JP6232583B2 - Substrate transport method and component mounting apparatus - Google Patents

Description

  The present invention relates to a substrate transport method using a substrate transport mechanism that supports and transports both sides of a substrate with a pair of transport belts, and a component mounting apparatus including such a substrate transport mechanism.

  2. Description of the Related Art Conventionally, a component mounting apparatus that manufactures a component mounting board by mounting components on a board includes a board transport mechanism that supports and transports both sides of the board by a pair of transport belts. The board is carried in, positioned at the work position, and carried out (for example, Patent Document 1). In such a base carrying mechanism of the component mounting apparatus, when the board is in contact with the side member supporting the carrying belt, for example, the board is inclined with respect to the traveling direction of the carrying belt, the board is placed there. There is a case where the substrate is not transported due to the stagnation and a transport error occurs. In this case, after the production of the component mounting apparatus is stopped, the occurrence of the conveyance error is notified, and the operator corrects the substrate conveyance posture based on the notification, and the conveyance error is corrected. This eliminates the problem so that the transfer of the substrate can be resumed.

JP 2009-54619 A

  However, if a board transport error occurs due to the board tilting with respect to the transport belt as described above, production of the component mounting apparatus will stop until the operator corrects the board transport posture. However, there is a problem that not only the operation rate of the component mounting apparatus is lowered, but also the labor of the operator is required.

  Accordingly, an object of the present invention is to provide a substrate transport method and a component mounting apparatus that can improve the operating rate of the component mounting apparatus when a substrate transport error occurs and can reduce the labor of an operator. .

  The substrate transport method according to claim 1 is a substrate transport method in a component mounting apparatus provided with a substrate transport mechanism that transports the substrate while supporting both sides of the substrate by a pair of transport belts. A step of transporting the substrate by a predetermined distance in the reverse direction by the substrate transport mechanism when it is detected that a transport error of the substrate has occurred during the transport of the substrate in the forward direction by the transport mechanism; After the substrate is transported in the reverse direction by the substrate transport mechanism, the step of transporting the substrate in the forward direction again by the substrate transport mechanism, and the forward direction after the substrate is transported in the reverse direction by the substrate transport mechanism. A step of interrupting the conveyance of the substrate and notifying the occurrence of the conveyance error when the conveyance error is not solved even by the conveyance.

  According to a second aspect of the present invention, there is provided a substrate transport method according to a second aspect of the present invention, wherein the substrate mounting method includes a substrate transport mechanism that transports the substrate by supporting both sides of the substrate with a pair of transport belts capable of changing the interval. When the substrate transport mechanism detects that a substrate transport error has occurred while the substrate transport mechanism is transporting the substrate in the forward direction, the substrate transport mechanism moves the substrate in the reverse direction. A step of transporting the substrate by a predetermined distance, a step of transporting the substrate in the reverse direction by the substrate transport mechanism, and then transporting the substrate in the forward direction by the substrate transport mechanism again, and a reverse direction of the substrate by the substrate transport mechanism. If the transport error is not resolved even by transport in the forward direction after transporting, after changing the distance between the pair of transport belts, and after changing the distance between the pair of transport belts, And the step of transporting the substrate in the forward direction by the substrate transport mechanism and the transport of the substrate when the transport error is not eliminated even by transporting the substrate in the forward direction after changing the distance between the pair of transport belts. And a step of interrupting the transport of the substrate by a mechanism and notifying the occurrence of the transport error.

  The component mounting apparatus according to claim 3, wherein a substrate transport mechanism that supports and conveys both sides of the substrate by a pair of transport belts, a control unit that performs transport control of the substrate by the substrate transport mechanism, and the substrate transport A transport error detecting means for detecting that a transport error of the substrate being transported by the mechanism has occurred; and a notifying unit for notifying an operator of the transport error; and When the transport error detecting means detects that a transport error of the substrate has occurred while transporting the substrate in the forward direction, the substrate transport mechanism transports the substrate in the reverse direction by a predetermined distance. When the substrate is transported in the forward direction again, and the transport error is not resolved by this transport, the transport of the substrate by the substrate transport mechanism is interrupted. To, thereby informing the generation of the transfer error to the notification unit.

  The component mounting apparatus according to claim 4, wherein a substrate conveyance mechanism that supports and conveys both sides of the substrate by a pair of conveyance belts capable of changing a distance, conveyance control of the substrate by the substrate conveyance mechanism, and the pair of substrates A control unit that performs a change control of the conveyance belt interval, a conveyance error detection unit that detects that a conveyance error of the substrate being conveyed by the substrate conveyance mechanism has occurred, and an informing unit that notifies the operator of the conveyance error And when the controller detects that a transport error of the substrate has occurred by the transport error detecting means while transporting the substrate in the forward direction by the substrate transport mechanism, If the substrate transport mechanism transports the substrate in the reverse direction for a predetermined distance and then transports the substrate in the forward direction again, and this transport does not solve the transport error. After changing the distance between the pair of transport belts, the substrate transport mechanism transports the substrate in the forward direction again. If the transport error is not eliminated by this transport, the substrate transport mechanism transports the substrate. And informing the informing unit of the occurrence of the transport error.

  According to the present invention, it is possible to improve the operating efficiency of the component mounting apparatus when a board transport error occurs, and to reduce the labor of the operator.

The perspective view of the component mounting apparatus in 1st Embodiment of this invention. The perspective view of the board | substrate conveyance mechanism with which the component mounting apparatus in 1st Embodiment of this invention is provided. The block diagram which shows the control system of the component mounting apparatus in 1st Embodiment of this invention. (A) (b) (c) The top view of the board | substrate conveyance mechanism in 1st Embodiment of this invention. The figure which shows the state in which the board | substrate conveyance error generate | occur | produced in the board | substrate conveyance mechanism in 1st Embodiment of this invention. The flowchart which shows the flow of the automatic recovery from the conveyance error in 1st Embodiment of this invention. (A) (b) (c) Explanatory drawing of the board | substrate conveyance procedure at the time of the automatic recovery from the conveyance error which the board | substrate conveyance mechanism in 1st Embodiment of this invention performs. The flowchart which shows the flow of the automatic recovery from the conveyance error in 2nd Embodiment of this invention (A) (b) (c) Explanatory drawing of the board | substrate conveyance procedure at the time of the automatic recovery from the conveyance error which the board | substrate conveyance mechanism in 2nd Embodiment of this invention performs.

(First embodiment)
A component mounting apparatus 1 shown in FIG. 1 is an apparatus that repeatedly executes an operation of mounting a component 3 on a substrate 2. A component supply unit 13 including a substrate transport path 12, a plurality of parts feeders 13 a on a base 11, a head The moving mechanism 14 and the mounting head 15 are provided. Here, for convenience of explanation, the direction in which the substrate 2 is transported by the substrate transport path 12 (arrow A1 shown in FIG. 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-rear direction as viewed from the operator OP is defined as the Y-axis direction. Also, the vertical direction is the Z-axis direction.

  In FIG. 1, the substrate transport path 12 includes three substrate transport mechanisms 20 provided side by side in the transport direction (X-axis direction) of the substrate 2. These substrate transport mechanisms 20 receive the substrate 2 sent from the upstream process side and carry in the substrate 2 for loading the substrate 2 (loading substrate transport mechanism 20a), and from the loading substrate transport mechanism 20a to the substrate 2 The substrate transport mechanism 20 for positioning (positioning substrate transport mechanism 20b) for positioning the substrate 2 at a predetermined work position and the substrate transport mechanism 20 for transporting the substrate 2 from the positioning substrate transport mechanism 20b to the downstream process side. (Conveying substrate transport mechanism 20c).

  In FIG. 2, each substrate transport mechanism 20 includes a pair of side members 21 that extend in the X-axis direction in the XZ plane and are opposed to each other in the Y-axis direction, and the front and rear portions provided on the inner surface side of each side member 21. It consists of two pulleys (a driving pulley 22a and a driven pulley 22b) and a conveyor belt 23 that spans the driving pulley 22a and the driven pulley 22b. Each conveyor belt 23 is driven by a drive pulley 22a being rotationally driven by a conveyor drive motor 24 attached to the side member 21, and the two drive pulleys 22a are synchronously rotated in the same direction by the two conveyor drive motors 24. Thus, the pair of transport belts 23 support both side portions (both side portions facing in the Y-axis direction) of the substrate 2 from below and transport them in the X-axis direction.

  In FIG. 2, one of the pair of side members 21 is a fixed side member 21 a fixed to the base 11, and the other is to the fixed side member 21 a (that is, to the base 11). In contrast, the movable side member 21b is movable.

  In FIG. 2, two ball screws 25 extending in the Y-axis direction are connected to the pair of side members 21. One of these ball screws 25 is directly rotated by a belt interval changing motor 26, and the other ball screw 25 is driven via a transmission belt 27. When the belt interval changing motor 26 is driven, the two ball screws 25 are synchronously rotated in the same direction, whereby the movable side member 21b moves in the Y-axis direction with respect to the fixed side member 21a (FIG. 2). Arrow B shown in the inside) The interval between the two side members 21 (interval in the Y-axis direction) is changed.

  In FIG. 2, each of the three substrate transport mechanisms 20 includes a loading sensor S <b> 1 at the end of the substrate 2 on the carry-in side (upstream side of the flow of the substrate 2), and the carry-out side (flow of the substrate 2 on the substrate 2). A carry-out side sensor S2 is provided at the end on the downstream side. Each of the carry-in side sensor S1 and the carry-out side sensor S2 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. The light projector and the light receiver are fixed side members 21a. And the movable side member 21b are respectively attached at opposing positions. In the carry-in side sensor S1 and the carry-out side sensor S2, when the front end (leading 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 until that time has passed the inspection light M. When the light receiving state is switched and the rear end (rear end) of the substrate 2 reaches the inspection light M, the light receiver 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. Therefore, the carry-in side sensor S1 and the carry-out side sensor S2 can detect the front end and the rear end of the substrate 2 separately.

  In FIG. 1, each part feeder 13a constituting the component supply unit 13 is composed of, for example, a tape feeder. Each parts feeder 13a continuously supplies the component 3 to the component supply port 13p provided at the end near the board conveyance path 12.

  In FIG. 1, a head moving mechanism 14 is fixed to a base 11 and extends above the base 11 in the Y-axis direction. The head moving mechanism 14 extends in the X-axis direction and is movable on the Y-axis table 14a. An X-axis table 14b and a moving table 14c movable on the X-axis table 14b are provided.

  In FIG. 1, the mounting head 15 is attached to a moving table 14 c of the head moving mechanism 14 and includes a plurality of suction nozzles 15 a extending downward. Each suction nozzle 15a is moved (lifted / lowered) in the Z direction with respect to the mounting head 15 and rotated and moved around the Z axis by the nozzle drive mechanism 15A. A vacuum pressure is supplied into each suction nozzle 15a by the operation of the suction mechanism 15B.

  In FIG. 1, the mounting head 15 is provided with a substrate camera 31 having an imaging field of view directed downward. An area between the positioning substrate transport mechanism 20 b on the base 11 and the component supply unit 13 includes an imaging field of view. A component camera 32 is provided with the facing upward.

  In FIG. 3, the substrate 2 is transported by the transport drive motor 24 provided in each of the three substrate transport mechanisms 20 (the substrate transport mechanism 20 a for loading, the substrate transport mechanism 20 b for positioning, and the substrate transport mechanism 20 c for unloading) constituting the substrate transport path 12. Conveyance and positioning operation control, belt interval changing operation control of the substrate conveying mechanism 20 by the belt interval changing motor 26, supply operation control of the component 3 by each part feeder 13a constituting the component supply unit 13, and mounting by the head moving mechanism 14 The controller 15 provided in the component mounting apparatus 1 controls the movement operation of the head 15, the lifting / lowering control of each suction nozzle 15 a by the nozzle drive mechanism 15 A, and the suction operation control of the component 3 of each suction nozzle 15 a by the suction mechanism 15 B. Made. In addition, the image capturing operation control by the substrate camera 31 and the image capturing operation control by the component camera 32 are performed by the control unit 40.

  In FIG. 3, the detection information of the front end or the rear end of the substrate 2 from the carry-in sensor S1 and the carry-out sensor S2 provided in each substrate transport mechanism 20 is input to the control unit 40, and the position grasping unit 40a of the control unit 40 Based on the detection information, the position of the substrate 2 on the transport belt 23 of each substrate transport mechanism 20 is grasped. The image data obtained by the imaging operation of the board camera 31 and the image data obtained by the imaging operation of the component camera 32 are input to the control unit 40, and the image recognition unit 40b of the control unit 40 is based on these image data. Perform image recognition. An input / output device 41 such as a touch panel is connected to the control unit 40, and the operator OP inputs a command to the control unit 40 through the input / output device 41 or receives various information from the control unit 40. Can do. The control unit 40 is connected to a notification unit 42 such as a signal tower provided at a position visible to the worker OP who is working, and the worker OP performs a notification operation of the notification unit 42 that is controlled by the control unit 40. The occurrence of a substrate 2 transfer error, which will be described later, can be noticed by (flashing operation or the like in the signal tower).

  In the mounting operation of the component 3 on the board 2 performed by the component mounting apparatus 1, the control unit 40 first loads the board 2 sent from another component mounting apparatus installed on the upstream side of the component mounting apparatus 1. The substrate is transported by the substrate transport mechanism 20a and the positioning substrate transport mechanism 20b and positioned at a predetermined work position. Then, the control unit 40 moves the mounting head 15 in the horizontal plane by the head moving mechanism 14 to position the substrate camera 31 above the substrate 2, and the position recognition mark 2m provided on the substrate 2 (FIGS. 1 and FIG. 1). 2) is picked up and image recognition is performed to detect a displacement of the substrate 2 from the normal working position.

  When detecting the positional deviation of the substrate 2, the control unit 40 controls the operation of the head moving mechanism 14 to move the mounting head 15 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 15A and the suction mechanism 15B is controlled to suck (pick up) the component 3 on the suction nozzle 15a. Then, the mounting head 15 is moved so that the part 3 sucked by the suction nozzle 15a passes above the part camera 32, and the part 3 is imaged by the part camera 32 and the image data obtained thereby is recognized. Then, the positional deviation (suction deviation) of the component 3 relative to the suction nozzle 15a is obtained.

  When the controller 40 obtains the positional deviation of the component 3 relative to the suction nozzle 15a, the controller 40 moves the mounting head 15 so that the component 3 is positioned above the substrate 2. Then, the suction nozzle 15 a is lowered to release the vacuum suction of the component 3, and the component 3 is mounted on the substrate 2. When the component 3 is mounted, the control unit 40 performs position correction (including rotation correction) of the suction nozzle 15a with respect to the substrate 2 so that the already-determined positional displacement of the substrate 2 and the suction displacement of the component 3 are corrected. Do. When the mounting of all the components 3 to be mounted on the substrate 2 is completed, the control unit 40 operates the positioning substrate transport mechanism 20b and the unloading substrate transport mechanism 20c to complete the mounting of the components 3 (components). The mounting board) is carried out of the component mounting apparatus 1.

  In the component mounting apparatus 1 described above, when the controller 40 transports the substrate 2 by the three substrate transport mechanisms 20, the tip of the substrate 2 is detected by information from the loading-side sensor S <b> 1 provided in each substrate transport mechanism 20. The state (FIG. 4 (a)) that has reached the position crossing the inspection light M of the carry-in sensor S1 is detected, and the tip of the substrate 2 crosses the inspection light M of the carry-out sensor S2 based on information from the carry-out sensor S2. The state (FIG. 4B) that has reached the position is detected, and the state in which the rear end of the substrate 2 has reached the position crossing the inspection light M of the carry-out sensor S2 based on the information from the carry-out sensor S2 (FIG. c)) is detected. Then, in the transport operation of the substrate 2 by each substrate transport mechanism 20, one corner of the substrate 2 contacts the fixed side member 21a or the movable side member 21b, for example, by tilting the substrate 2 with respect to the traveling direction of the transport belt 23. In the case of contact, the substrate transport mechanism 20 is in a state where a “transport error” is generated in which the substrate 2 is not transported even though the substrate 2 is transported. FIG. 5 shows a state in which a corner 2G at the front end side of the substrate 2 is in contact with the movable side member 21b and a conveyance error occurs.

  The control unit 40 detects that the conveyance error has occurred, and detects the tip of the substrate 2 with the carry-in sensor S1, and then carries it out within a predetermined reference time measured by the time measurement unit 40c (FIG. 3). To grasp that the tip of the substrate 2 has not been detected. In other words, in the present embodiment, the carry-in sensor S1, the carry-out sensor S2, and the time measurement unit 40c of the control unit 40 detect a transport error that detects that a transport error of the substrate 2 transported by the substrate transport mechanism 20 has occurred. It is a detection means. The above-mentioned “reference time” means that when the substrate 2 is transported by the substrate transport mechanism 20 without causing a transport error, the front end of the substrate 2 is unloaded after the front end of the substrate 2 is detected by the loading-side sensor S1. It is set based on the time taken for detection by the side sensor S2.

  In the component mounting apparatus 1 configured as described above, when the control unit 40 detects that a transport error has occurred by the transport error detection means including the carry-in sensor S1, the carry-out sensor S2, and the time measurement unit 40c, FIG. By performing the control shown in the flowchart, automatic recovery from a conveyance error is attempted, and will be described below.

  In the transport control of the substrate 2 by each substrate transport mechanism 20, the control unit 40 detects the transport of the substrate 2 by the transport-side sensor S 1, and then the front end of the substrate 2 is transported by the transport-side sensor S 2 within the reference time described above. If the state (FIG. 7A) in which the above-described transport error of the substrate 2 has occurred is detected (step ST1 shown in FIG. 6) based on the fact that the position crossing the inspection light M of the sensor S2 has not been reached, etc. After controlling the operation of the drive motor 24 and stopping the conveyance of the substrate 2 in the forward direction (step ST2), the substrate 2 is conveyed in the reverse direction by a predetermined small distance (step ST3 in FIG. 7B). Arrow A2) shown. Thereafter, the substrate 2 is again transported in the forward direction (step ST4, arrow A1 shown in FIG. 7C), and the substrate 2 is moved within a predetermined time from the start of transport in the forward direction. It is determined whether or not the conveyance error has been eliminated depending on whether or not the position has reached the position (here, the position where the tip of the substrate 2 crosses the inspection light M of the carry-out sensor S2) (step ST5).

  If the transport posture of the substrate 2 is corrected so as to be parallel to the traveling direction of the transport belt 23 by the operations of Step ST3 and Step ST4, the transport error is eliminated, and the substrate 2 moves to a predetermined position within the reference time. If the substrate 2 passes, the transport posture of the substrate 2 is not corrected, and the transport error is not resolved, the substrate 2 does not pass through a predetermined position even if the reference time elapses. As a result of the determination, the control unit 40 returns to step ST1 while continuing to transfer the substrate 2 in the forward direction when the transfer error of the substrate 2 has been eliminated, and the transfer error of the substrate 2 has not been eliminated. In the event that the board mounting mechanism 20 has stopped the production operation of the component mounting apparatus 1 including the stop of the board 2 carrying operation, the notifying unit 42 is notified of the occurrence of a carrying error (step ST6). When the operator OP notices that a transport error has occurred in step ST6, the operator OP manually corrects the transport posture of the substrate 2, and resumes transport of the substrate 2 by the substrate transport mechanism 20 from the input / output device 41. A command to resume production of the component mounting apparatus 1 including

  As described above, in the component mounting apparatus 1 according to the first embodiment, when it is detected that a substrate 2 transport error has occurred in the middle of transporting the substrate 2 in the forward direction by the substrate transport mechanism 20, the substrate 2. The substrate 2 is transported for a predetermined distance and then forward again to carry out the correction operation for the transport posture of the substrate 2. When the transport error is still not eliminated by this correction operation, the transport of the substrate 2 is interrupted. In addition, the production by the component mounting apparatus 1 including is stopped, and the occurrence of a conveyance error is notified. That is, even if a substrate 2 transport error occurs, the transport of the substrate 2 is not interrupted immediately (production of the component mounting apparatus 1 is stopped), but automatic recovery from the transport error is attempted before that. ing. For this reason, when the conveyance error of the board | substrate 2 generate | occur | produces, the operating efficiency of the component mounting apparatus 1 can be improved, and an operator's effort can be reduced.

(Second Embodiment)
The apparatus configuration of the component mounting apparatus 1 in the second embodiment of the present invention is the same as that of the component mounting apparatus 1 in the first embodiment described above, but the control content of the board transport mechanism 20 by the control unit 40 is different.

  In the component mounting apparatus 1 according to the second embodiment, the control unit 40 performs the same steps as steps ST1 to ST5 in the first embodiment described above in the transport control of the substrate 2 by each substrate transport mechanism 20 (FIG. 8). ). If the result of determination in step ST5 is that the substrate 2 transport error has been eliminated, the process returns to step ST1, but if the substrate 2 transport error has not been resolved, the case of the first embodiment is performed. Thus, the occurrence of the conveyance error is not notified and the conveyance of the substrate 2 by the substrate conveyance mechanism 20 is stopped (step ST7 shown in FIG. 8; FIG. 9A), and the operation control of the belt interval changing motor 26 is performed. Then, the interval (belt interval) between the pair of transport belts 23 is changed so as to narrow the width dimension (dimension in the Y-axis direction) of the substrate 2 (step ST8, arrow B1 shown in FIG. 9B). After that, the substrate 2 is transported in the forward direction (step ST9, FIG. 7C), and then the substrate 2 is in the above-mentioned predetermined position within the reference time (the tip of the substrate 2 is inspected by the unloading side sensor S2). It is determined whether or not the conveyance error has been resolved depending on whether or not the position has crossed the light M) (step ST10). In step ST8, the distance between the pair of conveyor belts 23 may be reduced to the same level as the width of the substrate 2 and then returned to the original distance (arrow B2 shown in FIG. 9C). ).

  If the transport posture of the substrate 2 is corrected so as to be parallel to the traveling direction of the transport belt 23 by the operation of step ST8, the transport error is eliminated, and the substrate 2 passes a predetermined position within the reference time, If the transport posture of the substrate 2 is not corrected and the transport error is not resolved, the substrate 2 does not pass through a predetermined position even if the reference time has elapsed. As a result of the determination, the control unit 40 returns to step ST1 while continuing to transfer the substrate 2 in the forward direction when the transfer error of the substrate 2 has been eliminated, and the transfer error of the substrate 2 has not been eliminated. In the case where the substrate mounting mechanism 1 has stopped, the production operation of the component mounting apparatus 1 including the stop of the substrate 2 transport operation is stopped, and the notification unit 42 is notified of the occurrence of a transport error (step S11). When the operator OP notices that a transport error has occurred in step ST6, the operator OP manually corrects the transport posture of the substrate 2, and resumes transport of the substrate 2 by the substrate transport mechanism 20 from the input / output device 41. A command to resume production of the component mounting apparatus 1 including

  As described above, in the component mounting apparatus 1 according to the second embodiment, when it is detected by the board transport mechanism 20 that a board 2 transport error has occurred while the board 2 is being transported in the forward direction, the board 2 The transport posture of the substrate 2 is corrected by transporting the substrate 2 in the reverse direction and then transporting it in the forward direction again, and then changing the distance between the pair of transport belts 23 and transporting it in the forward direction again. However, the transport of the substrate 2 is interrupted and the occurrence of the transport error is notified only when the transport error is still not solved by this correction work. Therefore, it is possible to improve the operation efficiency of the component mounting apparatus 1 when a substrate 2 transport error occurs more than in the case of the first embodiment, and to reduce the labor of the operator OP.

  Provided are a substrate transport method and a component mounting apparatus that can improve the operating rate of a component mounting apparatus when a substrate transport error occurs and reduce the labor of an operator.

DESCRIPTION OF SYMBOLS 1 Component mounting apparatus 2 Board | substrate 20 Board | substrate conveyance mechanism 23 Conveyance belt 40 Control part 40c Time measurement part (conveyance error detection means)
42 Notification part S1 Carry-in side sensor (conveyance error detection means)
S2 Unloading side sensor (Conveying error detection means)

Claims (6)

A substrate transport method in a component mounting apparatus including a substrate transport mechanism that transports the substrate by supporting both sides of the substrate by a pair of transport belts capable of changing the interval ,
A step of transporting the substrate in the reverse direction by a predetermined distance when the substrate transport mechanism detects that a substrate transport error has occurred during the transport of the substrate in the forward direction; ,
After transporting the substrate in the reverse direction by the substrate transport mechanism, the step of transporting the substrate in the forward direction again by the substrate transport mechanism;
A step of changing the distance between the pair of transport belts when the transport error is not eliminated even by transport in the forward direction after transport of the substrate in the reverse direction by the substrate transport mechanism ;
And a step of transporting the substrate in the forward direction again by the substrate transport mechanism after changing the distance between the pair of transport belts . A substrate transport method in a component mounting apparatus provided with a substrate transport mechanism that transports the substrate by supporting both sides of the substrate with a pair of transport belts capable of changing the interval,
A step of transporting the substrate in the reverse direction by a predetermined distance when the substrate transport mechanism detects that a substrate transport error has occurred during the transport of the substrate in the forward direction; ,
After the substrate is transported in the reverse direction by the substrate transport mechanism, the step of transporting the substrate in the forward direction again by the substrate transport mechanism;
A step of changing the distance between the pair of transport belts when the transport error is not eliminated even by transport in the forward direction after transport of the substrate in the reverse direction by the substrate transport mechanism;
After changing the interval between the pair of transport belts, again transporting the substrate in the forward direction by the substrate transport mechanism;
When the transport error is not eliminated by transporting the substrate in the forward direction after changing the distance between the pair of transport belts, the transport of the substrate by the substrate transport mechanism is interrupted and the occurrence of the transport error is notified. And a substrate transporting method. A substrate transport mechanism for supporting and transporting both sides of the substrate by a pair of transport belts capable of changing the interval ;
A control unit that performs transport control of the substrate by the substrate transport mechanism;
A transport error detecting means for detecting that a transport error of the substrate transported by the substrate transport mechanism has occurred ;
When the substrate transport mechanism detects that a substrate transport error has occurred by the transport error detection means while the substrate transport mechanism is transporting the substrate in the forward direction, the control unit uses the substrate transport mechanism. When the substrate is transported in the reverse direction for a predetermined distance and then transported again in the forward direction, and the transport error is not eliminated by this transport, the interval between the pair of transport belts is changed, and the pair of transport belts is changed. After changing the interval of the conveying belt, the component mounting apparatus again conveys the substrate in the forward direction by the substrate conveying mechanism . A substrate transport mechanism for supporting and transporting both sides of the substrate by a pair of transport belts capable of changing the interval;
A control unit that performs conveyance control of the substrate by the substrate conveyance mechanism and interval change control of the pair of conveyance belts;
A transport error detecting means for detecting that a transport error of the substrate being transported by the substrate transport mechanism has occurred;
A notification unit for notifying an operator of the conveyance error;
When the substrate transport mechanism detects that a substrate transport error has occurred by the transport error detection means while the substrate transport mechanism is transporting the substrate in the forward direction, the control unit uses the substrate transport mechanism. When the substrate is transported in the reverse direction and the substrate is transported in the forward direction again, and the transport error is not eliminated by this transport, the distance between the pair of transport belts is changed, and then again When the substrate is transported in the forward direction by the substrate transport mechanism, and the transport error is not resolved by this transport, the transport of the substrate by the substrate transport mechanism is interrupted and the transport error is generated in the notification unit. The component mounting apparatus characterized by the above. A substrate transport method in a component mounting apparatus including a substrate transport mechanism that transports the substrate by supporting both sides of the substrate by a pair of transport belts capable of changing the interval,
A step of changing the distance between the pair of transport belts when it is detected that a transport error of the substrate has occurred in the middle of transporting the substrate in the forward direction by the substrate transport mechanism;
After the distance between the pair of transport belts is changed, the substrate transport method includes a step of transporting the substrate in the forward direction again by the substrate transport mechanism. A substrate transport mechanism for supporting and transporting both sides of the substrate by a pair of transport belts capable of changing the interval;
A control unit that performs transport control of the substrate by the substrate transport mechanism;
A transport error detecting means for detecting that a transport error of the substrate transported by the substrate transport mechanism has occurred;
The control unit detects the occurrence of a substrate transport error by the transport error detecting means while the substrate transport mechanism is transporting the substrate in the forward direction. Then, after changing the interval between the pair of transport belts, the substrate transport mechanism again transports the substrate in the forward direction.

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