JP6627075B2 - Component mounting method and component mounting device - Google Patents

Description

  The present invention relates to a component mounting method and a component mounting apparatus for mounting components on a substrate.

  A component mounting apparatus that mounts components on a substrate and manufactures a mounting substrate is provided with a substrate transport mechanism for transporting the substrate from an upstream side to a downstream side. In a component mounting apparatus, a board is transported to a mounting operation position by a mounting conveyor of a board transport mechanism, and a component is mounted by a mounting head in a state where the board is received by a lower receiving unit. In addition, there is known a substrate transport mechanism including a loading conveyor and an unloading conveyor provided on the upstream side of the mounting conveyor and an unloading conveyor provided on the downstream side of the mounting conveyor (for example, see Patent Document 1). In such a substrate transport mechanism, the carry-in conveyor temporarily suspends the substrate received from the upstream device and delivers it to the mounting conveyor, and the carry-out conveyor temporarily suspends the substrate received from the mounting conveyor and carries out the substrate to the downstream device. As a result, the efficiency of substrate transfer is improved.

  The transfer of the board between these conveyers is performed by the synchronous operation of the respective conveyers from the timing at which the component mounting work on the board is completed. For example, if there is a board on which components are being mounted on the mounting conveyor and the board on which the next component is to be mounted is waiting on the incoming conveyor, and the component mounting operation is completed, the mounted boards on the mounting conveyor will be directed to the unloading conveyor. At the same time, the substrate waiting on the carry-in conveyor is carried out toward the mounting conveyor.

  By the way, the board with the increased weight with the components mounted thereon is slower in the conveyor speed than the board before the component mounting, and the board before the component mounting catches up and collides with the board after the component mounting. Sometimes. The board transfer mechanism disclosed in Patent Literature 1 detects the weight of a board by a dedicated board weight detection device provided on the conveyor, and changes the transfer speed of the conveyor according to the detected board weight.

JP-A-9-205295

  However, the substrate transfer mechanism disclosed in Patent Literature 1 has a problem that the device cost is increased because a dedicated substrate weight detection device is provided in addition to a mechanism required for substrate transfer.

  Therefore, an object of the present invention is to provide a component mounting method and a component mounting apparatus that can appropriately transfer a board according to the weight of the board at low cost.

The component mounting method of the present invention includes a board loading step of loading a board into a mounting operation position, and a first position in which a lower receiving unit is brought into contact with a lower surface of the board loaded into the mounting operation position to receive the substrate. a lower receiving step of raising the lower receiving unit from the second position is a lower limit position, the substrate unloading step of the lower receiving unit is lowered from the first position to the second position unloading the substrate And measuring a rising time in which the lower receiving unit rises from the second position to the first position, and a lowering time in which the lower receiving unit descends from the first position to the second position. When the difference between the rise time and a predetermined reference rise time exceeds a predetermined value, or the difference between the fall time and a predetermined reference fall time exceeds a predetermined value. Wherein the substrate is determined to be a weight substrate exceeds a predetermined weight if, when the substrate is determined by weight substrate, the downstream side of the other parts by weight substrate information indicating that the substrate is a weight substrate Notify the mounting device.

The component mounting apparatus of the present invention includes: a board transfer unit that transfers a board to a mounting operation position; a board transfer unit that transfers the board to the board transfer unit; and a transfer of the board by the board transfer unit and the board transfer unit. A transfer control unit that controls the operation, a lower receiving unit that abuts against a lower surface of the substrate that has been carried into the mounting operation position by the substrate transport unit, and lowers the lower receiving unit. The receiving unit is brought up from the second position, which is the lower limit position, to a first position where the receiving unit is brought into contact with the lower surface of the substrate carried into the mounting work position and the lower receiving unit is moved. a lower receiving unit elevation drive unit which is lowered to the second position when unloading the substrate, a first position sensor for detecting that the lower receiving unit is in the first position, the lower receiving unit A second position sensor for detecting that but in the second position, the second from the rising period and the first position in which the lower receiving unit rises to said first position from said second position The rise and fall time measuring unit that measures the fall time to fall to the position, when the difference between the rise time and a predetermined reference rise time exceeds a predetermined value, or the fall time and the predetermined A heavy board determining unit that determines that the board is a heavy board that exceeds a predetermined weight when a difference from the reference descent time exceeds a predetermined value; and that the board is determined to be a heavy board by the heavy board determining unit. And a heavy board information notifying section for notifying the other component mounting apparatus on the downstream side of heavy board information indicating that the board is a heavy board.

  ADVANTAGE OF THE INVENTION According to this invention, a board | substrate can be appropriately conveyed according to the weight of a board | substrate at low cost.

Configuration explanatory diagram of a component mounting system according to an embodiment of the present invention FIG. 1 is a plan view of a component mounting apparatus according to an embodiment of the present invention. (A) Plan view (b) Side view of a board | substrate conveyance mechanism with which the component mounting apparatus of one Embodiment of this invention is provided Explanatory drawing of the height sensor part of the board | substrate conveyance mechanism with which the component mounting apparatus of one Embodiment of this invention is provided (A) (b) Explanatory drawing of the height sensor part in the state where the lower receiving unit of the board transfer mechanism provided in the component mounting apparatus of one embodiment of the present invention is at the upper limit position. (A) (b) Explanatory drawing of the height sensor part in the state where the lower receiving unit of the board transfer mechanism provided in the component mounting apparatus of one embodiment of the present invention is at the lower limit position. FIG. 1 is a block diagram showing a configuration of a control system of a component mounting system according to an embodiment of the present invention. 1 is a flowchart of a first example of a board transfer method in a component mounting apparatus according to an embodiment of the present invention. Flowchart of board up / down time measurement processing in the component mounting apparatus according to one embodiment of the present invention (A) (b) (c) (d) Process explanatory drawing of the board | substrate conveyance method in the component mounting apparatus of one Embodiment of this invention (A) (b) (c) Explanatory drawing of the board | substrate conveyed by the board | substrate conveyance method in the component mounting apparatus of one Embodiment of this invention. Flow chart of a second example of the board transfer method in the component mounting system according to one embodiment of the present invention 3 is a flowchart of a third example of the board transfer method in the component mounting system according to the embodiment of the present invention.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. The configurations, shapes, and the like described below are examples for explanation, and can be appropriately changed according to the specifications of the component mounting system. In the following, corresponding elements in all the drawings are denoted by the same reference numerals, and redundant description will be omitted. In FIG. 2 and a part to be described later, an X direction (horizontal direction in FIG. 2) of the substrate transport direction and a Y direction (vertical direction in FIG. 2) orthogonal to the substrate transport direction are defined as two axial directions orthogonal to each other in a horizontal plane. Is shown. In FIG. 3B and a part to be described later, the Z direction is indicated as a height direction orthogonal to a horizontal plane. The Z direction is a vertical direction or an orthogonal direction when the component mounting apparatus is installed on a horizontal plane.

  First, the component mounting system 1 will be described with reference to FIG. In FIG. 1, the component mounting system 1 connects the component mounting apparatuses M1, the component mounting apparatuses M2, and the component mounting apparatuses M3 from the upstream side to the downstream side in the board transfer direction, connects them by the communication network 2, and manages the whole. The configuration is controlled by the computer 3. The component mounting system 1 has a function of mounting components on a board to manufacture a mounting board. The configuration of the component mounting system 1 is not limited to the example of FIG. 1, and is configured by one component mounting device M1 to M3 even when four or more component mounting devices M1 to M3 are connected. Is also good.

  Next, the configuration of the component mounting apparatuses M1 to M3 will be described with reference to FIG. The component mounting apparatuses M1 to M3 have the same configuration, and the component mounting apparatus M1 will be described here. The component mounting apparatus M1 has a function of executing a component mounting operation of mounting components supplied from a component supply unit on a substrate by a mounting head. At the center of the base 4, a substrate transport mechanism 5 is disposed in the X direction. The substrate transport mechanism 5 transports the substrate 6 transported from the upstream side to the mounting operation position, and positions and holds the substrate. The board transport mechanism 5 carries out the board 6 on which the component mounting work has been completed from the mounting work position to the downstream side.

  Component supply units 7 are arranged on both sides of the substrate transport mechanism 5. A plurality of tape feeders 8 are mounted on each component supply unit 7 in parallel. The tape feeder 8 feeds a carrier tape, in which a pocket for accommodating components is formed, from the outside of the component supply unit 7 toward the substrate transport mechanism 5 (tape feed direction), so that the component mounting mechanism described below is used. Is supplied to the component suction position by the mounting head.

  A Y-axis beam 9 having a linear drive mechanism is disposed at one end in the X direction on the upper surface of the base 4. To the Y-axis beam 9, two X-axis beams 10 similarly having a linear drive mechanism are movably coupled in the Y direction. A mounting head 11 is mounted on each of the two X-axis beams 10 so as to be movable in the X direction. The mounting head 11 is a multiple head having a plurality of holding heads, and a suction nozzle for sucking and holding components is mounted at a lower end of each holding head.

  By driving the Y-axis beam 9 and the X-axis beam 10, the mounting head 11 moves in the X and Y directions. Accordingly, the two mounting heads 11 take out the components from the corresponding component suction positions of the tape feeder 8 of the component supply unit 7 by the suction nozzles, and transfer and mount the components to the mounting points of the substrate 6 positioned by the substrate transport mechanism 5. . That is, the component supply unit 7, the Y-axis beam 9, the X-axis beam 10, and the mounting head 11 become a mounting work unit 12 (see FIG. 7) that transfers and mounts components on the substrate 6 positioned on the substrate transport mechanism 5.

  In FIG. 2, a component recognition camera 13 is provided between the component supply unit 7 and the board transport mechanism 5. When the mounting head 11 that has taken out the component from the component supply unit 7 moves above the component recognition camera 13, the component recognition camera 13 captures an image of the component held by the mounting head 11. Thus, identification and position recognition of the components held by the mounting head 11 are performed. The mounting head 11 is provided with a board recognition camera 14 located on the lower surface side of the X-axis beam 10 and moving integrally with the mounting head 11. When the mounting head 11 moves, the board recognition camera 14 moves above the board 6 positioned and held by the board transport mechanism 5 and captures an image of the board 6. Thus, the position of the substrate 6 is recognized.

  Next, the configuration of the substrate transport mechanism 5 will be described with reference to FIGS. 3A is a plan view of the substrate transport mechanism 5 as viewed from above, and FIG. 3B is a schematic cross-sectional view taken along the line AA of FIG. 3A. The substrate transport mechanism 5 includes a carry-in conveyor 5a, a mounting conveyor 5b, a carry-out conveyor 5c, a substrate holding unit 21, and a height sensor unit 22. The carry-in conveyor 5a, the mounting conveyor 5b, and the carry-out conveyor 5c are arranged above the base 4 in order from the upstream side to the downstream side in the X direction, and each have a function of transporting the substrate 6 in the X direction.

  The carry-in conveyor 5a, the mounting conveyor 5b, and the carry-out conveyor 5c include a pair of transport belts 24a, 24b, 24c arranged in the X direction, respectively, inside a pair of plate members 23 extending in the X direction. The transport belts 24a, 24b, and 24c are respectively provided with pulleys 25a, 25b, and 25c disposed on one end of the plate member 23 and drive pulleys 27a that are driven by transport motors 26a, 26b, and 26c disposed on the other end. , 27b and 27c.

  The transport motors 26a, 26b, and 26c are rotated and stopped by being driven by the transport motor drive unit 28 (see FIG. 7). The transport belts 24a, 24b, 24c move horizontally along the plate member 23 by synchronously driving the pair of transport motors 26a, 26b, 26c, respectively, and transport the substrate 6 mounted on the upper surface in the X direction. .

  Specifically, the carry-in conveyer 5a conveys the board 6 before component mounting carried from the upstream device to the mounting conveyer 5b. The mounting conveyer 5b carries the board 6 before the component mounting to the mounting work position WP, and conveys the board 6 on which the component is mounted to the unloading conveyor 5c. The carry-out conveyor 5c carries out the board 6 on which components are mounted to a downstream device. That is, the mounting conveyor 5b serves as a board transfer unit that transfers the board 6 to the mounting work position WP, and the transfer conveyor 5a serves as a board transfer unit that transfers the board 6 to the mounting conveyor 5b (board transfer unit).

  In FIG. 3B, a pressing plate 29 that protrudes above the conveyor belt 24b of the mounting conveyor 5b is provided at the upper end of the plate-shaped member 23 located on the mounting conveyor 5b. The distance between the lower surface of the holding plate 29 and the upper surface of the transport belt 24b of the mounting conveyor 5b is larger than the thickness of the substrate 6 transported by the transport belt 24b. The holding plate 29 lifts the board 6 carried into the mounting operation position WP from the upper surface of the transport belt 24b by the board holding unit 21 described later, and holds both edges of the board 6 from above with the lower surface of the holding plate 29. It has a function of holding (see also FIG. 5A).

  In FIG. 3B, the substrate holding unit 21 is located below the mounting conveyor 5b, and includes a lower receiving unit U and an elevating drive unit 30 that moves the lower receiving unit U up and down. The lower receiving unit U holds the lower receiving pins 31 abutting on the lower surface of the substrate 6 carried into the mounting operation position WP by the mounting conveyor 5b (substrate transporting unit) and the plurality of lower receiving pins 31 on the upper surface. And a lower support pin holding member 32. The lifting drive unit 30 includes an air cylinder 33 having a piston rod 33a, and a lower receiving pin holding member 32 (lower receiving unit U) is attached to a tip of the piston rod 33a.

  The piston rod 33a rises, descends, and stops by switching air supplied to the air cylinder 33 by a solenoid valve (not shown) or air exhausted from the air cylinder 33. That is, the lifting drive unit 30 raises, lowers, and stops the lower receiving unit U by controlling the electromagnetic valve (arrow b in FIG. 3B).

  In FIG. 3B, the height sensor unit 22 is disposed above the base 4 and beside the elevation drive unit 30. The height sensor unit 22 has a function of detecting the lower receiving unit U located at the upper or lower limit height position.

  Next, a detailed configuration and functions of the height sensor unit 22 will be described with reference to FIGS. 4, the height sensor unit 22 includes an upper limit detection sensor 34, a lower limit detection sensor 35, and a light shielding dog 36. The upper limit detection sensor 34 and the lower limit detection sensor 35 are transmission type optical sensors including a light emitting element for irradiating light and a light receiving element for receiving irradiation light.

  The upper limit detection sensor 34 and the lower limit detection sensor 35 have a U-shape having two arms extending from the body. In the upper limit detection sensor 34 and the lower limit detection sensor 35, the light emitting element is arranged on one arm and the light receiving element is arranged so as to face the other arm, and a detection gap 34b and a gap are provided between the two arms. A detection gap 35b is formed. Then, a detection position 34c and a detection position 35c for detecting the presence or absence of the light-shielding dog 36 are set on the path of the irradiation light from the light emitting element to the light receiving element in the detection gap 34b and the detection gap 35b.

  4, the upper limit detection sensor 34 and the lower limit detection sensor 35 are arranged at predetermined positions by a sensor fixing member 34a and a sensor fixing member 35a provided on the upper surface of the base 4, respectively. The upper limit detection sensor 34 and the lower limit detection sensor 35 are arranged on the same line extending in the X direction, with the U-shaped opening of the upper limit detection sensor 34 and the U-shaped opening of the lower limit detection sensor 35 facing each other. . Further, the lower limit detection sensor 35 is arranged at a height position below the upper limit detection sensor 34.

  In FIG. 4, the light shielding dog 36 has a flat plate shape, and is attached to a side surface of the lower receiving pin holding member 32 (lower receiving unit U) so as to extend downward in parallel with the XZ plane. On two side surfaces in the X direction of the light shielding dog 36, an upper limit detection dog 36a extending outward is formed at a lower portion of one side surface, and a lower limit detection dog 36b extending outward at the opposite side is formed at an upper portion of the other side surface. Is formed. The upper limit detection dog 36a and the lower limit detection dog 36b move up and down integrally with the lower receiving unit U (arrow c), and enter the detection gap 34b of the upper limit detection sensor 34 and the detection gap 35b of the lower limit detection sensor 35, respectively.

  When the upper limit detection dog 36a rises with the lower receiving unit U and the upper end 36c of the upper limit detection dog 36a enters the detection position 34c of the upper limit detection sensor 34, the irradiation light received by the light receiving element is blocked by the upper limit detection dog 36a. You. When the irradiation light is blocked, the upper limit detection sensor 34 outputs an upper limit detection signal SU. When the lower detection dog 36b descends with the lower receiving unit U, and the lower end 36d of the lower detection dog 36b enters the detection position 35c of the lower detection sensor 35, the irradiation light received by the light receiving element is blocked by the lower detection dog 36b. Is done. When the irradiation light is blocked, the lower limit detection sensor 35 outputs a lower limit detection signal SL.

  FIGS. 5A and 5B show a state in which the lower receiving unit U has moved up to the upper limit position HU which is the upper limit. FIG. 5A is a side view of the vicinity of the mounting conveyor 5b of the board transfer mechanism 5 viewed from the X direction, and FIG. 5B is a side view of the vicinity of the height sensor unit 22 viewed from the Y direction. In FIG. 5A, the substrate 6 carried into the mounting operation position WP by the transport belt 24b of the mounting conveyor 5b is received by the lower receiving pins 31 of the lower receiving unit U and lifted up. Both edges of the upper surface are held down by the lower surface of the holding plate 29 in a state where they are pressed from above. The component mounting apparatus M1 performs a component mounting operation of mounting components on the substrate 6 thus held and supported.

  In other words, the lifting drive unit 30 drives the lower receiving unit U upward to bring the lower receiving unit U into contact with the lower surface 6a of the substrate 6 carried into the mounting work position WP and to receive the lower receiving unit U for the lower receiving position U (first upper limit position HU). ) Is a lower receiving unit lifting drive unit that moves up to the position shown in FIG. Then, in a state where the substrate 6 is held and supported, the upper limit detection dog 36a enters the detection position 34c of the detection gap 34b of the upper limit detection sensor 34 to block light incident on the light receiving element. Output the upper limit detection signal SU. That is, the upper limit detection dog 36a and the upper limit detection sensor 34 serve as a first position sensor that detects that the lower receiving unit U is at the upper limit position HU (first position).

  FIGS. 6A and 6B show a state where the lower receiving unit U is lowered to the lower limit position HL which is the lower limit. 6A is a side view of the vicinity of the mounting conveyor 5b of the board transfer mechanism 5 viewed from the X direction, and FIG. 6B is a side view of the vicinity of the height sensor unit 22 viewed from the Y direction. In FIG. 6A, in a state where the lower receiving unit U is at the lower limit position HL, the lower limit detection dog 36b enters the detection position 35c of the detection gap 35b of the lower limit detection sensor 35 to block the light incident on the light receiving element. The lower limit detection signal SL is output from the lower limit detection sensor 35. That is, the lower limit detection dog 36b and the lower limit detection sensor 35 serve as a second position sensor that detects that the lower receiving unit U is at the lower limit position HL (second position).

  Note that the first position sensor and the second position sensor are limited to the above-described embodiment using the transmission type optical sensor as long as it can detect that the lower receiving unit U is at the upper limit position HU and the lower limit position HL. Never. For example, a reflective optical sensor or a micro switch may be used.

  When the mounting conveyor 5b unloads the board 6 on which the component mounting operation is completed to the downstream side, and then transfers the board 6 to be mounted to the mounting operation position WP, the board transfer mechanism 5 moves the lower receiving unit U It lowers to the lower limit position HL and stands by. That is, the lifting drive unit 30 drives the lower receiving unit U downward to lower the lower receiving unit U to the lower limit position HL (second position) when the mounting conveyor 5b (substrate transport unit) unloads the substrate 6. The lower receiving unit elevates and drives.

  Next, a control system of the component mounting system 1 will be described with reference to FIG. The component mounting apparatuses M1 to M3 have the same configuration, and the component mounting apparatus M2 will be described here. The component mounting apparatus M2 includes a mounting control unit 41, a mounting storage unit 42, a board transport mechanism 5, a mounting work unit 12, a component recognition camera 13, a board recognition camera 14, a display unit 43, and a communication unit 44.

  The mounting storage unit 42 stores, in addition to the mounting operation parameters necessary for controlling each unit by the mounting control unit 41, reference rising time data 42a, reference falling time data 42b, rising time data 42c, falling time data 42d, and loading waiting time data 42e. And other various data. The substrate transport mechanism 5 includes a transport motor drive unit 28, a lifting drive unit 30, an upper limit detection sensor 34, and a lower limit detection sensor 35. The carry-in waiting time data 42e indicates that after the unloading of the preceding substrate 6 from the mounting conveyor 5b to the unloading conveyor 5c is started, the transfer of the subsequent substrate 6 from the carry-in conveyor 5a to the mounting conveyor 5b is started. The carry-in waiting time Tw to be performed is stored.

  The mounting control unit 41 includes a mounting control unit 41a, a transport control unit 41b, a lifting / lowering time measurement unit 41c, a heavy board determination unit 41d, a heavy board information acquisition unit 41e, and a heavy board information notification unit 41f as internal processing functions. The mounting control unit 41a controls the mounting operation unit 12 to execute a component mounting operation for transferring and mounting components on the substrate 6 positioned and held at the mounting operation position WP by the substrate transport mechanism 5.

  In FIG. 7, the transport control unit 41b controls the transport motor drive unit 28 to drive the transport motors 26a, 26b, 26c, thereby transporting the substrate 6 on the loading conveyor 5a, the mounting conveyor 5b, and the unloading conveyor 5c, respectively. . That is, the transport control unit 41b controls the transport operation of the substrate 6 by the mounting conveyor 5b (substrate transport unit), the carry-in conveyor 5a (substrate carry-in unit), and the unload conveyor 5c.

  More specifically, the transport control unit 41b controls the transport operation such that the substrates 6 are simultaneously transported to the downstream mounting conveyor 5b and the unloading conveyor 5c, respectively, from the state where the substrates 6 are present in the loading conveyor 5a and the mounting conveyor 5b. I do. At this time, the transport control unit 41b starts the loading of the board 6 from the loading conveyor 5a to the loading conveyor 5b after the loading waiting time Tw when the loading of the board 6 from the mounting conveyor 5b to the unloading conveyor 5c is started. To control the transport operation. Further, the transport control unit 41b controls the lifting drive unit 30 to cause the lower receiving unit U to come into contact with the lower surface 6a of the substrate 6 carried into the mounting work position WP and to receive the lower receiving unit U.

  The lifting / lowering time measurement unit 41c controls the lifting / lowering drive unit 30 to raise the lower receiving unit U from the lower limit position HL to the upper limit position HU, or to lower the lower receiving unit U from the upper limit position HU to the lower limit position HL to measure the lifting time. To perform a rising and falling time measurement process. At this time, the rise / fall time measuring unit 41c measures the time (rise time Tr) from the time when the lower limit detection signal SL is no longer output from the lower limit detection sensor 35 to the time when the upper limit detection signal SU is output from the upper limit detection sensor 34. . Further, the elevation time measurement unit 41c measures the time (fall time Tf) from the time when the upper limit detection signal SU is no longer output from the upper limit detection sensor 34 to the time when the lower limit detection sensor 35 outputs the lower limit detection signal SL.

  More specifically, the ascending / descending time measuring unit 41c measures the time for the lower receiving unit U to rise from the lower limit position HL to the upper limit position HU as the ascending time Tr in a state where the substrate 6 is at the mounting work position WP. Is measured as the falling time Tf. That is, the lifting / lowering time measuring unit 41c calculates the lifting / lowering time Trf (the rising time Tr and the falling time) in which the lower receiving unit U rises or falls between the upper limit position HU (first position) and the lower limit position HL (second position). Tf) is measured. Then, the rise / fall time measurement unit 41c stores the measured rise time Tr and fall time Tf in the mount storage unit 42 as rise time data 42c and fall time data 42d, respectively.

  The lifting / lowering time measuring unit 41c measures the time for the lower receiving unit U to rise from the lower limit position HL to the upper limit position HU as the reference rising time Tr0 in a state where the board 6 is not located at the mounting work position WP. The time of descending to the lower limit position HL is measured as a reference descending time Tf0. That is, the lifting / lowering time measuring unit 41c measures the reference lifting / lowering time Trf0 (the reference raising / lowering time Tr0 and the reference falling time Tf0) which is the lifting / lowering time Trf measured without the board 6 at the mounting work position WP. Then, the rise / fall time measuring unit 41c stores the measured reference rise time Tr0 and reference fall time Tf0 in the mounting storage unit 42 as reference rise time data 42a and reference fall time data 42b, respectively.

  In FIG. 7, the heavy board determination unit 41d calculates a difference rise time ΔTr, which is a difference between the rise time Tr and the reference rise time Tr0, or a difference fall time ΔTf, which is a difference between the fall time Tf and the reference fall time Tf0. I do. The rising time Tr in a state where the substrate 6 is in the mounting operation position WP is longer than the reference rising time Tr0 in a state where the substrate 6 is not present. Further, the descent time Tf when the substrate 6 is at the mounting operation position WP is shorter than the reference descent time Tf0 when the substrate 6 is not present. The heavy board determination unit 41d determines whether the calculated differential rise time ΔTr or the differential fall time ΔTf has exceeded a predetermined determination range R. It is determined that the weight substrate 6H has exceeded the weight.

  That is, the heavy board determination unit 41d determines the difference between the measured rise / fall time Trf (rise time Tr, fall time Tf) and the stored reference rise / fall time Trf0 (reference rise time Tr0, reference fall time Tf0) (differential rise). When the time ΔTr and the difference fall time ΔTf exceed a predetermined value (determination range R), the substrate 6 is determined to be the heavy substrate 6H. As described above, the heavy board determination unit 41d determines whether or not the board 6 is the heavy board 6H exceeding the predetermined weight based on the lifting time Trf.

  When the heavy board information notifying section 41f determines that the board 6 is the heavy board 6H by the heavy board determining section 41d, the heavy board information notifying section 41f transmits heavy board information BI indicating that the board 6 at the mounting work position WP is the heavy board 6H. The notification is sent to the management computer 3 or another downstream component mounting apparatus M3 via the section 44. The heavy board information acquiring unit 41e acquires heavy board information BI indicating whether the board 6 carried into the mounting work position WP is the heavy board 6H from the management computer 3 or another component mounting apparatus M1 on the upstream side. . That is, the heavy board information acquisition unit 41e acquires the heavy board information BI notified from the management computer 3 or another component mounting apparatus M1 on the upstream side.

  The display unit 43 is a display device such as a liquid crystal panel, and displays various data and information. The communication unit 44 is a communication interface, and exchanges signals and data with the management computer 3 and the other component mounting apparatuses M1 and M3 via the communication network 2.

  7, the management computer 3 includes a management control unit 51, a management storage unit 52, an operation / input unit 53, a display unit 54, and a communication unit 55. The management control unit 51 is an arithmetic device such as a CPU, and has an internal processing unit such as a heavy board information management unit 51a. The management storage unit 52 is a storage device that stores weight board information data 52a and the like in addition to component mounting data for controlling the component mounting system 1 in an integrated manner.

  The operation / input unit 53 is an input device such as a keyboard, a touch panel, and a mouse, and is used when inputting operation commands and data. The display unit 54 is a display device such as a liquid crystal panel, and displays various data such as weight substrate information data 52a and information. The communication unit 55 is a communication interface, and exchanges signals and data with the component mounting apparatuses M1 to M3 via the communication network 2.

  The heavy board information data 52a stored in the management storage unit 52 is data including the heavy board information BI transmitted by the heavy board information notifying unit 41f of the component mounting apparatuses M1 to M3. The heavy board information management unit 51a transmits the corresponding heavy board information BI to the inquired component mounting apparatuses M1 to M3 in response to the inquiry from the heavy board information acquisition unit 41e of the component mounting apparatuses M1 to M3. When the heavy board information BI is transmitted from the component mounting apparatuses M1 to M3, the heavy board information management unit 51a transmits the other component mounting apparatuses M1 to M3 downstream of the transmitted component mounting apparatuses M1 to M3. The weight board information BI.

  Next, in accordance with the flow of FIGS. 8 and 9, in the component mounting operation (component mounting method) in the component mounting apparatuses M <b> 1 to M <b> 3, the transport operation of loading and unloading the substrate 6 to and from the mounting operation position WP is added to the weight of the substrate 6. A first embodiment of the substrate transfer method controlled accordingly will be described. In FIG. 8, from the state where the substrate 6 does not exist at the mounting work position WP, a lifting / lowering time measuring process for measuring the reference lifting / lowering time Trf0 and the lifting / lowering time Trf is executed (ST1: lifting / lowering time measuring process step).

  In FIG. 9, in the elevation time measurement processing step (ST1), the elevation time measurement unit 41c controls the elevation drive unit 30 to move the lower receiving unit U to the lower limit position HL in a state where the substrate 6 does not exist at the mounting work position WP. To the upper limit position HU, and measures the reference rise time Tr0 (reference rise time measurement step: ST11). The measured reference rise time Tr0 is stored in the mounting storage unit 42 as the reference rise time data 42a. Next, the lifting / lowering time measuring unit 41c controls the lifting / lowering driving unit 30 to lower the lower receiving unit U from the upper limit position HU to the lower limit position HL, and measures the reference lowering time Tf0 (reference lowering time measuring step: ST12). The measured reference fall time Tf0 is stored in the mounting storage unit 42 as the reference fall time data 42b.

  As described above, in the reference rise time measurement step (ST11) and the reference fall time measurement step (ST12), the reference rise / fall time Trf0 (the reference rise time Tr0 and the reference fall time Tf0) is determined in a state where the board 6 is not located at the mounting work position WP. This is a reference elevation time measurement step (ST21) for measurement. That is, the reference up / down time Trf0 is the up / down time Trf measured without the board 6 at the mounting work position WP.

  It is not necessary to execute the reference elevating time measuring step (ST21) every time immediately before the substrate 6 is carried into the mounting work position WP. For example, it may be performed immediately after so-called setup change in which a mounting board to be manufactured is changed, or every predetermined number of mounting boards to be manufactured. Further, the reference elevating time Trf0 is measured immediately before the substrate 6 is carried into the mounting work position WP in the component mounting apparatuses M1 to M3, and is also determined in advance based on experiments and experiences, and is stored in the mounting storage unit 42 in advance. You may let it. Thus, the mounting storage unit 42 is a reference elevation time storage unit that stores the reference elevation time Trf0 set in advance based on measurement results, experience, and the like.

  In FIG. 9, next, the transport control unit 41b controls the transport motor drive unit 28 to transport the substrate 6 to the mounting work position WP (substrate loading step: ST13). Next, the lifting / lowering time measuring unit 41c controls the lifting / lowering driving unit 30 to raise the lower receiving unit U from the lower limit position HL to the upper limit position HU, and the lower receiving unit U is placed on the lower surface 6a of the substrate 6 carried into the mounting work position WP. Is raised to the upper limit position HU (first position) where it is brought into contact with the lower part (the lower receiving step) (see also FIG. 5A), and the rising time Tr is measured (rising time measuring step: ST14). The measured rising time Tr is stored in the mounting storage unit 42 as rising time data 42c.

  Next, the mounting control section 41a controls the mounting operation section 12 to mount the component on the board 6 received at the mounting operation position WP (component mounting step: ST15). As a result, the weight of the board 6 increases by the weight of the mounted components. Next, the elevation time measurement unit 41c controls the elevation drive unit 30 to lower the lower receiving unit U from the upper limit position HU to the lower limit position HL (see also FIG. 6A), and measures the descent time Tf (descent time). Measurement step: ST16). The measured falling time Tf is stored in the mounting storage unit 42 as falling time data 42d.

  As described above, in the lowering time measuring step (ST16) from the board loading step (ST13), the board 6 is loaded into the mounting work position WP, and the lower receiving unit U is moved to the upper limit position HU in a state where the board 6 is located at the mounting work position WP. An elevation time measurement step (ST22) for measuring an elevation time Trf (elevation time Tr, descent time Tf) for ascending or descending between the (first position) and the lower limit position HL (second position).

  In FIG. 8, when the lifting / lowering time measurement processing step (ST1) (the reference lifting / lowering time measuring step (ST21), the lifting / lowering time measuring step (ST22)) is completed, the heavy board determination unit 41d stores the measured rising time Tr and It is determined whether or not the difference from the obtained reference rise time Tr0 (difference rise time ΔTr) exceeds a predetermined determination range R (rise time determination step: ST2).

  When it is determined that the difference rise time ΔTr is outside the determination range R (Yes in ST2), the heavy board determination unit 41d determines that the board 6 at the mounting work position WP is the heavy board 6H, and sets the carry-in waiting time Tw. (First loading waiting time setting step: ST4). More specifically, the heavy board determination unit 41d causes the mounting storage unit 42 to store a predetermined carry-in waiting time Tw as carry-in wait time data 42e. Alternatively, the previously stored carry-in waiting time data 42e is updated and set to a predetermined carry-in wait time Tw.

  When it is determined that the difference rise time ΔTr is within the determination range R (No in ST2), the heavy board determination unit 41d determines the difference between the measured fall time Tf and the stored reference fall time Tf0 (the difference fall time ΔTf). Is determined to have exceeded a predetermined determination range R (fall time determination step: ST3). When it is determined that the difference falling time ΔTf is out of the determination range R (Yes in ST3), the heavy board determination unit 41d determines that the board 6 at the mounting work position WP is the heavy board 6H, and sets the first carry-in waiting time. Proceeding to the step (ST4), a predetermined carry-in waiting time Tw is set.

  Next, the transport control unit 41b controls the transport motor drive unit 28 based on the carry-in waiting time data 42e stored in the mounting storage unit 42 to carry out the board 6 on which components are mounted from the mounting work position WP to the carry-out conveyor 5c. Then, the board 6 on which the components are to be mounted is carried into the mounting work position WP from the carry-in conveyor 5a (a board carrying step: ST5). More specifically, the transfer control unit 41b starts the transfer operation for starting the transfer operation of unloading the board 6 (one board) on which the components are mounted from the mounting operation position WP, and then starts the transfer operation for the board 6 to be mounted with another component. Control is performed so as to start a transport operation of loading the substrate) into the mounting work position WP.

  In FIG. 8, when it is determined that the difference fall time ΔTf is within the determination range R (No in ST3), that is, when both the difference rise time ΔTr and the difference fall time ΔTf are within the determination range R, the heavy board determination unit 41d It is determined that the board 6 at the mounting work position WP is not the heavy board 6H. Then, the transfer control unit 41b executes the substrate transfer step (ST5) based on the carry-in waiting time Tw being zero or the carry-in wait time data 42e already stored.

  That is, the transfer control unit 41b performs a transfer operation of unloading the board 6 (one board) on which components are mounted from the mounting work position WP, and loads the board 6 (another board) to be mounted on the mount work position WP. Is controlled so as not to change before and after the determination as to whether or not the substrate is the heavy substrate 6H.

  As described above, in the descent time measuring step (ST16) and the substrate transporting step (ST5), the lower receiving unit U is lowered from the upper limit position HU (first position) to the lower limit position HL (second position), and Is carried out from the mounting work position WP. In the rising time determination step (ST2) and the falling time determination step (ST3), the board 6 at the mounting work position WP exceeds a predetermined weight based on the measured lifting time Trf (rising time Tr, falling time Tf). This is a heavy board determination step (ST23) of determining whether the heavy board 6H is to be performed.

  In the heavy board determination step (ST23), the heavy board determination unit 41d determines the measured rise / fall time Trf (rise time Tr, fall time Tf) and a preset reference rise / fall time Trf0 (reference rise time Tr0, reference fall time Tf0). ), The difference is greater than a predetermined value (judgment range R), the substrate 6 is determined to be a heavy substrate 6H. Then, based on the determination result in the heavy board determination step (ST23), the transfer control unit 41b performs a transfer operation (actual unloading operation) and a transfer operation of unloading the board 6 (one board) on which components are mounted from the mounting work position WP. The transfer operation (loading operation) of loading the substrate 6 (another substrate) to be mounted into the mounting work position WP is controlled.

  As described above, the component mounting apparatuses M1 to M3 measure the elevation time Trf in which the lower receiving unit U moves up or down between the upper limit position HU (first position) and the lower limit position HL (second position), It is determined whether the substrate 6 is the heavy substrate 6H based on the lifting time Trf. This makes it possible to measure the weight of the substrate 6 transferred to the substrate transfer mechanism 5 at low cost without adding a dedicated mechanism, sensor, or the like for measuring the weight of the substrate 6. Note that the measurement of the lifting time Trf and the determination of whether or not the substrate is the heavy substrate 6H need not be executed each time the substrate 6 is carried into the mounting work position WP. For example, it may be performed immediately after so-called setup change in which a mounting board to be manufactured is changed, or every predetermined number of mounting boards to be manufactured.

  Next, the technical significance of the carry-in waiting time Tw in the substrate transfer step (ST5) will be described with reference to FIGS. FIGS. 10 (a), (b), (c), and (d) show that a board 6 on which components are mounted (hereinafter, simply referred to as a "preceding board") on a mounting conveyor 5b is carried out to a carry-out conveyor 5c. The transfer operation of carrying in a board 6 (hereinafter simply referred to as a “subsequent board”) on the carry-in conveyor 5a on which components are to be mounted is schematically illustrated.

  In FIG. 10A, the position of the downstream edge of the succeeding substrate 6 (2) waiting on the carry-in conveyor 5a (hereinafter, simply referred to as “tip position Ph”) is set as the transfer position P1. Further, the position of the upstream edge of the preceding board 6 (1) at the mounting operation position WP of the mounting conveyor 5b (hereinafter, simply referred to as "rear end position Pt") is the transport position P2, and the position of the downstream edge. Is the transfer position P3. Then, the rear end position Pt of the preceding substrate 6 (1) which is carried out of the mounting conveyor 5b and waits on the carry-out conveyor 5c is defined as a transfer position P4.

  FIGS. 11A, 11B, and 11C schematically show the relationship between the transfer position T and the transfer time T at the rear end position Pt of the preceding substrate and the front end position Ph of the subsequent substrate using a graph. In each graph, the solid line represents the rear end position Pt of the preceding substrate, and the dotted line represents the front end position Ph of the subsequent substrate. The transfer operation is started from the transfer time T1, and the leading end position Ph of the subsequent substrate before the start is at the transfer position P1, and the rear end position Pt of the preceding substrate is at the transfer position P2.

  FIG. 10A shows that the preceding board 6 (1) on the mounting conveyor 5b is determined not to be the heavy board 6H in the heavy board determining step (ST23), and the carry-in waiting time Tw is equal to that before the heavy board determining step (ST23). This shows a case where data is maintained (here, the carry-in waiting time Tw is set to zero). FIG. 11A is a graph corresponding to FIG. In FIG. 11A, from the transfer time T1, the preceding substrate 6 (1) and the succeeding substrate 6 (2) simultaneously start the transfer operation toward the downstream side.

  Then, at the transfer time T2, the rear end position Pt of the preceding substrate 6 (1) reaches the transfer position P4, and the front end position Ph of the subsequent substrate 6 (2) reaches the transfer position P3, thus completing the transfer operation. Between the transfer time T1 and the transfer time T2, the interval between the rear end position Pt of the preceding substrate 6 (1) and the front end position Ph of the subsequent substrate 6 (2) does not become smaller than a predetermined distance, and the subsequent substrate 6 (2) Does not collide with the preceding substrate 6 (1).

  FIG. 10B shows a case where the carry-in waiting time Tw is zero even though the preceding board 6 (3) on the mounting conveyor 5b is the heavy board 6H. In FIGS. 10B, 10C, and 10D, the heavy substrate 6H is hatched. FIG. 11B is a graph corresponding to FIG. In FIG. 11B, from the transfer time T1, the preceding substrate 6 (3) and the subsequent substrate 6 (4) simultaneously start the transfer operation toward the downstream side.

  However, the preceding substrate 6 (3), which is the heavy substrate 6H, starts moving slower at the start of the transport operation than the lighter subsequent substrate 6 (4) which is not the heavy substrate 6H, and the variation in the transport operation is large. Therefore, at the transfer position P at the transfer time T indicated by the arrow d in FIG. 11B, the leading end position Ph of the succeeding substrate 6 (4) catches up with the trailing end position Pt of the preceding substrate 6 (3), and the two collide. ing. In this way, if the same transfer operation control is performed as in the case where the preceding board 6 (3) of the mounting conveyor 5b is not the heavy board 6H even though the preceding board 6 (3) is the heavy board 6H, the succeeding board 6 (4) becomes 6 (3) may occur.

  Although illustration is omitted, even when the subsequent substrate 6 (4) is the heavy substrate 6H, if the weight is further increased by mounting the components on the preceding substrate 6 (3), the movement at the start of the transfer is started by the preceding substrate 6 (3). ) Becomes duller than the succeeding substrate 6 (4), and the dispersion of the transport operation becomes larger. Therefore, if the control of the transport operation in which the carry-in waiting time Tw is zero is performed as in the case where the preceding substrate 6 (3) is not the heavy substrate 6H, the succeeding substrate 6 (4) may collide with the preceding substrate 6 (3). is there.

  FIGS. 10C and 10D show that the preceding board 6 (5) on the mounting conveyor 5b is determined to be the heavy board 6H in the heavy board determination step (ST23), and the predetermined carry-in waiting time Tw larger than zero is not satisfied. This shows the case where it has been set. FIG. 11C is a graph corresponding to FIGS. 10C and 10D. In FIG. 11C, from the transfer time T1, the preceding substrate 6 (5) starts the transfer operation toward the downstream side (FIG. 10C). Then, from the transfer time T1d (T1d = T1 + Tw), which is delayed by the carry-in waiting time Tw from the transfer time T1 indicated by the arrow e in FIG. 11C, the succeeding substrate 6 (6) starts the transfer operation toward the downstream side ( FIG. 10D).

  In this case, the distance between the rear end position Pt of the preceding substrate 6 (5) and the front end position Ph of the succeeding substrate 6 (6) does not become smaller than a predetermined distance, and the succeeding substrate 6 (6) is moved to the preceding substrate 6 (5). Not collided with. In this way, when the preceding substrate 6 (5) is the heavy substrate 6H, the transport operation of the light subsequent substrate 6 (6) is started with a delay of the predetermined carry-in waiting time Tw, so that the succeeding substrate 6 (6) is moved forward. Collision with the substrate 6 (5) can be prevented. Note that the predetermined carry-in waiting time Tw is determined based on experiments, experiences, and the like in consideration of the increased weight of the board 6 after mounting components, the size of the board 6, and the like.

  As described above, in the component mounting apparatuses M1 to M3, based on the determination result by the heavy board determination unit 41d, the transport control unit 41b performs the transport operation of unloading the preceding board (one board) from the mounting operation position WP and the subsequent board. The transport operation for loading (another substrate) into the mounting operation position WP is controlled. That is, when the board 6 (5) is determined to be the heavy board 6H by the heavy board determination unit 41d, the transfer control unit 41b sets the subsequent board after the carry-in waiting time Tw when the unloading of the preceding board (one board) is started. The transfer operation is controlled so that loading of (another substrate) is started. That is, the transport control unit 41b controls the transport operation so that the distance between the preceding substrate (one substrate) to be carried out and the subsequent substrate (other substrate) to be carried in does not become smaller than a predetermined distance.

  As a result, the component mounting apparatuses M1 to M3 can appropriately control the transport of the board 6 at low cost without adding a special mechanism or sensor for measuring the weight of the board 6 and without colliding the board 6 according to the weight of the board 6. can do. The control of the transport operation in which the interval between the unloaded preceding substrate and the incoming subsequent substrate of the transport control unit 41b is not reduced to a predetermined distance is controlled by delaying the start of loading of the subsequent substrate by a predetermined loading wait time Tw. It is not limited. For example, the conveyor speed at the start of loading of the succeeding substrate may be controlled to be lower than the transport speed of the conveyor at the start of unloading of the preceding substrate.

  Next, a second embodiment of the board transfer method in the component mounting system 1 including the component mounting apparatuses M1 to M3 will be described with reference to the flow of FIG. The second embodiment is different from the first embodiment in that, between the component mounting apparatuses M1 to M3, heavy board information BI indicating that the board 6 is the heavy board 6H is notified and acquired, and the transport operation is controlled. Hereinafter, control of the transport operation in the component mounting apparatus M2 will be described as an example. In this case, the component mounting device M1 is the other component mounting device M1 on the upstream side, and the component mounting device M3 is the other component mounting device M3 on the downstream side. Further, the same steps as those in the first embodiment are denoted by the same reference numerals, and detailed description is omitted.

  In FIG. 12, first, the heavy board information acquiring unit 41e of the component mounting apparatus M2 inquires of the management computer 3 whether there is a notification of the heavy board information BI from the component mounting apparatus M1 (information acquiring step: ST31). . In response to this inquiry, if the weight board information BI notified from the component mounting apparatus M1 is included in the weight board information data 52a stored in the management storage unit 52, the weight board information management unit 51a of the management computer 3 determines the weight board information. The information BI is transmitted to the component mounting apparatus M2. As described above, the heavy board information acquiring unit 41e of the component mounting apparatus M2 acquires the heavy board information BI notified from the other upstream component mounting apparatus M1.

  The “upstream other component mounting apparatus” is not limited to “an adjacent upstream other component mounting apparatus” (here, the component mounting apparatus M1). If it is "another component mounting device on the upstream side", the case where two components are adjacent but not adjacent, such as the relationship of the component mounting device M1 with respect to the component mounting device M3, is also included. That is, the component mounting apparatus M3 can acquire both the heavy board information BI from the upstream component mounting apparatus M2 and the heavy board information BI from the component mounting apparatus M1.

  If the weight board information BI cannot be obtained because the weight board information BI of the component mounting apparatus M1 is not included in the weight board information data 52a (No in ST31), the elevation time measurement processing step (ST1) is executed to measure the elevation time Trf. You. Next, a heavy board determination step (ST23) is performed to determine whether the board 6 at the mounting operation position WP of the component mounting apparatus M2 is the heavy board 6H.

  When the board 6 is determined to be the heavy board 6H (Yes in ST23), the heavy board information notifying unit 41f of the component mounting apparatus M2 transmits the heavy board information BI to the management computer 3 (first information notification step: ST32). . The heavy board information management unit 51a of the management computer 3 stores the heavy board information BI in the heavy board information data 52a. Next, the heavy board information management unit 51a transmits the heavy board information BI notified from the component mounting apparatus M2 to the component mounting apparatus M3. When the board 6 is determined to be the heavy board 6H, the heavy board information notifying unit 41f notifies the other component mounting apparatus M3 of the heavy board information BI indicating that the board 6 is the heavy board 6H. I do.

  The “other downstream component mounting apparatus” is not limited to “an adjacent downstream other component mounting apparatus” (here, the component mounting apparatus M3). If it is "another component mounting device on the downstream side", the case where two components are adjacent but not adjacent, such as the relationship of the component mounting device M3 with respect to the component mounting device M1, is also included. That is, the weight board information BI from the component mounting apparatus M1 can be notified to both the component mounting apparatus M2 and the component mounting apparatus M3 on the downstream side.

  Next, a first carry-in wait time setting step (ST4) is executed, and the heavy board determination unit 41d of the component mounting apparatus M2 sets the predetermined carry-in wait time Tw as the carry-in wait time data 42e as the mount storage unit 42 of the component mounter M2. To memorize. Next, a board transfer step (ST5) is executed, and the transfer control unit 41b of the component mounting apparatus M2 unloads the preceding board from the mounting work position WP and mounts the subsequent board based on the stored waiting time data 42e. It is carried into the position WP. When it is determined that the substrate 6 is not the heavy substrate 6H (No in ST23), the substrate transfer step (ST5) is performed without changing the carry-in waiting time data 42e.

  When the heavy board information obtaining unit 41e obtains the heavy board information BI of the component mounting apparatus M1 in the information obtaining step (ST31) (Yes), the heavy board determining unit 41d of the component mounting apparatus M2 sets the predetermined carry-in waiting time Tw. It is set (second waiting time setting step: ST33). In the second carry-in waiting time setting step (ST33), the same processing as in the first carry-in waiting time setting step (ST4) is performed. That is, the heavy board determination unit 41d of the component mounting apparatus M2 stores the predetermined carry-in waiting time Tw as the carry-in waiting time data 42e in the mounting storage unit 42 of the component mounting apparatus M2. Next, based on the stored carry-in waiting time Tw, the transfer control unit 41b of the component mounting apparatus M2 loads the board 6 on which components are to be mounted into the mounting work position WP under the same control as the board transfer step (ST5) ( ST34).

  More specifically, in the component mounting apparatus M2, based on the weight board information BI notified from the other component mounting apparatus M1 on the upstream side, the transport control unit 41b moves the preceding board (one board) from the mounting work position WP. The transport operation for unloading and the transport operation for loading a subsequent substrate (other substrate) into the mounting work position WP are controlled. That is, when the heavy board information BI is notified, the transport control unit 41b starts loading of the subsequent board (other board) after the loading waiting time Tw when the unloading of the preceding board (one board) is started. Is controlled in such a manner. That is, the transport control unit 41b controls the transport operation so that the distance between the preceding substrate (one substrate) to be carried out and the subsequent substrate (other substrate) to be carried in does not become smaller than a predetermined distance.

  As described above, the component mounting system 1 measures the elevating time Trf during which the lower receiving unit U moves up or down between the upper limit position HU and the lower limit position, and determines whether the board 6 is the heavy board 6H based on the elevating time Trf. Is determined. Then, when the board 6 is determined to be the heavy board 6H, the heavy board information BI indicating that the board 6 is the heavy board 6H is notified to the other component mounting apparatus M3 on the downstream side. Thus, the component mounting apparatus M3 on the downstream side can appropriately control the transport at low cost without measuring the weight of the substrate 6 in its own apparatus and without colliding the substrate 6 according to the weight of the substrate 6. .

  In the above description, both the acquisition of the heavy board information BI from the upstream component mounting apparatus M1 and the notification of the heavy board information BI to the downstream component mounting apparatus M3 are performed via the management computer 3. The management computer 3 does not need to intervene. For example, the component mounting apparatus M2 may directly acquire the weight board information BI from the upstream component mounting apparatus M1, or the component mounting apparatus M2 may directly notify the downstream component mounting apparatus M3 of the heavy board information BI. You may.

  Next, a third embodiment of the board transfer method in the component mounting system 1 including the component mounting apparatuses M1 to M3 will be described with reference to the flow of FIG. The third embodiment is different from the second embodiment in that the transfer operation is controlled in consideration of an increase in the weight of the substrate 6 due to components mounted on the substrate 6 by the component mounting operation. Hereinafter, control of the transport operation in the component mounting apparatus M2 will be described as an example. Further, the same steps as those in the first and second embodiments are denoted by the same reference numerals, and detailed description thereof will be omitted.

  In FIG. 13, first, an information acquisition step (ST31) is performed. If the heavy board information BI cannot be obtained from the upstream component mounting apparatus M1 (No in ST31), a lifting / lowering time measurement processing step (ST1) is executed to measure the lifting / lowering time Trf. That is, the rising / falling time measuring unit 41c calculates the rising time during which the lower receiving unit U rises from the lower limit position HL (second position) to the upper limit position HU (first position) in a state where the board 6 is located at the mounting work position WP. Tr and a descending time Tf during which the lower receiving unit U descends from the upper limit position HU (first position) to the lower limit position HL (second position).

  Next, a rise time determination step (ST2) is performed. When it is determined that the difference rise time ΔTr (the difference between the rise time Tr and the reference rise time Tr0) is outside the determination range R (Yes in ST2), the heavy board information notification unit 41f performs a first information notification step (ST32). Similarly, the weight board information BI is transmitted to the component mounting apparatus M3 (second information notification step: ST41).

  Next, the substrate transfer step (ST5) is performed without updating the carry-in waiting time Tw. That is, when the heavy board determination unit 41d determines that the board 6 is the heavy board 6H exceeding the predetermined weight based on the rising time Tr, the transport control unit 41b moves the preceding board (one board) to the mounting work position. Control is performed such that the transport operation for unloading from the WP and the transport operation for loading the subsequent substrate (other substrate) into the mounting work position WP are maintained unchanged before and after the determination as to whether or not the substrate is the heavy substrate 6H.

  When it is determined in the rise time determination step (ST2) that the difference rise time ΔTr is within the determination range R (No), a fall time determination step (ST3) is performed. When it is determined that the difference fall time ΔTf (the difference between the fall time Tf and the reference fall time Tf0) is out of the determination range R (Yes in ST3), the heavy board information notification unit 41f performs the second information notification step (ST41). Similarly, the weight board information BI is transmitted to the component mounting apparatus M3 (third information notification step: ST42).

  Next, a first carry-in waiting time setting step (ST4) is executed to update and set the carry-in waiting time Tw, and then a substrate carrying step (ST5) is carried out. That is, when the heavy board determination unit 41d determines that the substrate 6 is not the heavy board 6H based on the rising time Tr and determines that the substrate 6 is the heavy board 6H based on the falling time Tf, the loading standby is performed. The time Tw is updated and set, and the transfer control unit 41b controls the transfer operation so that the interval between the preceding substrate (one substrate) to be carried out and the subsequent substrate (other substrate) to be carried in does not become shorter than a predetermined distance. I do.

  If it is determined in the fall time determination step (ST3) that the difference fall time ΔTr is within the determination range R (No), the weight board information BI is not transmitted to the component mounting apparatus M3, and the carry-in waiting time Tw is updated and set. The substrate transporting step (ST5) is performed without performing. When the weight board information BI of the component mounting apparatus M1 is obtained in the information obtaining step (ST31) (Yes), the weight board information BI is not transmitted to the component mounting apparatus M3, and the carry-in waiting time Tw is updated and set. The board 6 on which components are to be mounted is carried into the mounting work position WP by the same control as in the board transfer step (ST5) without performing (ST43).

  That is, when the heavy board information acquiring unit 41e acquires heavy board information BI indicating that the board 6 is the heavy board 6H from the other component mounting apparatus M1 on the upstream side, the transport control unit 41b transmits the preceding board (one board). ) Is controlled so as to maintain the transport operation of unloading from the mounting work position WP and the transport operation of loading a subsequent substrate (other substrate) into the mounting work position WP before and after the acquisition of the weight board information BI.

  As described above, the component mounting system 1 measures the rising time Tr and the falling time Tf of the lower receiving unit U. When it is determined that the substrate 6 is the heavy substrate 6H based on the rising time Tr, the transport operation of unloading the preceding substrate from the mounting operation position WP and the transport operation of loading the subsequent substrate into the mounting operation position WP are maintained. Is controlled as follows. When it is determined that the substrate 6 is not the heavy substrate 6H based on the rising time Tr and that the substrate 6 is the heavy substrate 6H based on the falling time Tf, the substrate 6 is loaded with the preceding substrate to be unloaded. The transfer operation is controlled so that the distance from the subsequent substrate does not become shorter than a predetermined distance.

  In other words, only when the succeeding substrate before the component mounting is not the heavy substrate 6H but the preceding substrate after the component mounting is the heavy substrate 6H, the carry-in waiting time Tw is set and the transport operation of the preceding substrate and the subsequent substrate is performed. Is going. In this way, by setting the carry-in waiting time Tw larger than zero only when there is a high possibility that the succeeding substrate collides with the preceding substrate, it is possible to prevent an unnecessary increase in the transport time. As a result, unnecessary reduction in the mounting efficiency can be prevented, and the transport can be appropriately controlled at low cost without causing the substrate 6 to collide with the weight of the substrate 6.

  INDUSTRIAL APPLICABILITY The component mounting method and component mounting apparatus of the present invention have an effect that a board can be appropriately transported at low cost according to the weight of the board, and are useful in the field of component mounting where components are mounted on a board.

5a Loading conveyor (substrate loading section)
5b Mounting conveyor (board transfer section)
6 Substrate 6a Lower surface (lower surface of substrate)
30 Vertical drive unit (Lower support unit vertical drive unit)
34 Upper limit detection sensor (first position sensor)
35 Lower limit detection sensor (second position sensor)
36a Upper limit detection dog (first position sensor)
36b Lower limit detection dog (second position sensor)
HL Lower limit position (second position)
HU upper limit position (first position)
M1 to M3 Component mounting device U Lower support unit WP Mounting work position

Claims (8)

A board loading step of loading the board into the mounting work position,
A lower receiving step of raising the lower receiving unit from a second position, which is a lower limit position, to a first position where the lower receiving unit is brought into contact with the lower surface of the substrate carried into the mounting operation position, and a lower position is received;
And a substrate unloading step of unloading the substrate to the lower receiving unit is lowered from the first position to the second position,
Along with measuring a rising time in which the lower receiving unit rises from the second position to the first position, measuring a lowering time in which the lower receiving unit descends from the first position to the second position. ,
When the difference between the rise time and a predetermined reference rise time exceeds a predetermined value, or when the difference between the fall time and a predetermined reference fall time exceeds a predetermined value, It is determined that the board is a weight board exceeding a predetermined weight,
A component mounting method, wherein when the board is determined to be a heavy board, heavy board information indicating that the board is a heavy board is notified to another component mounting apparatus on the downstream side.   Based on the heavy board information notified from the other component mounting apparatus on the upstream side, a transport operation for unloading one board from the mounting work position and a transport operation for loading another board into the mounting work position are controlled. The component mounting method according to claim 1.   3. The component mounting according to claim 2, wherein, when the weight board information is notified, a transport operation is controlled so that an interval between the one board to be carried out and the other board to be carried in does not become smaller than a predetermined distance. Method.   4. The component mounting according to claim 2, wherein when the weight board information is notified, a transport operation is controlled such that after the unloading of the one board is started, the loading of the other board is started. 5. Method. A board transport unit for loading the board into the mounting work position,
A substrate loading unit that transports the substrate to the substrate transport unit,
A transfer control unit that controls a transfer operation of the substrate by the substrate transfer unit and the substrate loading unit,
A lower receiving unit that abuts against and receives a lower surface of the substrate carried into the mounting operation position by the substrate carrying unit;
The lower receiving unit is driven up and down to raise the lower receiving unit from a second position, which is a lower limit position, to a first position where the lower receiving unit is brought into contact with the lower surface of the substrate carried into the mounting work position and is received. Let
A lower receiving unit elevation drive unit for lowering said lower receiving unit to the second position when the substrate transfer unit for unloading the substrate,
A first position sensor for detecting that the lower receiving unit is at the first position;
A second position sensor for detecting that the lower receiving unit is at the second position;
An elevation time measurement unit that measures an elevation time in which the lower receiving unit rises from the second position to the first position and a descent time in which the lower receiving unit descends from the first position to the second position;
When the difference between the rise time and a predetermined reference rise time exceeds a predetermined value, or when the difference between the fall time and a predetermined reference fall time exceeds a predetermined value, A heavy board determination unit that determines that the board is a heavy board that exceeds a predetermined weight,
A weight board information notifying section that notifies the other component mounting apparatus downstream of heavy board information indicating that the board is a heavy board when the board is determined to be a heavy board by the heavy board determination section. , Component mounting equipment. Further comprising a heavy board information acquisition unit for acquiring the heavy board information notified from the other component mounting apparatus on the upstream side,
The transfer control unit, based on the obtained heavy board information, controls a transfer operation of unloading one substrate from the mounting work position and a transfer operation of loading another substrate into the mount work position. Item 6. The component mounting apparatus according to Item 5. When the weight board information acquisition unit acquires the weight board information,
7. The component mounting apparatus according to claim 6, wherein the transfer control unit controls a transfer operation such that a distance between the one board to be carried out and the other board to be carried in does not become smaller than a predetermined distance. When the weight board information acquisition unit acquires the weight board information,
8. The component mounting apparatus according to claim 6, wherein the transfer control unit controls a transfer operation such that after the unloading of the one board is started, the loading of the other board is started. 9.

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