JP6590645B2 - Lead terminal insertion failure detection device and component mounting device - Google Patents

Description

  The present invention relates to a component mounting apparatus, and in particular, mounted in a state where component lead terminals are inserted into an insertion hole of a substrate, a lead terminal insertion defect detection apparatus for detecting a lead terminal insertion defect in so-called insertion mounting, The present invention also relates to a component mounting apparatus including the lead terminal insertion failure detection device.

  In a component mounting apparatus in which insertion mounting is performed, a mounting failure such that the lead terminal is mounted without being inserted into the through hole (insertion hole) may occur. Therefore, in order to prevent this kind of mounting failure, a component mounting apparatus as disclosed in, for example, Patent Document 1 has been proposed.

  This component mounting device detects the insertion resistance of the lead terminal when mounting the component held by the head (robot hand) on the board with a sensor, and when this insertion resistance exceeds a set value (threshold) It is configured to interrupt the mounting operation. In other words, if the head is lowered when all or some of the lead terminals provided in the part are not inserted into the through-holes, all the lead terminals are inserted compared to when they are normally inserted into the through-holes. Since the resistance increases, the increase in insertion resistance is detected and the mounting operation is interrupted to prevent breakage of the uninserted lead terminals and suppress the occurrence of mounting defects. ing.

Japanese Patent Laid-Open No. 4-107997

  In a conventional apparatus such as Patent Document 1, in order to reliably prevent an uninserted lead terminal from being broken, it is necessary to detect a lead terminal insertion failure earlier, and the threshold value described above is used. It is desirable to set as low as possible. However, even when the lead terminal is normally inserted into the through hole, for example, when mounting a part in which a hook-shaped part called a kink part is formed at the base part of the lead terminal, the kink part is not through. When inserted into the hole, the insertion resistance temporarily increases, which may be erroneously detected as a lead terminal insertion failure.

  In addition, when the insertion failure occurs in the lead terminal, the timing at which the insertion resistance increases depends on the length, shape, material, etc. of the lead terminal, so the insertion failure is detected based on a certain threshold as in the conventional device. In this case, depending on the type of component, the lead terminal may already be broken at the time when the insertion failure is detected.

  The present invention has been made in view of the above circumstances, and provides a technology capable of accurately detecting a lead terminal insertion failure at an early timing with respect to a component mounting apparatus that performs insertion mounting. Objective.

In order to solve the above-described problems, the present invention is a lead terminal insertion failure detection device for a component mounting apparatus that includes a movable head, holds a component having a lead terminal by the head, and inserts and mounts the component on a substrate. A position detection device for detecting a position in the height direction of the head, a load detection device for detecting a load acting on the head, and a reference position in the height direction of the head in the process of insertion mounting, wherein the lead terminal The reference position set between the terminal arrival position where the tip of the lead reaches the top surface of the substrate and the insertion completion position where the insertion of the lead terminal into the insertion hole is completed is memorized, and the insertion failure of the lead terminal is detected In addition, a storage device storing a threshold value set for a load acting on the head, a detection position detected by the position detection device during insertion mounting, and a detection detected by the load detection device. Based on the load, when the load detected prior to reaching the reference position exceeds the threshold value, e Bei a discriminating device for discriminating the insertion of the lead terminal failure occurs, the storage device, the plurality of types The reference position corresponding to each component is stored, and the discriminating device has a defective insertion of the lead terminal based on the reference position corresponding to the mounting target component among the plurality of reference positions stored in the storage device. There is a shall be determined whether it has occurred.

According to this lead terminal insertion failure detection device, when the detected load exceeds the threshold before the head reaches the reference position, the lead terminal insertion failure is determined. That is, even if the detected load exceeds the threshold value after passing the reference position, in this case, it is not determined that the lead terminal is poorly inserted. Therefore, by setting the reference position in advance based on the position of the hook-shaped kink portion formed at the root portion of the lead terminal, and further setting the threshold value to a relatively low value, it is caused by the kink portion. Thus, it is possible to accurately detect the lead terminal insertion failure at an early timing while avoiding erroneous detection of the lead terminal insertion failure.
In addition, since it is determined whether or not a lead terminal insertion failure has occurred based on a reference position corresponding to the type of component to be mounted, the lead terminal is determined based on a predetermined reference position regardless of the type of component. Compared with the case of determining the insertion failure, the insertion failure of the lead terminal can be detected more accurately, and the situation where the lead terminal is broken can be more reliably suppressed.

  In this lead terminal insertion failure detection device, when the threshold value is defined as the first threshold value, the storage device detects the insertion failure of the lead terminal, which is a threshold value greater than the first threshold value. A second threshold value is stored, and the discriminating device further includes a case where the detected load exceeds the second threshold value before the head passes the reference position and reaches the insertion completion position. It is preferable to determine that a lead terminal insertion failure has occurred.

  For example, even when the lead terminal is inserted into the insertion hole, there may be a case where the lead terminal is clogged in the insertion hole in the middle due to a dimension failure or the like. It becomes possible to detect insertion failure of the lead terminal.

  In this case, the second threshold value can be set to a value equivalent to a load acting on the head when the head reaches a target position of the head set in advance at a position lower than the insertion completion position. .

  When the lead terminal is clogged in the insertion hole in the middle as described above, a load equivalent to that when the head reaches the target position can act before the head reaches the insertion completion position. For this reason, according to the above configuration, it is possible to satisfactorily detect a lead terminal insertion failure such that the lead terminal is clogged in the insertion hole due to a dimension failure or the like.

  In this case, the discriminating device discriminates that the insertion failure of the lead terminal has occurred when the detected load has not reached the second threshold when the head reaches the target position. Is preferred.

  According to this configuration, it is possible to detect a state in which an insertion failure has occurred in the lead terminal due to bending of the substrate.

In the lead terminal insertion failure detection device, the storage device stores the threshold corresponding to each of a plurality of types of components, and the determination device includes a plurality of thresholds stored in the storage device. Among these, it is preferable to determine whether or not a lead terminal insertion failure has occurred based on a threshold value corresponding to the component to be mounted .

According to this configuration, since whether the insertion of the lead terminal failure occurs on the basis of the threshold value according to the type of the mounting object component is determined, based on certain threshold value which is previously set regardless of the type of the component Thus, it is possible to detect the insertion failure of the lead terminal more accurately and to more reliably suppress the situation that the lead terminal is broken as compared with the case of determining the insertion failure of the lead terminal.

  On the other hand, the component mounting apparatus of the present invention is a component mounting apparatus that includes a movable head, and that holds a component having a lead terminal by the head and inserts and mounts it on a substrate. As a means for detecting the occurrence of this, any one of the lead terminal insertion failure detection devices described above is provided.

  According to this component mounting apparatus, since the lead terminal insertion failure detection device as described above is provided, it is possible to accurately detect the lead terminal insertion failure at an early timing in the process of insertion mounting.

  In this case, the head is driven and controlled to execute the insertion mounting, and the head driving is stopped when the lead terminal insertion failure detection device detects a lead terminal insertion failure in the insertion mounting process. It is preferable that a control device is provided.

  According to this configuration, it is possible to suppress the occurrence of inconvenience that the lead terminal of the mounted component is broken.

  As described above, according to the present invention, it is possible to accurately detect a lead terminal insertion failure at an early timing in a component mounting apparatus that performs insertion mounting.

It is a top view of the component mounting apparatus (component mounting apparatus with which the lead terminal insertion defect detection apparatus of this invention was mounted) which concerns on this invention. It is a front view of the said component mounting apparatus. It is a block diagram which shows the control system of the said component mounting apparatus. It is a schematic diagram of a head and its suction component in the process of insertion mounting, (a) is a descent start height position, (b) is a terminal arrival position, (c) is a first reference position, and (d) is an insertion completion position. The head and parts in FIG. It is a schematic diagram of a head and parts showing a state of poor insertion of lead terminals, (a) is a state where some lead terminals are poorly inserted among a plurality of lead terminals, and (b) is a plurality of lead terminals. All show the state of poor insertion. It is a flowchart which shows the example of control of a lead terminal insertion defect detection process. (A)-(d) is a graph which shows the relationship between the position of a head in the process of insertion mounting, and a load.

  Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

[Configuration of component mounting equipment]
1 and 2 show a component mounting apparatus 1 according to the present invention (a component mounting apparatus on which a lead terminal insertion failure detection apparatus according to the present invention is mounted). FIG. 1 is a plan view and FIG. 2 is a front view. These show the component mounting apparatuses 1 respectively. In the drawings, XYZ rectangular coordinate axes are shown in order to clarify the directional relationship between the drawings. The X direction is a direction parallel to the horizontal plane, the Y direction is a direction orthogonal to the X direction on the horizontal plane, and the Z direction is a direction orthogonal to both the X and Y directions. Note that the Z direction is also referred to as a vertical direction and a height direction as appropriate.

  The component mounting apparatus 1 includes a base 2, a substrate transport mechanism 3 that transports a substrate P such as a printed wiring board on the base 2, a component supply unit 5, a head unit 6, and the head unit 6. And a component recognition camera 7.

  The substrate transport mechanism 3 includes a pair of conveyors 4 that transport the substrate P in the X direction and a substrate holding mechanism (not shown). The conveyor 4 is a so-called belt conveyor, which receives the substrate P from the right side (X1 direction side) in FIGS. 1 and 2 and transports it to a predetermined mounting work position (position shown in the figure). P is carried out to the left side (X2 direction side) of the figure. Although not shown, the substrate holding mechanism is a lift-up mechanism including a backup pin that can be raised and lowered. The substrate holding mechanism lifts the substrate P from the conveyor 4 and presses it against the lower surface of the pressing plate (not shown). It is comprised so that it may hold | maintain in the state positioned in the said mounting work position.

  The component supply unit 5 is disposed on both sides (both sides in the Y direction) of the substrate transport mechanism 3. In each component supply unit 5, a plurality of tape feeders 5 a are arranged along the conveyor 4. Each tape feeder 5a supplies small pieces of surface-mounted components (chip components) such as ICs, transistors, capacitors, etc., using the tape as a carrier. In addition, a tray feeder 5b is further arranged in the component supply unit 5 on the front side (Y2 side) of the apparatus. By this tray feeder 5b, an insertion component having a lead terminal (pin), for example, DIP (DualIn-Line Package) is provided. ), Resistors such as SIP (Single In-Line Package), and resistors, capacitors, coils, etc. having lead terminals, are mounted on the substrate P with the lead terminals inserted into through holes (a kind of insertion hole of the present invention). Parts are supplied.

  The head unit 6 takes out components from each component supply unit 5 and mounts them on the substrate P, and is provided so as to be movable in the X direction and the Y direction within a certain area by a head unit driving mechanism. Specifically, the head unit drive mechanism includes a pair of fixed rails 10 that are respectively fixed on an elevated frame and extend in the Y direction, and a unit support member 11 that extends in the X direction and is movably supported by the fixed rails 10. And a ball screw shaft 12 screwed into the unit support member 11 and driven by a Y-axis servo motor 13. The head unit drive mechanism is fixed to the unit support member 11 and supports the head unit 6 so as to be movable in the X direction, and the head unit 6 is screwed into the head unit 6 to drive the X-axis servo motor 16 as a drive source. And a ball screw shaft 15 driven as follows. In other words, the head unit driving mechanism drives the head unit 6 in the X direction by the X-axis servomotor 16 via the ball screw shaft 15, and the unit support member 11 via the ball screw shaft 12 by the Y-axis servomotor 13. Is moved in the Y direction. As a result, the head unit 6 is moved in the X direction and the Y direction within a certain area.

  The head unit 6 includes a plurality of shaft-shaped heads 20 and a head driving mechanism that drives the heads 20. In this example, the head unit 6 includes a total of five heads 20 arranged in a line in the X direction.

  The head drive mechanism has a Z-axis servo motor 24 corresponding to each head 20, and a lift drive mechanism that moves each head 20 up and down individually (moves in the Z direction) and one R axis common to each head 20. A servomotor 25 (see FIG. 3), and a rotary drive mechanism that simultaneously rotates the heads 20 around the head central axis (R direction).

  Each head 20 is provided with a component suction nozzle 22 at the tip thereof. The nozzle 22 of each head 20 can communicate with a negative pressure generator and a positive pressure generator via an electric switching valve. That is, the component is adsorbed by supplying a negative pressure to the nozzle 22, and thereafter, the adsorbing of the component is released by instantaneously supplying a positive pressure.

  The head unit 6 further includes a substrate recognition camera 26. The substrate recognition camera 26 images various marks written on the substrate P from above for identification and positioning of the substrate P.

  The component recognition camera 7 images the component from the lower side in order to recognize the suction state of the component taken out from the component supply unit 5 by each head 20. As shown in FIG. 1, the component recognition camera 7 is disposed at a position between each component supply unit 5 and the substrate transport mechanism 3 on the base 2.

[Description of control system of component mounting equipment]
FIG. 3 shows the control device 30 of the component mounting apparatus 1. The control device 30 includes a main control unit 32 that comprehensively controls the operation of the component mounting apparatus 1, a storage unit 34 that stores programs and various data, and servo motors 13 for X, Y, Z, and R axes. , 16, 24, 25, and a drive control unit 36 for controlling the drive. The main control unit 32 is a computer composed of a CPU and a memory, and is connected to a storage unit 34, a drive control unit 36, and an input / output unit 38 via a bus 33.

  The main control unit 32 controls the drive control unit 36 according to the program and data stored in the storage unit 34, executes a predetermined component mounting process for taking out the component from the component supply unit 5 and mounting it on the board P, Various arithmetic processes related to the process are performed. The main control unit 32 performs a lead terminal insertion failure detection process and performs various arithmetic processes related to the process when mounting the insertion component including the lead terminal (pin) on the substrate.

  The lead terminal insertion failure process is a process of detecting a lead terminal insertion failure when the insertion component is mounted on the substrate while the lead terminal is inserted into the through hole of the substrate P, that is, in so-called insertion mounting. Specifically, as will be described later, when the insertion component is mounted on the substrate P, the load acting on the head 20 is detected, and the height position (position in the Z direction) of the head 20 and the value of the detected load are detected. Based on this, it is determined whether or not there is a defective insertion of the lead terminal. Note that, when an insertion failure is detected in the lead terminal insertion failure process, the main control unit 32 controls the drive control unit 36 described later to stop the component mounting operation. That is, in this example, the main control unit 32 corresponds to the determination device and the control device of the present invention.

  The storage unit 34 (corresponding to the storage device of the present invention) is composed of a hard disk, a memory, and the like, and stores various programs and data required for controlling the operation of the component mounting apparatus 1. For example, insertion part data is stored as data used for lead terminal insertion failure detection processing. The insertion part data is data in which the type of the insertion part supplied by the tray feeder 5b is associated with the unique information of the part.

  In the unique information, the position information in the height direction (Z direction) of the head 20 specified in advance and the threshold value set to the value of the load acting on the head 20 in order to determine whether or not there is a defective insertion of the lead terminal. Information. Specifically, it is as follows.

  4A to 4D show a process of insertion mounting in which the component C having the lead terminal Ct is mounted while inserting the lead terminal Ct into the through hole H of the substrate P. In FIG. A first reference position indicated by reference sign P1 and a second reference position indicated by reference sign P2 are stored as the position information. As shown in FIG. 4C, the first reference position P1 is when the lead terminal Ct is normally inserted into the through hole H so that the lead terminal Ct is positioned in the through hole H by a predetermined dimension t1 from the tip. This is the height position of the head 20. The second reference position P2 is the height position of the head 20 when the component C is normally mounted on the substrate P by properly inserting the lead terminal Ct into the through hole H (FIG. 4D). And a predetermined height position set between the first reference position P1 and the first reference position P1. As described above, the predetermined dimension t1 is a dimension in which a hook-like portion formed at the base of the lead terminal, that is, a kink portion (not shown in FIG. 4) is not inserted into the through hole H.

  Further, as threshold information, a first threshold N1 and a second threshold N2 having a value larger than the first threshold N1 are stored. When the head 20 reaches the first reference position P1, the first threshold value N1 is such that one of the plurality of lead terminals Ct is not inserted into the through hole H as shown in FIG. In this case, the value is set slightly smaller than the value of the load acting on the head 20. The second threshold value N2 is a value of a load acting on the head 20 when the head 20 reaches a preset target position Pt. The target position Pt is a position that is lower than the insertion completion position Po by a fixed dimension t2 (see FIG. 4D), and the main control unit 32 uses the insertion completion position Po as a reference during the component mounting operation. This is a position for controlling the head 20.

  The position information and threshold information of the head 20 as described above vary depending on the type of component depending on the shape of the component, the length, material, position, etc. of the lead terminal Ct, and the storage unit 34 stores such information. Is stored in association with the type of the inserted part as unique information. That is, in the lead terminal insertion failure detection process, the main control unit 32 reads out the unique information corresponding to the mounting target component from the storage unit 34, and determines whether or not there is a lead terminal Ct insertion failure based on the unique information. Determine.

  The drive control unit 36 controls the Y-axis servo motor 13 and the X-axis servo motor 16 to control the movement of the head unit 6, and also controls the Z-axis servo motor 24 and the R-axis servo motor 25 to control each head. The head unit 6 and the like are feedback-controlled based on positional information output from the encoders 13a, 16a, 24a, and 25a built in the servo motors 13, 16, 24, and 25. . The drive control unit 36 has a current detection unit 36a that detects the control current value of each servo motor 13, 16, 24, 25. In the lead terminal insertion failure detection process, the current detection unit 36a detects the current control unit 36a. The load acting on the head 20 is determined based on the control current value of the Z-axis servomotor 24 that performs the above operation. That is, in this example, the encoder 24a of the Z-axis servomotor 24 corresponds to the position detection device of the present invention, and the current detection unit 36a corresponds to the load detection device of the present invention.

  The touch panel 39 is an information input / output device for the control device 30, and is connected to the main control unit 32 via the input / output unit 38 and the bus 33. The touch panel 39 inputs information to the control device 30 via the input / output unit 38 in accordance with a predetermined input operation by the operator, and notifies the operator of the work status of the component mounting apparatus 1.

  As described above, in this example, the Z-axis servo motor 24 is the position detection device of the present invention, the current detection unit 36a is the load detection device of the present invention, and the storage unit 34 is the storage device of the present invention. The unit 32 corresponds to the discrimination device of the present invention. Therefore, in this example, the Z-axis servomotor 24, the current detection unit 36a, the storage unit 34, and the main control unit 32 constitute the lead terminal insertion failure detection device of the present invention.

[Lead terminal insertion failure detection processing]
FIG. 6 is a flowchart illustrating an example of a lead terminal insertion failure detection process executed when the above-described insertion component (hereinafter simply referred to as a component) is mounted. This process is performed by mounting the component C on the board P as shown in FIGS. 4A to 4D, that is, as the head 20 is lowered, the lead terminal Ct is placed in the through hole H formed in the board P. It is executed together with the operation of mounting the component C on the substrate P while being inserted.

  The main control unit 32 first waits for the descent operation of the head 20 for component mounting to be started. When the descent operation of the head 20 is started (Yes in step S1), the main control unit 32 acts on the head 20. It is determined whether the load L exceeds the first threshold value N1 (step S3). Specifically, the main control unit 32 acts on the head 20 (nozzle 22) by converting this current value into a load value based on the control current value of the Z-axis servomotor 24 detected by the current detection unit 36a. A load L is obtained, and it is determined whether this load L (referred to as a detected load L as appropriate) exceeds a first threshold value N1. Here, when it determines with Yes, the main control part 32 notifies that the lead terminal insertion defect occurred by controlling a touch panel 39 by moving a process to step S15, and stops mounting operation | movement of components. (Steps S15 and S17), the lead terminal insertion failure detection process is terminated. That is, as described above, the first threshold value N1 is slightly smaller than the value of the load acting on the head 20 when an insertion failure occurs in one of the lead terminals Ct. Accordingly, if the detected load L exceeds the first threshold value N1 before the head 20 reaches the first reference position P1, it is determined that an insertion failure has occurred in the lead terminal Ct, and that is notified to the operator. Is done.

  If it is determined No in step S3, the main control unit 32 determines whether the head 20 has reached the first reference position P1 (step S5). If the determination is Yes, the detected load L is further set to the second threshold value. It is determined whether or not N2 is exceeded (step S7). If the determination is Yes, the process proceeds to step S15 to notify that a lead terminal insertion failure has occurred. That is, when the lead terminal Ct is inserted into the through hole H but the lead terminal Ct is clogged in the middle without being inserted to the root due to a dimensional defect or the like, the detection load is lowered as the head 20 is lowered. L is abrupt and the value naturally exceeds the second threshold value N2 when the head 20 normally reaches the target position Pt. Therefore, if the detected load L exceeds the second threshold value N2 before the head 20 reaches the second reference position P2, it is determined that an insertion failure has occurred in the lead terminal Ct, and that is notified to the operator. Is done.

  If it is determined No in step S7, the main control unit 32 determines whether the head 20 has reached the second reference position P2 (step S9), and if determined Yes, the head 20 has reached the target position Pt. It is determined whether it has been done (step S11). If it determines with Yes here, the main control part 32 will further determine whether the detection load L is 2nd threshold value N2 or more (step S13), and if it determines with Yes, a lead terminal insertion defect detection process will be complete | finished.

  On the other hand, if it is determined No in step S13, the main control unit 32 moves the process to step S15 and notifies that a lead terminal insertion failure has occurred. For example, when the position of the backup pin of the substrate holding mechanism is inappropriate, the substrate 20 is pressed by the head 20 and escapes (bends) downward, and as a result, the detected load L reaches the second threshold value N2. May not. In such a case, for example, it may be considered that the lead terminal Ct is not completely inserted into the through hole H. Therefore, when the head 20 reaches the target position Pt, if the detected load L is not equal to or greater than the second threshold value N2, it is determined that an insertion failure has occurred in the lead terminal Ct, and the operator is notified accordingly. .

  The effects of the lead terminal insertion failure detection process are summarized as follows.

  FIG. 5 is a graph showing the relationship between the height of the head 20 (position in the Z direction) and the detected load L in the mounting operation of a certain inserted component, and the solid line indicates the component without defective insertion of the lead terminal Ct. When the circuit board is normally mounted on the substrate P, an alternate long and short dash line indicates that, when an insertion failure occurs in a part (one) of the lead terminals Ct among the plurality of lead terminals Ct, as shown in FIG. As shown in FIG. 5 (b), the broken line indicates that the insertion failure occurs in all the lead terminals Ct due to misalignment of the component C. Each relationship is shown when it occurs (when the lead terminal Ct is clogged in the through hole H without being inserted to the root). Note that the position indicated by the symbol Pa in FIG. 5 is the position of the head 20 when the tip of the lead terminal Ct reaches the upper surface of the substrate P (refer to FIG. 4B / terminal arrival position Ps).

  As shown in the figure, when the component is normally mounted (solid line), there is almost no insertion resistance until the head 20 passes the first reference position P1, and therefore the detected load L is almost zero. Then, when the kink portion formed on the lead terminal Ct is inserted into the through hole H past the first reference position P1, the detected load L rises accordingly, and the head 20 finally reaches the target position Pt. The detected load L reaches a value equivalent to the second threshold value N2 at the arrival timing. Accordingly, in this case, the detected load L does not exceed the first threshold value N1 between the terminal arrival position Ps and the first reference position P1, and between the first reference position P1 and the second reference position P2. Thus, the detected load L does not exceed the second threshold value N2. Therefore, it is not determined that the lead terminal is poorly inserted. In the case of a component in which the kink portion is not formed on the lead terminal Ct, the detected load L is substantially zero up to the vicinity of the second reference position P2, and the detected load L from around the second reference position P2. Will rise.

  On the other hand, when an insertion failure occurs in some of the lead terminals Ct (one-dot chain line), the uninserted lead terminal Ct becomes an insertion resistance, and the detection load L increases immediately after the terminal arrival position Ps. The detected load L exceeds the first threshold N1 before reaching the first reference position P1. In addition, this example is an example when an insertion failure occurs in one lead terminal Ct, and when the insertion failure occurs in a plurality of lead terminals Ct, the detection load L is further increased accordingly. It will stand up from an early stage. Therefore, when an insertion failure has occurred in some of the lead terminals Ct, the lead insertion failure is detected before the head 20 reaches the first reference position P1.

  When an insertion failure occurs in all the lead terminals Ct (broken line), the uninserted lead terminal Ct becomes an insertion resistance, and the detection load L increases immediately after the terminal arrival position Ps. In this case, since all the lead terminals Ct are in an upright contact state with the substrate surface, the detection load L is significantly increased as the head 20 is lowered, for example, before reaching the first reference position P1. The second threshold value N2 will be exceeded. Accordingly, in this case as well, a lead insertion failure is detected before the head 20 reaches the first reference position P1, as in the case where an insertion failure has occurred in some of the lead terminals Ct.

  On the other hand, when an insertion failure occurs in the lead terminal Ct due to a dimension failure or the like (two-dot chain line), the lead terminal Ct is normally inserted into the through hole H up to the vicinity of the first reference position P1. There are few cases where the detected load L exceeds the first threshold value N1 before the head 20 reaches the first reference position P1. Therefore, the lead insertion failure is not detected before the head 20 reaches the first reference position P1, but in this case, the state in which the lead terminal Ct is clogged is maintained. The detected load L increases rapidly with a decrease of 20 and exceeds the second threshold value N2. Therefore, after passing the first reference position P1, the lead insertion failure is detected before the head 20 reaches the second reference position P2.

[effect]
According to the component mounting apparatus 1 described above, it is possible to satisfactorily detect a lead terminal insertion failure that occurs during a component (inserted component) mounting operation. In particular, according to the component mounting apparatus 1, the height position of the head 20 when the lead terminal Ct is normally inserted into the through hole H by a predetermined dimension t1 from the tip thereof is set as the first reference position P1. When the detected load L exceeds the first threshold value N1 before the head 20 reaches the first reference position P1, a lead terminal insertion failure is detected, and after the first reference position P1, the detected load L becomes the first threshold value. Even if N1 is exceeded, unless the second threshold value N2 is exceeded, it is not determined that the lead terminal is defective. Therefore, even if the detected load L increases as the kink portion formed at the root portion of the lead terminal Ct is inserted into the through hole H, the load usually does not exceed the second threshold value N2. The increase in the detection load L due to the kink portion is favorably avoided from being erroneously detected as a seed terminal insertion failure (see FIG. 7). In addition, as described above, the first threshold value N1 is set to a value slightly lower than the value of the load acting on the head 20 when an insertion failure occurs in one lead terminal Ct. When an insertion failure occurs, the detected load L quickly exceeds the first threshold value N1, which makes it possible to detect a lead terminal insertion failure at a relatively early timing. Therefore, according to this component mounting apparatus 1, there is an advantage that it is possible to accurately detect a lead terminal insertion failure at an early timing.

  Further, according to this component mounting apparatus 1, when the detected load L exceeds the second threshold N2 before the head 20 reaches the second reference position P2 after the head 20 has passed the first reference position P1, the lead terminal Ct. Therefore, there is an advantage that it is possible to satisfactorily detect an insertion failure of the lead terminal Ct caused by a dimension failure or the like, that is, an insertion failure such that the lead terminal Ct is clogged with the through hole H.

  Furthermore, according to the component mounting apparatus 1, when the detected load L is not equal to or greater than the second threshold N2 when the head 20 reaches the target position Pt, it is determined that the lead terminal is not inserted correctly, so that the board P bends. There is also an advantage that it is possible to detect a defective insertion of the lead terminal, for example, an insertion defect in which the kink portion of the lead terminal Ct is completely inserted into the through hole H. In addition, since such a lead terminal insertion failure can be detected, it is possible to indirectly detect a backup pin setup failure.

  Further, according to the component mounting apparatus 1, the unique information corresponding to each type of the inserted component, that is, the reference positions P1 and P2 and the threshold values N1 and N2 are set in advance, and the type of the inserted component is associated with the specific information. The attached insertion part data is stored in the storage unit 34. In the lead terminal insertion failure detection process, the process is executed based on the unique information of the insertion part to be mounted in the insertion part data. Therefore, there is an advantage that the reliability of the lead terminal insertion failure detection process can be improved. That is, the unique information such as the reference positions P1 and P2 and the threshold values N1 and N2 necessary for detecting the insertion failure of the lead terminal Ct is the length, thickness, material, position, etc. of the lead terminal Ct of the inserted component. Depending on the type of parts. For this reason, if the threshold value is set to a constant value regardless of the type of component, the insertion failure of the lead terminal Ct cannot be detected accurately, or even if it can be detected, the lead terminal Ct breaks. However, according to the component mounting apparatus 1, the presence or absence of an insertion failure is determined based on (suitable) threshold values N1, N2 and the like corresponding to the type of the inserted component. It can be avoided. Therefore, the reliability of the lead terminal insertion failure detection process can be improved.

  The component mounting device 1 described above and the lead terminal insertion failure detection device applied to the component mounting device 1 are examples of preferred embodiments of the component mounting device and the lead terminal failure detection device according to the present invention. The specific configuration can be appropriately changed without departing from the gist of the present invention.

  For example, in the above embodiment, the control current value of the Z-axis servomotor 24 is detected by the current detection unit 36a, and the load L acting on the head 20 is detected by the main control unit 32 converting this current value into a load value. However, of course, as a load detection device, a load acting on the head 20 may be directly detected using a load cell (load sensor).

  In the above embodiment, the first threshold value N1 is a load that acts on the head 20 at the first reference position P1 when an insertion failure occurs in one lead terminal Ct among the plurality of lead terminals Ct. The second threshold value N2 is set to a value that is equivalent to the load that acts on the head 20 when the head 20 reaches the target position Pt. , N2 other than these may be used as specific values.

DESCRIPTION OF SYMBOLS 1 Component mounting apparatus 2 Head unit 20 Head 24 Z-axis servomotor (position detection device / lead terminal insertion defect detection device)
24a Encoder (Load detection device / Lead terminal insertion failure detection device)
30 Control Device 32 Main Control Unit (Determination Device / Control Device / Lead Terminal Insertion Defect Detection Device)
34 Memory (Lead terminal insertion failure detection device)
36 Drive control unit 39 Touch panel C Component Ct Lead terminal P Substrate H Through hole (insertion hole)
P1 first reference position P2 second reference position Ps terminal arrival position Po insertion completion position Pt target position N1 first threshold N2 second threshold

Claims (7)

A lead terminal insertion failure detection device for a component mounting apparatus that includes a movable head, and that holds a component having a lead terminal by the head and inserts and mounts the component on a substrate,
A position detection device for detecting a position in the height direction of the head;
A load detection device for detecting a load acting on the head;
This is the reference position in the height direction of the head during the insertion mounting process, and is set between the terminal arrival position where the tip of the lead terminal reaches the top surface of the board and the insertion completion position where the insertion of the lead terminal into the insertion hole is completed A storage device in which a threshold value set for a load acting on the head is stored in order to detect the insertion failure of the lead terminal,
When the detected load exceeds the threshold before reaching the reference position based on the detection position detected by the position detection device and the detection load detected by the load detection device during insertion mounting, lead terminal insertion failure e Bei but a discriminating device for discriminating to have occurred,
The storage device stores the reference position corresponding to each of a plurality of types of components,
The determination device determines whether a lead terminal insertion failure has occurred based on a reference position corresponding to a mounting target component among a plurality of reference positions stored in the storage device. Terminal insertion failure detection device. In the lead terminal insertion defect detection device according to claim 1,
When the threshold value is defined as the first threshold value, the storage device stores a second threshold value that is larger than the first threshold value and is used to detect a defective insertion of the lead terminal. ,
The determination device further determines that a lead terminal insertion failure has occurred when the detected load exceeds the second threshold before the head passes the reference position and reaches the insertion completion position. A lead terminal insertion failure detection device characterized by: In the lead terminal insertion defect detection device according to claim 2,
The second threshold value is equal to a load acting on the head when the head reaches a target position of the head that is set in advance at a position lower than the insertion completion position. Lead terminal insertion failure detection device. In the lead terminal insertion defect detection device according to claim 3,
The discriminating device discriminates that a defective insertion of a lead terminal has occurred when the detected load has not reached the second threshold when the head reaches the target position. Insertion failure detection device. In the lead terminal insertion defect detection device according to any one of claims 1 to 4,
The storage device stores the threshold corresponding to each of a plurality of types of components,
The discriminating device discriminates whether or not a lead terminal insertion failure has occurred based on a threshold corresponding to a mounting target component among a plurality of thresholds stored in the storage device. Defect detection device. In a component mounting apparatus that includes a movable head and holds a component having a lead terminal by the head and inserts and mounts the component on a substrate.
The lead terminal insertion failure detection device according to any one of claims 1 to 5 is provided as a means for detecting that a lead terminal insertion failure has occurred in the insertion mounting process. A component mounting device. In the component mounting apparatus according to claim 6 ,
A drive unit that controls driving of the head to perform the insertion and mounting, and that stops driving of the head when the lead terminal insertion failure detection device detects a lead terminal insertion failure during the insertion and mounting process; The component mounting apparatus characterized by the above-mentioned.

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