the mounting head 22 are performed by the control device 40 (FIG. 2). The image capturing operation control by the substrate camera 23 and the image capturing operation control by the component camera 24 are performed by the control device 40, and the image data obtained by the image capturing operation by the substrate camera 23 and the image data obtained by the image capturing operation by the component camera 24 are recognized. Is performed by the image recognition unit 40a of the control device 40.

  In the mounting operation of the component 3 on the board 2 performed by the component mounting machine 1, the control device 40 first transports the board 2 sent from another component mounting apparatus installed on the upstream side of the component mounting machine 1. It is conveyed by the section 12 and positioned at a predetermined work position. Details of the positioning operation of the substrate 2 to the work position by the substrate transport unit 12 will be described later.

  After positioning the substrate 2 at the working position by the substrate transport unit 12, the control device 40 moves the mounting head 22 in the horizontal plane by the head moving mechanism 21, positions the substrate camera 23 above the substrate 2, and moves the substrate 2 to the substrate 2. The position recognition mark (not shown) provided is imaged. Then, the image recognition unit 40a recognizes the image of the obtained position recognition mark, thereby detecting a displacement of the substrate 2 from the normal working position.

  When the control device 40 detects the displacement of the substrate 2, the control device 40 controls the operation of the head moving mechanism 21 to move the mounting head 22 above the component supply unit 13 and performs the operation of supplying the component 3 to each part feeder 13 a. At the same time, the operation of the nozzle drive mechanism 22A and the suction mechanism 22B is controlled, and the part 3 is sucked and picked up by the suction nozzle 22a. Then, the mounting head 22 is moved so that the part 3 picked up by the suction nozzle 22a passes above the part camera 24, and the part 3 is imaged by the part camera 24 and the image data obtained thereby is recognized. Then, the positional deviation (suction deviation) of the component 3 with respect to the suction nozzle 22a is obtained.

  When the controller 40 obtains the positional deviation of the component 3 with respect to the suction nozzle 22 a, the controller 40 moves the mounting head 22 so that the component 3 is positioned above the substrate 2. Then, the suction nozzle 22 a is lowered and the component 3 is mounted on the substrate 2. When the component 3 is mounted, the control device 40 corrects the position of the suction nozzle 22a with respect to the substrate 2 (including rotation correction) so that the already-determined positional shift of the substrate 2 and the suction shift of the component 3 are corrected. Do. When the mounting of all the components 3 to be mounted on the board 2 is completed, the control device 40 operates the board transport unit 12 to carry the board 2 out of the component mounting machine 1.

  Next, the transport operation (substrate transport method) of the substrate 2 by the substrate transport unit 12 will be described with reference to the flowchart of FIG. In each substrate transport mechanism 30, the conveyor 30 a is initially stopped, and when the first sensor S 1 detects the front end of the substrate 2 sent from the upstream side from this state (step ST 1), the conveyor 30 a It starts and the board | substrate 2 sent from the upstream side is conveyed (carrying in) at a 1st speed (step ST2). Then, while carrying the substrate 2 at this first speed, the number of pulses of the control signal of the drive motor (not shown) of the conveyor 30a after the detection of the front end of the substrate 2 by the first sensor S1 is obtained. By referencing or the like, it is determined whether or not the front end of the substrate 2 has reached a predetermined deceleration start position (see FIG. 4) (step ST3). When the front end of the substrate 2 reaches the deceleration start position, the transport speed of the substrate 2 is reduced from the first speed to a second speed that is smaller than the first speed (the substrate 2 is transported at the second speed). (Step ST4).

  Whether the second sensor S2 detects the front end of the substrate 2 while transporting the substrate 2 after reducing the transport speed of the substrate 2 to the second speed (at the stop position shown in FIG. 4). It is determined whether or not (step ST5). Then, when the second sensor S2 detects the front end of the substrate 2, the substrate 2 is stopped (the conveying operation of the conveyor 30a) (step ST6). Then, it is determined whether or not the timing for resuming the conveyance is reached (step ST7). When the timing for resuming the conveyance is reached, the substrate conveyance mechanism 30 is activated, the conveyance of the substrate 2 is resumed, and the substrate 2 is moved to the first. (Carry out) at a speed of (step ST8). Here, when the substrate transport mechanism 30 is the central mechanism 32, the transport resumption timing is the timing when the mounting operation of the component 3 on the substrate 2 by the mounting head 22 is completed. This is the timing when the delivery of the substrate 2 from 32 is completed. Further, the downstream mechanism 33 is the timing when the preparation for receiving the substrate 2 in another component mounting apparatus installed on the downstream side of the component mounting machine 1 is completed.

  When the transfer of the substrate 2 is resumed in step ST8, the control device 40 determines whether or not the second sensor S2 has detected the rear end of the substrate 2 while executing the transfer of the substrate 2 at the first speed. In step ST9, the substrate transport mechanism 30 adjacent to the downstream side (the central mechanism 32 for the upstream mechanism 31 and the downstream mechanism 33 for the central mechanism 32) reaches the predetermined deceleration start position of the front end of the substrate 2. It is determined whether or not the downstream side mechanism 33 has reduced the conveyance speed from the first speed to the second speed (step ST10). As a result, when the second sensor S2 detects the rear end of the substrate 2 before the transport speed of the substrate 2 of the downstream substrate transport mechanism 30 is reduced to the second speed, the substrate 2 is Before the second sensor S2 detects the rear end of the substrate 2, the conveyance speed of the substrate 2 of the substrate conveyance mechanism 30 adjacent to the downstream side is stopped. When the speed is reduced to the second speed, the transfer operation of the substrate 2 is performed in synchronization with the substrate transfer mechanism 30 adjacent to the downstream side (step ST12). Then, while performing the transport operation of the substrate 2 in synchronization with the substrate transport mechanism 30 adjacent to the downstream side, it is determined whether or not the second sensor S2 provided therein detects the rear end of the substrate 2. (Step ST13) When the second sensor S2 detects the rear end of the substrate 2, the substrate 2 is stopped (the operation of transporting the substrate 2 by the conveyor 30a) (step ST11).

  That is, in the present embodiment, the control device 40 that controls the operation of each substrate transport mechanism 30 is configured such that each substrate transport mechanism 30 receives the first substrate 2 sent from another substrate transport mechanism 30 adjacent to the upstream side. Then, when the front end of the substrate 2 reaches a predetermined deceleration start position, the conveyance speed of the substrate 2 is reduced to a second speed that is smaller than the first speed, and a substrate detection sensor (second When the front end of the substrate 2 is detected by the sensor S2), the operation of stopping the substrate 2 (substrate carrying-in operation) and the transportation of the stopped substrate 2 are resumed until the rear end of the substrate 2 is detected by the substrate detection sensor. Control is performed so that the substrate 2 is transported at the first speed and is transported to another substrate transport mechanism 30 adjacent to the downstream side (unloading operation). Then, after each substrate transport mechanism 30 resumes transport of the substrate 2 and before the rear end of the substrate 2 is detected by the substrate detection sensor, the control device 40 determines whether the front end of the substrate 2 is adjacent to the downstream side. When the deceleration start position of the substrate transport mechanism is reached, the substrate detection sensor is operated to transport the substrate in synchronization with the substrate transport mechanism adjacent to the downstream side until the rear end of the substrate 2 is detected by the substrate detection sensor.

  When the above-described control is performed in the substrate transport mechanism 30, the length in the transport direction (X-axis direction) of the substrate 2 is L, and the second sensor of the adjacent substrate transport mechanism 30 is shown in FIG. When the distance between S2 is D and the distance between the deceleration start position and the second sensor S2 is d, depending on the length L of the substrate 2 in the transport direction (X-axis direction), FIG. 6 and 7, the operation of the substrate transport mechanism 30 is different. 5 shows a case where L <(D−d), FIG. 6 shows a case where (D−d) <L <D, and FIG. 7 shows a case where L <D.

  As shown in FIG. 5, when L <(D-d), the front end of the substrate 2 is in a position (stop position) detected by the second sensor S2 of the upstream mechanism 31 (FIG. 5). (A)) When transported at the first speed by the upstream mechanism 31, the front end of the substrate 2 is detected by the first sensor S1 of the central mechanism 32 (FIG. 5B), thereby causing the central mechanism to 32 also starts transporting the substrate 2 at the first speed. Therefore, the substrate 2 moves from the upstream mechanism 31 to the central mechanism 32 at the first speed. When the front end of the substrate 2 reaches the deceleration start position of the central mechanism 32 (FIG. 5C), the central mechanism 32 decelerates the conveyance speed of the substrate 2 to the second speed. The rear end is after the rear end is detected by the second sensor S2 of the upstream mechanism 31, and the operation of the upstream mechanism 31 has already been stopped. Thereafter, the central mechanism 32 stops the substrate 2 when the front end of the substrate 2 is detected by the second sensor S2 (FIG. 5D). The state of FIG. 5D is a state in which the substrate 2 is transferred between two adjacent substrate transport mechanisms 30 from the state of FIG. 5A, and thereafter, FIG. 5A → FIG. 5B. → FIG. 5 (c) → The same operation as in FIG. 5 (d) is repeated, and the substrate 2 continues to advance.

  As shown in FIG. 6, when (D−d) <L <D, the front end of the substrate 2 is in a position (stop position) detected by the second sensor S <b> 2 of the upstream mechanism 31 ( 6 (a)), when transported at the first speed by the upstream mechanism 31, the front end of the substrate 2 is detected by the first sensor S1 of the central mechanism 32 (FIG. 6 (b)). The central mechanism 32 also starts transporting the substrate 2 at the first speed. Therefore, the substrate 2 moves from the upstream mechanism 31 to the central mechanism 32 at the first speed. When the front end of the substrate 2 reaches the deceleration start position of the central mechanism 32 (FIG. 6C), the central mechanism 32 decelerates the conveyance speed of the substrate 2 to the second speed. Since the rear end of the upstream side mechanism 31 is not yet detected by the second sensor S2 of the upstream side mechanism 31, the upstream side mechanism 31 synchronizes with the central mechanism 32 and reduces the conveyance speed of the substrate 2 to the second speed. . The central mechanism 32 stops the substrate 2 when the front end of the substrate 2 is detected by the second sensor S2 (FIG. 6D). At this time, the rear end of the substrate 2 is the second end of the upstream mechanism 31. After the rear end is detected by the sensor S <b> 2, the operation of the upstream mechanism 31 has already been stopped. The state of FIG. 6D is a state in which the substrate 2 is transferred between two adjacent substrate transport mechanisms 30 from the state of FIG. 6A, and thereafter, FIG. 6A → FIG. 6B. → FIG. 6 (c) → The same operation as in FIG. 6 (d) is repeated, and the substrate 2 continues to advance.

  As shown in FIG. 7, when D <L, the front end of the substrate 2 is in a position (stop position) detected by the second sensor S2 of the upstream mechanism 31 (FIG. 7 (a)). When the upstream mechanism 31 is transported at the first speed, the front end of the substrate 2 is detected by the first sensor S1 of the central mechanism 32 (FIG. 7B), and the central mechanism 32 is also first. The conveyance of the substrate 2 at a speed of is started. Therefore, the substrate 2 moves from the upstream mechanism 31 to the central mechanism 32 at the first speed. When the front end of the substrate 2 reaches the deceleration start position of the central mechanism 32 (FIG. 7C), the central mechanism 32 decelerates the conveyance speed of the substrate 2 to the second speed. Since the rear end has not yet been detected by the second sensor S2 of the upstream mechanism 31, the upstream mechanism 31 synchronizes with the central mechanism 32 to reduce the transport speed of the substrate 2 to the second speed. The central mechanism 32 stops the substrate 2 when the front end of the substrate 2 is detected by the second sensor S2 (FIG. 7D). At this time, the rear end of the substrate 2 is still at the upstream side of the upstream mechanism 31. Since the rear end is not detected by the second sensor S <b> 2, the upstream mechanism 31 stops the substrate 2 in synchronization with the central mechanism 32. After that, the central mechanism 32 resumes the conveyance of the substrate 2, but at this time, the rear end of the substrate 2 is not detected by the second sensor S <b> 2 of the upstream mechanism 31 and is synchronized with the central mechanism 32. Since the operation is performed, the upstream mechanism 31 also restarts the transport operation of the substrate 2 as the central mechanism 32 restarts the transport operation of the substrate 2. When the rear end of the substrate 2 is detected by the second sensor S2 of the upstream mechanism 31, the upstream mechanism 31 stops the transport operation. The state of FIG. 7D is a state in which the substrate 2 is transferred between two adjacent substrate transfer mechanisms 30 from the state of FIG. 7A, and thereafter, FIG. 7A → FIG. 7B. → FIG. 7 (c) → The same operation as in FIG. 7 (d) is repeated, and the substrate 2 continues to advance.

  As described above, when (D−d) <L, when the front end of the substrate 2 reaches the deceleration start position of the central mechanism 32 (FIG. 6C or FIG. 7C), the central mechanism 32 The transport speed of the substrate 2 is reduced to the second speed. At this time, the upstream side mechanism 31 transports the substrate 2 at the second speed in synchronization with the central mechanism 32, and the substrate 2 is sent out. A situation in which the upstream upstream mechanism 31 continues to transport the substrate 2 to the central mechanism 32 side at the first speed does not occur. For this reason, in the central mechanism 32, the board | substrate 2 is not pushed from the upstream mechanism 31, and the board | substrate 2 is stopped reliably in the regular stop position (position where the front end of the board | substrate 2 is detected by 2nd sensor S2). it can. Here, the conveyance of the substrate 2 between the upstream mechanism 31 and the central mechanism 32 has been described as an example, but this is performed between the central mechanism 32 and the downstream mechanism 33 and further on the upstream side of the component mounting machine 1. Between the substrate transport section of the other component mounting apparatus installed in the upstream side mechanism 31 and the downstream side mechanism 33 and the board transport section of the other component mounting apparatus installed downstream of the component mounter 1. The same effect can be obtained for the transfer of the substrate 2 between the two.

  As described above, in the component mounter 1 (the substrate transport method in the component mounter 1) in the present embodiment, each substrate transport mechanism 30 restarts the transport of the substrate 2 and then the second sensor S2 (the substrate If the front end of the sent-out substrate reaches the deceleration start position of another substrate transport mechanism 30 adjacent to the downstream side before the rear end of the substrate 2 is detected by the detection sensor), the second sensor S2 Until the rear end of the substrate 2 is detected, the substrate 2 is transported in synchronization with the other substrate transport mechanism 30 adjacent to the downstream side, so that the sent-out substrate 2 is transported to another substrate transport mechanism adjacent to the downstream side. There is no situation in which conveyance continues at a conveyance speed larger than the conveyance speed of 30. For this reason, the substrate transport mechanism 30 adjacent to the downstream side can surely stop the substrate 2 at the regular position (stop position) and can prevent the occurrence of overrun, thereby preventing a reduction in work efficiency. .

  It is an object of the present invention to provide a component actual apparatus and a substrate carrying method in a component mounting apparatus that can prevent the occurrence of overrun and prevent a reduction in work efficiency.

1 Component mounter (component mounting equipment)
2 Substrate 12 Substrate transport unit 30 Substrate transport mechanism 40 Control device (control unit)
S2 Second sensor (substrate detection sensor)

Claims (2)

A component mounting apparatus including a substrate transport unit in which a plurality of substrate transport mechanisms that perform operations of carrying in a substrate sent from the upstream side and carrying it out to the downstream side are arranged in series,
Each substrate transport mechanism includes a substrate detection sensor that is provided at an end portion on the carry-out side of the substrate and detects the substrate,
The controller that controls the operation of each substrate transport mechanism
After each substrate transport mechanism carries in a substrate sent from another substrate transport mechanism adjacent to the upstream side at a first speed, the substrate transport speed is increased when the front end of the substrate reaches a predetermined deceleration start position. The substrate is decelerated to a second speed that is lower than the first speed, and when the front end of the substrate is detected by the substrate detection sensor, the substrate carrying-in operation for stopping the substrate and the transport of the stopped substrate are resumed. Control to perform a carry-out operation of carrying the substrate at the first speed until the rear end is detected by the substrate detection sensor and carrying it out to another substrate carrying mechanism adjacent to the downstream side;
After each substrate transport mechanism resumes transport of the substrate, before the rear end of the substrate is detected by the substrate detection sensor, the deceleration start of the other substrate transport mechanism in which the front end of the sent-out substrate is adjacent to the downstream side When the position reaches the position, the substrate detection sensor is operated to transport the substrate in synchronization with another substrate transport mechanism adjacent to the downstream side until the rear end of the substrate is detected by the substrate detection sensor. Component mounting equipment. A substrate transport method in a component mounting apparatus including a substrate transport unit in which a plurality of substrate transport mechanisms that perform operations of carrying in a substrate sent from the upstream side and carrying it out to the downstream side are arranged in series,
Each board transfer mechanism
A first step of loading a substrate sent from another substrate transfer mechanism adjacent to the upstream side at a first speed;
A second step of decelerating the substrate transport speed to a second speed smaller than the first speed when the front end of the substrate reaches a predetermined deceleration start position after starting the first step;
A third step of stopping the substrate when the front end of the substrate is detected by the substrate detection sensor provided at the end portion on the carry-out side of the substrate after the substrate transport speed is reduced to the second speed;
After the third step, the transfer of the substrate is resumed, and the substrate is transferred at the first speed until the rear end of the substrate is detected by the substrate detection sensor, and is transferred to another substrate transfer mechanism adjacent to the downstream side. Execute the fourth step of carrying out,
In the fourth step, after the substrate transport is resumed, before the rear end of the substrate is detected by the substrate detection sensor, the deceleration of the other substrate transport mechanism in which the front end of the fed-out substrate is adjacent to the downstream side. When the start position is reached, component mounting is performed in which the substrate is transported in synchronization with another substrate transport mechanism adjacent to the downstream side until the rear end of the substrate is detected by the substrate detection sensor. Substrate transport method in an industrial apparatus.

Images