JP6736754B2 - Implement work device - Google Patents

Description

The present invention relates to a mounted object working device, and more particularly to a mounted object working device to which a cart is detachably attached.

Conventionally, for example, Japanese Patent No. 3518410 is known as an electronic component mounting apparatus (workpiece mounting apparatus) to which a cart type tray feeder (cart) is detachably attached.

Japanese Patent No. 3518410 discloses an electronic component mounting apparatus including a cart-type tray feeder that supplies electronic components and a transfer head that mounts the electronic components supplied from the tray feeder on a substrate.

In Japanese Patent No. 3518410, the tray feeder includes a tray for storing electronic components, a pallet for holding the tray, a container for storing the pallet, and a drawer portion for pulling out the pallet from the container. Further, in the above-mentioned Japanese Patent No. 3518410, the drawer has two recognition marks and three markers. In addition, the electronic component mounting apparatus has a camera for capturing two recognition marks and a height detecting unit for measuring the height positions of the three markers.

In the above-mentioned Japanese Patent No. 3518410, the cart type tray feeder can be moved separately from the electronic component mounting apparatus. Therefore, when the component mounting work is started, the cart type tray feeder and the electronic component mounting apparatus are mounted. A correction value is calculated by measuring the relative position with respect to the device.

Specifically, in the above-mentioned Japanese Patent No. 3518410, the first position correction value in the horizontal plane of the drawer portion is calculated based on the relative positions of the two recognition marks in the horizontal plane detected by the camera. To do. Further, in the above-mentioned Japanese Patent No. 3518410, the second position correction value in the vertical direction of the drawer portion is based on the relative positions of the three markers in the vertical direction, which are detected by measuring the height positions of the three markers. To calculate.

Japanese Patent No. 3518410

In the electronic component mounting apparatus described in Japanese Patent No. 3518410, the first position correction value and the second position correction value are calculated every time the cart type tray feeder is attached. As a result, after the cart type tray feeder is attached to the electronic component mounting apparatus (workpiece work apparatus), the electronic components supplied from the cart type tray feeder (cart) are mounted on the substrate by the transfer head. There is a problem that it takes a long time to start the work. Therefore, it is necessary to acquire the correction amount of the relative position between the working unit main body and the cart when the cart is attached to the working unit main body, which is equipped with a detachable cart There is a demand for an implement work device that can reduce the time.

The present invention has been made to solve the above problems, and one object of the present invention is to provide a mounted object working apparatus capable of shortening the time required to start the work. It is to be.

In order to achieve the above object, a mounted object working apparatus according to an aspect of the present invention is a work unit main body that works on a mounted object on which a component is mounted, and is detachably attached to the working unit main body. , A cart having individual identification information, and the cart has a mounted part holding unit having a holding part for holding the mounted part and a moving mechanism for moving the holding part, and the mounted part holding unit is attached. The first calibration information including the cart body and for correcting the displacement of the movement axis of the moving mechanism with respect to the cart body is acquired by the working unit body based on the cart identification information.

In the work implement according to one aspect of the present invention, as described above, the working unit main body provides the first calibration information for correcting the displacement of the moving shaft of the moving mechanism based on the cart identification information. Is configured to get. As a result, when the cart is attached to the main body of the working unit, the first calibration information is acquired based on the identification information of the cart. Therefore, measurement, imaging, photographing, calculation, etc. necessary to acquire the first calibration information are performed. It takes less time to do the work. As a result, the time required to start the work can be shortened.

In the work implement working apparatus according to the above aspect, preferably, the first calibration information and a first correction information for correcting the positional deviation of the cart main body with respect to the working unit main body, which is acquired in a mounting state of the cart to the working unit main body. The movement of the holding unit is corrected by the moving mechanism based on the two calibration information. According to this structure, the correction of the movement of the holding unit is the first calibration information for correcting the positional deviation of the holding unit with respect to the cart body, and the second calibration information for correcting the positional deviation of the cart main body with respect to the working unit body. Therefore, the movement of the holding portion can be corrected with respect to the positional deviation of the working portion main body. As a result, the first calibration information is acquired based on the identification information of the cart while ensuring the positional accuracy of the mounted object held by the holding unit with respect to the working unit body, and thus until the work of the working unit body is started. It is possible to reduce the time required for.

In the mounted work device including the above-mentioned moving mechanism, preferably, the moving shaft of the moving mechanism is at least one of an elevating shaft extending in a vertical direction, a tilt shaft orthogonal to the elevating shaft, and a rotating shaft orthogonal to the tilt shaft. Have one. According to this structure, the movement of at least one holding unit is corrected based on the first calibration information, among the elevation along the direction in which the elevation axis extends, the tilt around the tilt axis, and the rotation around the rotation axis. be able to. As a result, since the movement of the holding unit is corrected based on the first calibration information, it is possible to ensure the accuracy of movement of at least one holding unit among lifting, tilting, and rotation, and at the same time, perform the first calibration. Since the information is obtained based on the identification information of the cart, it is possible to shorten the time required to start the work of the working unit main body.

In this case, the mounted object holding unit has a tilting mechanism section that tilts the holding section about the tilt axis, and the first calibration information is based on the tilting angle of the tilting mechanism section with respect to the cart reference plane of the cart body. It has calibration information for correcting the positional deviation of the tilt axis of the tilt mechanism section. According to this structure, an error in the tilt angle of the tilt mechanism portion with respect to the cart reference plane due to an assembly error of the mounted object holding unit, an assembly error in the cart body, and the like can be corrected by the first calibration information. .. As a result, since the first calibration information is acquired based on the cart identification information, it is possible to shorten the time required to start the work of the working unit main body after the holding unit is tilted with respect to the cart reference plane. You can

In the mounted object working device in which the moving shaft of the moving mechanism has a rotating shaft, preferably, the mounted object holding unit has a rotating mechanism unit that rotates the holding unit around the rotating shaft, and the first calibration information is It has calibration information for correcting the positional deviation of the rotation shaft of the rotation mechanism unit based on the rotation angle of the rotation mechanism unit with respect to the cart reference line of the cart body. According to this structure, it is possible to correct the error of the rotation angle of the rotation mechanism portion with respect to the cart reference line due to the assembly error of the mounted object holding unit, the assembly error to the cart body, and the like, using the first calibration information. .. As a result, since the first calibration information is acquired based on the cart identification information, the time required to start the work of the working unit body after rotating the holding unit with respect to the cart reference line is shortened. be able to.

In the mounted object working apparatus in which the moving axis of the moving mechanism has an elevating shaft, the mounted object holding unit preferably has an elevating mechanism section for moving the holding section along the elevating axis, and the first calibration information is Calibration information for correcting the positional deviation of the lifting shaft of the lifting mechanism unit based on the rotation center position of the holding unit with respect to a plurality of vertical positions of the holding unit with respect to the cart reference axis of the cart main body. According to this structure, it is possible to correct the error of the rotation center position of the lifting/lowering mechanism part with respect to the cart reference axis due to the assembling error of the mounted object holding unit or the assembling error to the cart main body by the first calibration information. it can. As a result, since the first calibration information is acquired based on the cart identification information, the time required to start the work of the working unit body after the holding unit is moved up and down with respect to the cart reference axis is shortened. be able to.

In the mounted work device including the cart, preferably, the cart includes a height position adjusting mechanism that adjusts the height position of the cart in a state of being attached to the working unit body, and the height position adjusting mechanism is The inclination of the cart in a direction orthogonal to the cart attachment/detachment direction with respect to the main body reference plane of the working unit main body is adjustable. With this configuration, the height position adjusting mechanism can correct an error in the inclination angle of the cart body with respect to the cart reference plane, which is caused by an error in assembling the mounted object holding unit or an error in assembling the unit into the cart body. it can. As a result, not only the first calibration information but also the displacement of the moving shaft of the holding unit is corrected by the height position adjusting mechanism, so that it is possible to perform the work on the mounted object more accurately.

According to the present invention, as described above, it is possible to shorten the time required to start the work.

1. It is a schematic diagram of the cross section along the 100-100 line of FIG. FIG. 1 is a schematic plan view showing an overall configuration of a mounted work device according to an embodiment of the present invention. FIG. 1 is a schematic side view showing an overall configuration of a mounted work device according to an embodiment of the present invention. It is the block diagram which showed the control constitution of the mounted work device by one Embodiment of this invention. FIG. 3 is a perspective view showing a mounted object holding unit of the mounted object working device according to the embodiment of the present invention. FIG. 6A is a side view showing the first stage of measurement for obtaining the calibration data for the first tilt axis. FIG. 6B is a side view showing the second stage of measurement for obtaining the first tilt axis calibration data. FIG. 7A is a plan view showing the first stage of the method for acquiring the first rotation axis calibration data. FIG. 7B is a plan view showing the second stage of the method for obtaining the first rotation axis calibration data. FIG. 8A is a plan view showing a method of obtaining the center position of the holding unit (0 degree) in order to obtain the first lifting axis calibration data. FIG. 8B is a plan view showing a method of obtaining the center position of the holding portion (90 degrees) in order to obtain the first lifting axis calibration data. FIG. 8C is a plan view showing a method of obtaining the center position of the holding portion (180 degrees) in order to obtain the first lifting axis calibration data. FIG. 8D is a plan view showing a method for obtaining the center position of the holding portion (270 degrees) in order to obtain the first lifting axis calibration data. FIG. 6 is a plan view showing a method of obtaining a rotation center position of a holding unit in order to obtain the first lifting axis calibration data. FIG. 10A is a side view when the holding unit is arranged at the reference position in order to acquire the first lifting axis calibration data. FIG. 10B is a side view when the holding unit is arranged above the reference position in order to acquire the first lifting axis calibration data. FIG. 10C is a side view when the holding unit is arranged below the reference position in order to acquire the first lifting axis calibration data. It is a side view showing a method for acquiring the calibration data for the 2nd tilt axis. It is the side view which showed the method for acquiring the 2nd rotation axis calibration data. It is a top view showing a method for acquiring the 2nd lifting axis calibration data. FIG. 14A is a side view showing the first stage of measurement for obtaining the calibration data for the third tilt axis. FIG. 14B is a side view showing the second stage of measurement for obtaining the calibration data for the third tilt axis. 6 is a flowchart showing a component mounting process for mounting a component on a board in the mounted work device according to the embodiment of the present invention.

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

As shown in FIG. 1, the mounted work device 1 is configured to mount an electronic component B such as an IC, a transistor, a capacitor and a resistor on a substrate A or the like. Specifically, the work unit main body 10 that performs work on the board A on which the electronic component B is mounted, and the cart 4 that is detachably attached to the work unit main body 10 are provided. Here, in the mounted work device 1, the direction in which the substrate A is transported is defined as the X direction, and the direction perpendicular to the X direction in the horizontal direction is defined as the Y direction. Further, in the mounted work device 1, a direction perpendicular to the X direction and the Y direction is defined as the Z direction.

<Main body of working unit>
As shown in FIG. 1, the working unit body 10 has a function of transporting the board A to be carried in to the X2 side and mounting the electronic component B on the mounting surface of the board A at a predetermined position. Specifically, the working unit main body 10 includes a base 11, a mounted object transporting unit 12, a tape feeder 13 (see FIG. 3 ), a head unit 14, a supporting unit 15, and a pair of rail units 16 (see FIG. 2), a component recognition camera 31 (see FIG. 3), a board recognition camera 32 (see FIG. 2), a laser measurement unit 33 (see FIG. 3), a controller 2 (see FIG. 4), and a first The housing 111 (see FIG. 2) is provided.

<Mounted object transport section>
As shown in FIG. 2, the mounted object transport unit 12 is configured to load the substrate A, transport the substrate A in the transport direction (X2 direction), and transport the substrate A. The mounted object transfer section 12 includes an upstream transfer section 121, a central transfer section 122, and a downstream transfer section 123.

The upstream side transport part 121 has a pair of first conveyors 121a. The pair of first conveyors 121a supports, from below, both ends of the mounting member 6 on which the substrate A is mounted in the direction (Y direction) perpendicular to the transport direction. The pair of first conveyors 121 a conveys the loaded substrate A to the central conveyance unit 122.

The central transport unit 122 is arranged between the upstream transport unit 121 and the downstream transport unit 123. The central transport section 122 has a pair of second conveyors 122a. The pair of second conveyors 122a supports, from below, both ends of the mounting member 6 on which the substrate A is mounted in a direction (Y direction) perpendicular to the transport direction. The pair of second conveyors 122a receives the substrate A from the upstream transport unit 121 and transports the received substrate A to the downstream transport unit 123. In addition, the pair of second conveyors 122 a moves the substrate A to the delivery position to the mounted object holding unit 5.

The downstream side transport unit 123 has a pair of third conveyors 123a. The pair of third conveyors 123a supports, from below, both ends of the mounting member 6 on which the substrate A is mounted in a direction (Y direction) perpendicular to the transport direction. The pair of third conveyors 123a receives the board A on which the electronic component B is mounted from the central transfer unit 122, and carries out the board A on which the electronic component B is mounted on a downstream transfer path (not shown).

Here, as shown in FIG. 1, the substrate A is carried by the mounted object carrying unit 12 while being held by the placing member 6. The mounting member 6 is a member for carrying the substrate A by the article carrying part 12. The mounting member 6 detachably holds the substrate A. Further, the mounting member 6 is configured to be held by the mounted object holding unit 5 described later.

<Tape feeder>
As shown in FIG. 2, the Y2 side end of the base 11 is provided with a plurality of (two places) feeder placement portions 11a for placing a plurality of tape feeders 13. Further, one feeder placement portion 11a is provided at the end of the base 11 on the Y1 side.

As shown in FIG. 3, the tape feeder 13 holds a reel 13a around which a tape holding a plurality of electronic components B at predetermined intervals is wound. The tape feeder 13 supplies the electronic component B from the front end by rotating the reel 13a and feeding the tape holding the electronic component B. Each tape feeder 13 is electrically connected to the control device 2 (see FIG. 4) via a connector (not shown) provided in the feeder placement portion 11a. As a result, each tape feeder 13 delivers the tape from the reel 13a based on the control signal from the control device 2.

<Rail part>
As shown in FIG. 2, the rail portion 16 is configured to be able to move the support portion 15 in a direction (Y direction) perpendicular to the transport direction. Specifically, the pair of rail portions 16 are each formed to extend in the Y direction. The pair of rail portions 16 are fixed to both ends of the base 11 in the X direction. Each of the pair of rail portions 16 includes a ball screw shaft 16a extending in the Y direction, a plurality of Y-axis motors 16b provided on the ball screw shaft 16a, and a guide rail (not shown). Each Y-axis motor 16b rotates the corresponding ball screw shaft 16a. When the ball screw shafts 16a are rotated by the Y-axis motors 16b, the support portion 15 moves along the pair of rail portions 16 in the direction perpendicular to the transport direction (Y direction).

<Supporting part>
As shown in FIG. 2, the support portion 15 is configured to move the head unit 14 in the transport direction (X direction). Specifically, the support portion 15 includes a ball screw shaft 15a extending in the X direction, an X-axis motor 15b rotating the ball screw shaft 15a, and a guide rail (not shown) extending in the X direction. The head unit 14 moves in the transport direction (X direction) along the support portion 15 as the ball screw shaft 15a is rotated by the X-axis motor 15b.

With such a configuration, the head unit 14 is configured to be movable above the base 11 in the horizontal direction (X direction and Y direction). As a result, the head unit 14 can move above the tape feeder 13 and suck the electronic component B supplied from the tape feeder 13, for example. Further, the head unit 14 can be moved, for example, above the substrate A held by the mounted object holding unit 5 to mount the sucked electronic component B on the substrate A.

<head unit>
As shown in FIG. 1, the head unit 14 is configured to work on a substrate A held by a mounted object holding unit 5 described later. The head unit 14 is attached to the base 11 via the support portion 15 and the pair of rail portions 16. Further, the head unit 14 is arranged above (in the Z1 direction) the mounted object transporting section 12, the mounted object holding unit 5, and the tape feeder 13. The head unit 14 mounts the electronic component B on the substrate A held by the mounted object holding unit 5. The mounting operation is an operation in which the head unit 14 sucks the electronic component B supplied from the tape feeder 13 and mounts the sucked electronic component B on the substrate A.

As shown in FIG. 1, the head unit 14 has a dispensing head 141, a mounting head 142, a plurality of ball screw shafts 143, a Z-axis motor 144, and an R-axis motor 145 (see FIG. 4). .. The dispensing head 141 and the mounting head 142 are linearly arranged in a line along the transport direction (X direction). The ball screw shaft 143 and the Z-axis motor 144 are provided in the dispense head 141 and the mounting head 142, respectively.

As shown in FIG. 1, the dispense head 141 has a nozzle 146 attached to the tip. The dispense head 141 is configured so that cream solder supplied from a syringe (not shown) is discharged from the nozzle 146 at the tip, and the cream solder can be applied to the substrate A.

As shown in FIG. 1, the mounting head 142 has a nozzle 146 attached to the tip (lower end). The mounting head 142 is configured to be able to adsorb and hold the electronic component B supplied from the tape feeder 13 by the negative pressure generated at the tip of the nozzle 146 by a negative pressure generator (not shown). Further, the mounting head 142 is configured to be able to mount the held electronic component B on the mounting surface of the substrate A by the positive pressure generated at the tip of the nozzle 146 by a positive pressure generator (not shown). The R-axis motor 145 is configured to rotate the mounting head 142 around the central axis of the nozzle 146 (around the Z-axis).

Each ball screw shaft 143 extends in the vertical direction, as shown in FIG. Each Z-axis motor 144 rotates the corresponding ball screw shaft 143. The mounting head 142 and the dispensing head 141 can move vertically along the ball screw shaft 143 when the ball screw shaft 143 is rotated by the Z-axis motor 144. As a result, the mounting head 142 has a first height position where the electronic component B can be sucked and mounted (mounted), and a second height position where the head unit 14 can be moved in the horizontal direction. It is possible to move in the vertical direction between. The dispense head 141 is vertically movable between a third height position where cream solder can be applied and a fourth height position where the head unit 14 can be moved in the horizontal direction. Has become.

<Parts recognition camera>
As shown in FIG. 3, the component recognition camera 31 is configured to capture an image of the electronic component B adsorbed by the nozzle 146 of the mounting head 142 from below (Z2 direction) before mounting the electronic component B. Specifically, the component recognition camera 31 is provided near the tape feeder 13 on the base 11.

<Board recognition camera>
As shown in FIG. 3, the board recognition camera 32 is configured to take an image of the position recognition mark attached to the board A prior to mounting the electronic component B from above (Z1 direction). The position recognition mark is a mark for recognizing the position of the substrate A. Specifically, the board recognition camera 32 is provided at the lower end (Z2 direction) of the back surface (Y1 direction) of the head unit 14. The board recognition camera 32 is movable in the horizontal direction (X direction and Y direction) above the base 11 together with the head unit 14.

<Laser measurement section>
As shown in FIG. 1, the laser measurement unit 33 is configured to measure the height position of the board A prior to mounting the electronic component B. Specifically, the laser measuring unit 33 irradiates the substrate A with laser light and receives the reflected light reflected from the substrate A, so that the measurement position on the upper surface of the substrate A from the lower end position of the laser measuring unit 33. Measure the distance to. Here, the height position is calculated based on the distance measured by the laser measurement unit 33 from the lower end position of the laser measurement unit 33 to the measurement position of the upper surface of the substrate A.

The laser measurement unit 33 is attached to the back surface side (Y1 direction) of the head unit 14 as shown in FIG. The laser measuring unit 33 is movable in the horizontal direction (X direction and Y direction) above the base 11 together with the head unit 14. Further, the laser measurement unit 33 horizontally moves above the base 11 and irradiates the substrate A with laser light from above the component mounting position.

<Control device>
As shown in FIG. 4, the control device 2 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory) 20, and the like, and controls the operation of the mounted work device 1. Is configured. Specifically, the control device 2 includes the mounted object transporting section 12, the cart 4, the mounted object holding unit 5, the head unit 14, the support section 15, the pair of rail sections 16, the component recognition camera 31, and the board recognition camera 32. The laser measuring unit 33, the tape feeder 13, and the like are controlled according to a program stored in advance. Further, the RAM 20 of the control device 2 stores first calibration data 21 and second calibration data 22 described later.

<First housing section>
As shown in FIG. 2, the first accommodating portion 111 can accommodate the cart 4 inside. Specifically, the first housing portion 111 is a recessed portion of the end portion on one side (Y1 side) of the cart 4 in the attachment/detachment direction (Y direction), and is in the detachment direction (Y direction) of the cart 4. The opening 112a is provided on one side (Y1 side). The first accommodating portion 111 has a pair of inner surface portions facing each other in the direction (X direction) orthogonal to the attaching/detaching direction (Y direction) of the cart 4. One side (X1 side) of the pair of inner surface portions is the first inner surface portion 112b, and the other side (X2 side) is the second inner surface portion 112c. Further, the first accommodating portion 111 has a third inner surface portion 112d that connects end portions on the other side (Y2 side) of the cart 4 in the mounting/removing direction (Y direction) in each of the pair of inner surface portions. .. The first accommodation portion 111 is an example of the “accommodation portion” in the claims.

The third inner surface portion 112d of the first storage portion 111 is provided with a positioning portion 113 for positioning the tip position of the cart 4 that has entered the first storage portion 111. Further, as shown in FIG. 1, as a member for supporting the cart 4 accommodated in the first accommodating portion 111 from below, the first inner surface portion 112b is provided with the first supporting portion 114, and the second inner surface portion 112c is provided. The second support portion 115 is provided.

<cart>
When the cart 4 is attached to the working unit body 10, the cart 4 is electrically connected to the control device 2 and can be controlled by the control device 2. As shown in FIG. 2, the cart 4 includes a mounted object holding unit 5 and a cart body 41 to which the mounted object holding unit 5 is attached. Here, the state in which the cart 4 is accommodated in the first accommodating portion 111 of the working unit body 10 (the state shown in FIGS. 1 to 3) is referred to as the mounting state of the cart 4 to the working unit body 10. As shown in FIGS. 1 to 3, the cart main body 41 includes a pair of mounting portions 411, a plurality (three) of marker portions 42, an identifier 43 (for example, a QR code (registered trademark)), and a plurality (4). Individual wheel portions 412. As shown in FIG. 1, the pair of mounting portions 411 includes a first mounting portion 411 a supported by the first supporting portion 114 and a second mounting portion 411 b supported by the second supporting portion 115. doing. In addition, each of the first placement portion 411a and the second placement portion 411b has a caster 413 that rolls on the first support portion 114 and the second support portion 115 when the cart 4 enters the first storage portion 111. Have As shown in FIGS. 1 and 2, the plurality of marker portions 42 have a columnar shape, and have a large diameter portion 42a and a small diameter portion 42b provided at the upper end portion (Z1 side end portion) of the large diameter portion 42a. And have. The large-diameter portion 42a is formed to have a length in the vertical direction (Z direction) larger than that of the small-diameter portion 42b. The identifier 43 includes individual identification information for identifying each cart 4.

As shown in FIG. 2, an opening 41a having a rectangular shape in plan view is formed in the center of the cart body 41. The second housing portion 44 is attached to the opening 41 a of the cart body 41. As shown in FIG. 1, the second accommodating portion 44 is formed in a concave shape that is recessed downward (Z2 direction) from the upper surface (Z1 side surface) of the cart main body 41. The mounted object holding unit 5 is arranged such that a part thereof is housed in the second housing portion 44.

As shown in FIG. 1, the cart main body 41 includes a height position adjusting mechanism 45 that adjusts the height position of the cart 4 when attached to the working unit main body 10. The height position adjusting mechanism 45 moves the cart 4 in the direction (X direction) orthogonal to the attachment/detachment direction (Y direction) of the cart 4 with respect to the main body reference plane S1 (the XY plane S4 of the machine origin described later) of the working unit main body 10. The tilt is adjustable. Specifically, the height position adjusting mechanism 45 has a first adjusting unit 451 and a second adjusting unit 452.

The first adjuster 451 has a first handle 451a that rotates around an axis in the attachment/detachment direction (Y direction) of the cart 4, and a first shaft 451b that moves up and down as the first handle 451a rotates. Here, the first shaft 451b and the first mounting portion 411a are connected so that the first mounting portion 411a moves in conjunction with the movement of the first shaft 451b.

The second adjuster 452 has a second handle 452a that rotates around the attaching/detaching direction (Y direction) of the cart 4, and a second shaft 452b that moves up and down as the second handle 452a rotates. Here, the second shaft 452b and the second mounting portion 411b are connected so that the second mounting portion 411b moves in conjunction with the movement of the second shaft 452b.

As described above, the height position adjusting mechanism 45 can adjust the height position of the cart 4 in the vertical direction on the X1 side by operating the first handle 451a. Further, the height position adjusting mechanism 45 can adjust the height position of the cart 4 in the vertical direction on the X2 side by operating the second handle 452a. In addition, in the attached state, the cart 4 is in a state of being lifted from the floor F. That is, the cart 4 is in a state of being supported by the first support portion 114 and the second support portion 115.

<Mounted object holding unit>
As shown in FIG. 1, the mounted object holding unit 5 holds the substrate A, which is transferred from the mounted object transporting section 12 and has the electronic component B mounted thereon, at the transfer position. The mounted object holding unit 5 includes a holding portion 51 that holds the substrate A, and a moving mechanism 52 that moves the substrate A held by the holding portion 51 by moving the holding portion 51.

The mounted object holding unit 5 can move the held mounted object in the vertical direction (Z direction) by the moving mechanism 52. The mounted object holding unit 5 can tilt the held mounted object by the moving mechanism 52. The mounted object holding unit 5 can rotate the held mounted object by the moving mechanism 52. As described above, the mounted object holding unit 5 can adjust the posture of the mounted object by performing at least one operation of vertically moving, tilting, and rotating the holding portion 51 by the moving mechanism 52. Has become.

As shown in FIG. 5, the mounted object holding unit 5 includes a moving mechanism 52, a holding portion 51, and a fixed portion 53. Further, the moving mechanism 52 has an elevating mechanism section 54, a tilting mechanism section 55, and a rotating mechanism section 56. The moving mechanism 52 includes, as moving shafts for moving the holding portion 51, an elevating shaft J3 extending in the vertical direction, a tilt shaft J1 orthogonal to the elevating shaft J3, and a rotating shaft J2 orthogonal to the tilt shaft J1. ..

The lifting mechanism unit 54 is configured to move the holding unit 51 in the up-down direction along the axis line A1 (indicated by a chain line) of the lifting shaft J3. Specifically, the elevating mechanism portion 54 has a drive motor 54a, a belt pulley mechanism portion 54b, a ball screw shaft 54c, and a mounting portion 54d.

The drive motor 54a rotates the ball screw shaft 54c via the belt pulley mechanism 54b. The ball screw shaft 54c rotates about the axis A1 by the driving force of the drive motor 54a transmitted via the belt pulley mechanism 54b.

The attachment portion 54d is a member for attaching the tilting mechanism portion 55, the rotation mechanism portion 56, and the holding portion 51 to the elevating mechanism portion 54. The tilting mechanism 55 is attached to the Y1 side of the attachment 54d. The rotation mechanism 56 and the holder 51 are attached to the X2 side of the tilt mechanism 55.

The mounting portion 54d is movable in the vertical direction along the ball screw shaft 54c by the rotation of the ball screw shaft 54c by the drive motor 54a. As a result, the elevating mechanism section 54 can move the tilting mechanism section 55, the rotating mechanism section 56, and the holding section 51 together with the mounting section 54d in the vertical direction (Z direction). The axis A1 is an axis passing through the center of the ball screw shaft 54c.

The tilting mechanism part 55 is configured to tilt the holding part 51 by rotating the holding part 51 around the axis A2 (shown by a chain line) of the tilt axis J1. Specifically, the tilt mechanism portion 55 has a drive motor 55a, a belt pulley mechanism portion 55b, and a rotating shaft portion 55c.

The drive motor 55a rotates the rotary shaft 55c via the belt pulley mechanism 55b. Further, the drive motor 55a is capable of forward rotation (clockwise rotation) and reverse rotation (counterclockwise rotation). The rotating shaft portion 55c rotates about the axis A2 by the driving force of the drive motor 55a transmitted via the belt pulley mechanism portion 55b. The axis A2 is an axis passing through the center of the rotating shaft portion 55c.

The rotation mechanism 56 is attached to the end of the rotation shaft 55c on the X2 side. The rotation mechanism 56 is rotatable about the axis A2 together with the rotation shaft 55c by the rotation of the rotation shaft 55c by the drive motor 56a. As a result, the tilting mechanism section 55 rotates the rotating mechanism section 56 together with the holding section 51 about the axis A2 and tilts it in the YZ plane. Here, the tilting mechanism 55 can tilt the rotating mechanism 56 from the reference state to the Y1 direction side or the Y2 direction side, which is perpendicular to the transport direction, within an angle range of 0 degrees or more and 90 degrees or less.

As shown in FIG. 5, the rotation mechanism unit 56 is configured to rotate the holding unit 51 around the axis A3 (indicated by a chain line) of the rotation axis J2. Specifically, the rotation mechanism section 56 has a drive motor 56a and a belt pulley mechanism section 56b.

The drive motor 56a rotates the holding section 51 via the belt pulley mechanism section 56b. Further, the drive motor 56a is capable of forward rotation (clockwise rotation) and reverse rotation (counterclockwise rotation). The holding portion 51 rotates around the axis A3 by the driving force of the driving motor 56a transmitted via the belt pulley mechanism portion 56b.

The holding unit 51 is configured to hold the substrate A via the mounting member 6, as shown in FIG. Specifically, as shown in FIG. 5, the holding portion 51 has a columnar main body portion 510 and a plurality (three) pawl portions 511. The main body 510 is attached to the rotation mechanism 56. The plurality (three) of the pawl portions 511 are arranged on the main body portion 510 at equal angular intervals (120 degree intervals). Further, each of the plurality of pawl parts 511 is movable in the radial direction of the main body part 510. The plurality of pawl portions 511 can grip the held portion 62 of the mounting member 6 by moving toward the center of the main body portion 510 in the radial direction. The plurality of pawl parts 511 can release the grip of the held part 62 of the mounting member 6 by moving toward the opposite side of the radial direction center of the main body part 510.

As shown in FIG. 1, the mounting member 6 has a mounting portion 61 formed in a plate shape and a held portion 62 provided on the lower surface of the mounting portion 61. The mounting portion 61 has a slight adhesive layer formed on the upper surface (Z1 side surface). A plurality of (four) markers 63 (see FIG. 8) are formed on the upper surface (surface on the Z1 side) of the mounting portion 61. The plurality of markers 63 are arranged so that the shape in which the markers 63 are connected by a straight line has a rectangular shape (see FIG. 8 ). The mounting portion 61 detachably holds the substrate A on the upper surface by bonding the substrate A to the adhesive layer. Further, a held portion 62 for holding the mounting member 6 by the mounted object holding unit 5 is provided on the lower surface (the surface on the Z2 side) of the mounting portion 61. The held portion 62 is provided near the center in the X direction of the mounting member 6 in a state where the mounted member is held by the mounting portion 61. The held portion 62 projects downward (Z2 direction) from the lower surface of the mounting portion 61. The mounted object holding unit 5 holds the mounting member 6 by sandwiching the held portion 62 of the mounting member 6. As a result, the board A is held by the mounted object holding unit 5 via the mounting member 6.

As shown in FIG. 1, the fixing portion 53 is a member for attaching and fixing the mounted object holding unit 5 to the cart body 41. The mounted object holding unit 5 is fixed to the cart body 41 by inserting a screw or the like into the upper edge portion of the accommodating portion via the fixing portion 53.

(Acquisition of calibration data)
In the mounted work device 1, when the holding unit 51 is moved by the moving mechanism 52, the lifting axis J3, the tilt axis J1, and the rotation axis J2 are respectively used by using the first calibration data 21 and the second calibration data 22. Correct the misalignment of.

The first calibration data 21 is calibration data of the mounted object holding unit 5 with respect to the cart body 41. The first calibration data 21 is calibration data for correcting an assembly error that occurs when the mounted object holding unit 5 is assembled to the cart body 41.

Further, the second calibration data 22 is the calibration data of the cart 4 with respect to the working unit body 10. The second calibration data 22 is calibration data for correcting an attachment error that occurs when the cart 4 is attached to the working unit body 10. The first calibration data 21 is an example of “first calibration information” in the claims. The second calibration data 22 is an example of “second calibration information” in the claims.

In the mounted object working apparatus 1 of the present embodiment, the first calibration data 21 is acquired in advance before the cart 4 is attached to the working unit body 10. The first calibration data 21 is stored in the RAM 20 of the control device 2 in association with the identification information of the cart 4 having the identifier 43 arranged on the cart body 41. In the mounted work device 1, the control device 2 reads the identification information of the cart 4 by the board recognition camera 32 capturing an image of the identifier 43. In the mounted work device 1, when the cart 4 is attached to the work main body, the board recognition camera 32 images the plurality of marker parts 42, and the laser measurement part 33 measures the height positions of the plurality of marker parts 42. As a result, the second calibration data 22 is obtained.

In the mounted device working apparatus 1, when the cart 4 is attached to the working unit main body 10, it is only necessary to obtain the second calibration, and the first calibration data 21 is obtained in advance, so there is no need to obtain it. Therefore, it is possible to reduce the time until the working unit main body 10 starts working. Hereinafter, a method for obtaining the first calibration data 21 and the second calibration data 22 will be described.

<Acquisition of calibration data for the first tilt axis>
As shown in FIG. 6, the first calibration data 21 corrects the positional deviation of the tilt axis J1 of the tilt mechanism section 55 based on the tilt angle θ1 of the tilt mechanism section 55 with respect to the cart reference plane S2 of the cart body 41. Has calibration data for the first tilt axis. In the mounted work device 1, the first tilt axis calibration data is acquired based on the measurement results of the plurality of marker units 42 and the mounting member 6 by the laser measurement unit 33. As shown in FIG. 6A, the control device 2 measures the distances between the plurality of marker units 42 and the laser measuring unit 33 by using the laser measuring unit 33, so that the cart reference plane S2 of the cart main body 41 is measured. To get Further, as shown in FIG. 6B, the control device 2 returns the distance between the laser measuring unit 33 and a plurality of positions on the upper surface of the placing unit 61 when the tilting mechanism unit 55 is returned to the mechanical origin. Is measured using the laser measuring unit 33, and the inclined surface S3 of the mounting unit 61 is acquired. At this time, the control device 2 acquires the tilt angle θ1 that is the positional deviation between the cart reference surface S2 and the tilted surface S3 as the first tilt axis calibration data.

<Acquisition of calibration data for the first rotation axis>
As shown in FIG. 7, the first calibration data 21 corrects the positional deviation of the rotation axis J2 of the rotation mechanism section 56 based on the rotation angle θ2 of the rotation mechanism section 56 with respect to the cart reference plane S2 of the cart body 41. Has calibration data for the first rotation axis. In the mounted work device 1, the control device 2 performs the first rotation based on the imaging result of the plurality of marker portions 42 on the cart body 41 and the plurality of markers 63 on the mounting member 6 by the board recognition camera 32. Get the axis calibration data. Specifically, as shown in FIG. 7A, the control device 2 captures images of a plurality of marker portions 42, so that the cart body of the cart body 41 passes through the two marker portions 42 arranged on the Y2 side. The reference line W1 is acquired. Further, as shown in FIG. 7B, the control device 2 captures images of the plurality of markers 63 of the mounting member 6 when the rotation mechanism section 56 is returned to the mechanical origin, and thus a plurality of markers 63 are captured. A comparative straight line W2 passing through two of the markers 63 is acquired. The first rotation axis calibration data is acquired as a rotation angle θ2 which is a positional deviation between the cart reference line W1 and the comparison straight line W2.

<Acquisition of calibration data for the first lifting axis>
As shown in FIGS. 8 to 10, the first calibration data 21 includes holding units corresponding to a plurality of vertical positions of the holding unit 51 with respect to the cart reference axis A5 (see FIG. 1) of the cart main body 41. Based on the rotation center position C2 of 51, it has the first lifting axis calibration data for correcting the positional deviation of the lifting axis J3 at the rear part of the lifting machine. Here, the cart reference axis A5 is a straight line extending perpendicularly to the upper surface of the cart body 41. In the mounted work device 1, the control device 2 performs the first lifting/lowering operation based on the imaging result of the plurality of marker portions 42 on the cart body 41 and the plurality of markers 63 on the mounting member 6 by the board recognition camera 32. Get the axis calibration data.

As shown in FIG. 8A, the control device 2 returns the rotation mechanism unit 56 to the mechanical origin and returns the holding unit 51 to the reference rotation angle position (0 degree) by the rotation mechanism unit 56. The board recognition camera 32 images the plurality of markers 63 on the upper surface of the mounting member 6. Further, the control device 2 obtains the center position C1 of the holding unit 51 at the reference rotation angle position (0 degree) by drawing a diagonal line with respect to the plurality (4) of markers 63.

As shown in FIG. 8B, the control device 2 rotates the holding section 51 to the reference rotation angle position +90 degrees by the rotation mechanism section 56. The board recognition camera 32 images the plurality of markers 63 on the upper surface of the mounting member 6. Further, the control device 2 obtains the center position C1 of the holding unit 51 at the reference rotation angle position +90 degrees by drawing a diagonal line with respect to the plurality (4) of markers 63.

As shown in FIG. 8C, the control device 2 rotates the holding section 51 to the reference rotation angle position +180 degrees by the rotation mechanism section 56. The board recognition camera 32 images the plurality of markers 63 on the upper surface of the mounting member 6. Further, the control device 2 acquires the center position C1 of the holding unit 51 at the reference rotation angle position +180 degrees by drawing a diagonal line with respect to the plurality (four) of markers 63.

As shown in FIG. 8D, the control device 2 causes the rotation mechanism unit 56 to rotate the holding unit 51 to the reference rotation angle position +270 degrees. The board recognition camera 32 images the plurality of markers 63 on the upper surface of the mounting member 6. Further, the control device 2 obtains the center position C1 of the holding unit 51 at the reference rotation angle position +270 degrees by drawing a diagonal line with respect to the plurality (4) of markers 63.

第１昇降軸用キャリブレーションデータは、保持部５１の高さ位置（Ｚ方向の位置）に基づく水平方向（ＸＹ方向）の位置ずれとなっている。As shown in FIG. 9, the control device 2 determines the rotation center position C2 of the holding unit 51 based on the center position C1 of the holding unit 51 at four angular positions (0 degrees, 90 degrees, 180 degrees, and 270 degrees). get. The control device 2 calculates the rotation center position C2 of the holding unit 51 at a plurality of height positions, as shown in FIGS. 10(a), 10(b), and 10c. As a result, the control device 2 acquires the positional deviation in the horizontal direction (XY direction) based on the height position (position in the Z direction) of the holding unit 51, as shown in Table 1, for example.

The first elevation axis calibration data is a positional shift in the horizontal direction (XY direction) based on the height position (position in the Z direction) of the holding unit 51.

<Acquisition of calibration data for the second tilt axis>
As shown in FIG. 11, the second calibration data 22 corrects the positional deviation of the tilt angle θ3 of the cart main body 41 based on the tilt angle θ3 of the cart reference plane S2 of the cart main body 41 with respect to the XY plane S4 of the machine origin. It has calibration data for the second tilt axis. The control device 2 acquires the inclination angle θ3 on the ZY plane, which is the positional deviation between the XY plane S4 of the machine origin and the cart reference plane S2 of the cart body 41, as the second tilt axis calibration data.

<Acquisition of calibration data for the second rotation axis>
As shown in FIG. 12, the second calibration data 22 indicates the displacement of the tilt angle θ4 of the cart body 41 based on the tilt angle θ4 between the X axis A4 of the machine origin and the cart reference line W1 of the cart body 41. It has calibration data for the second rotation axis for correction. The control device 2 acquires the inclination angle θ4, which is the positional deviation between the X axis A4 of the machine origin and the cart reference line W1 of the cart body 41, as the second rotation axis calibration data.

<Acquisition of calibration data for the second lifting axis>
As shown in FIG. 13, the second calibration data 22 is used to correct the positional deviation of the distance between the bottom surface S5 of the pair of second conveyors 122a of the central transport unit 122 and the cart reference surface S2 of the cart body 41. 2 It has calibration data for vertical axis. The control device 2 acquires the positional deviation between the bottom surface S5 of the pair of second conveyors 122a and the cart reference surface S2 of the cart main body 41 as the second lifting axis calibration data.

<Calibration data for third tilt axis>
As shown in FIG. 14, the control device 2 is based on the inclination angle θ5 on the XZ plane of the inclination mechanism portion 55 with respect to the cart reference plane S2 of the cart body 41 in the direction (X direction) orthogonal to the attaching/detaching direction of the cart 4. , Calibration data for the third tilt axis for correcting the positional deviation of the tilt axis J1 of the tilt mechanism section 55 is acquired. In the mounted work device 1, the third tilt axis calibration data is acquired based on the measurement results of the plurality of marker units 42 and the mounting member 6 by the laser measurement unit 33.

As shown in FIG. 14A, the control device 2 measures the distances between the plurality of marker units 42 and the laser measuring unit 33 by using the laser measuring unit 33, so that the cart reference plane S2 of the cart main body 41 is measured. To get In addition, as shown in FIG. 14B, the control device 2 measures the distances between the laser measuring unit 33 and a plurality of positions on the upper surface of the placing unit 61 by using the laser measuring unit 33, and The inclined surface S3 of the placing part 61 is acquired. At this time, the control device 2 acquires the tilt angle θ5, which is the positional deviation between the cart reference surface S2 and the tilted surface S3, as the third tilt axis calibration data. The third tilt axis calibration data is stored in the RAM 20 of the control device 2 in association with the identification information of the cart 4 of the identifier 43 arranged on the cart body 41. The third tilt axis calibration data is included in the first calibration data 21 and is associated with the identifier 43.

(Component mounting process)
Next, with reference to FIG. 15, a mounting process of components on the board A will be described. The mounting process is performed by the control device 2.

In step S1, the cart 4 is attached to the working unit body 10. In step S2, the board recognition camera 32 images the identifier 43. At this time, the control device 2 determines the first tilt axis calibration data, the first rotation axis calibration data, and the first lifting axis calibration data in the first calibration data 21 based on the identification information of the cart 4 having the identifier 43. To get calibration data for. Further, the control device 2 acquires the calibration data for the third tilt axis.

In step S3, the plurality of marker portions 42 are imaged by the board recognition camera 32 of the head unit 14 with the cart 4 attached to the work body. Further, in step S4, the laser measuring unit 33 measures the height positions of the plurality of marker units 42. At this time, the control device 2 acquires the second tilt axis calibration data, the second rotation axis calibration data, and the second lifting axis calibration data in the second calibration data 22.

In step S5, the user operates the first handle 451a and the second handle 452a of the height position adjusting mechanism 45 to tilt the cart main body 41 with respect to the cart reference plane S2 based on the third tilt axis calibration data. The positional deviation of the inclination angle θ5 of the mechanism portion 55 is eliminated.

In step S6, the mounting member 6 to which the substrate A is attached is held by the holding portion 51. In step S7, the mounting head 142 of the head unit 14 sucks the electronic component B supplied from the tape feeder 13.

In step S8, the mounted object holding unit 5 is driven so that the mounting surface of the board A on which the mounting work is performed is made substantially parallel to the horizontal plane (XY plane S4). Specifically, the substrate A held by the holding portion 51 of the mounted object holding unit 5 is tilted by the tilting mechanism portion 55 based on the first tilt axis calibration data and the second tilt axis calibration data. To be done. Further, the substrate A held by the holding portion 51 of the mounted object holding unit 5 is rotated by the rotation mechanism portion 56 based on the first rotation axis calibration data and the second rotation axis calibration data. The board A held by the holder 51 of the mounted object holding unit 5 is moved up and down by the elevating mechanism 54 based on the first elevator shaft calibration data and the second elevator shaft calibration data. As a result, the mounting surface of the board A on which the mounting work is performed is made substantially parallel to the horizontal plane.

In step S9, the mounting head 142 that has adsorbed the component is raised to a height position where it can be moved horizontally. In step S10, the height measuring unit is horizontally moved (XY moved) to the height measuring position. In step S11, the height of the component is measured by the height measuring unit. Specifically, the height measuring unit measures the height position of the component mounting position on the mounting surface of the board A on which the mounting work is performed.

In step S12, the mounting head 142 is horizontally moved to a position above the component mounting position. In step S13, the mounting head 142 is lowered to mount the component on the board A at the component mounting position. After that, the processes of steps S7 to S13 are appropriately performed until the mounting of all the planned components on the board A is completed. Then, the component mounting process is completed.

(Effect of this embodiment)
In this embodiment, the following effects can be obtained.

In the present embodiment, the work unit body 10 is configured to acquire the first calibration data 21 based on the identification information associated with the identifier 43 of the cart 4. As a result, when the cart 4 is attached to the working unit body 10, the first calibration data 21 is acquired based on the identification information of the cart 4, so that it is necessary to acquire the first calibration data 21. Eliminates the time required to perform tasks such as measurement, imaging, shooting, and calculation. As a result, it is possible to shorten the time required to start the work in the mounted work device 1.

Further, in the present embodiment, as described above, the correction of the movement of the holding unit 51 is performed by the first calibration data 21 for correcting the positional deviation of the holding unit 51 with respect to the cart main body 41 and the cart with respect to the working unit main body 10. This is performed based on the second calibration data 22 that corrects the positional deviation of the main body 41. Accordingly, the movement of the holding unit 51 can be corrected for the positional deviation of the working unit body 10 based on the first calibration data 21 and the second calibration data 22. As a result, the first calibration data 21 is acquired based on the identification information of the cart 4 while ensuring the positional accuracy of the working unit body 10 with respect to the mounted object held by the holding unit 51 attached to the cart body 41. Therefore, it is possible to shorten the time required to start the work of the working unit main body 10.

Further, in the present embodiment, the holding portion 51 can perform at least one movement such as elevation along the direction in which the elevation axis J3 extends, inclination around the tilt axis J1, and rotation around the rotation axis J2. Correcting the movement of at least one holding unit 51 based on the first calibration data 21 among elevation along the direction in which the elevation axis J3 extends, inclination around the tilt axis J1, and rotation around the rotation axis J2. You can As a result, the movement of the holding unit 51 is corrected based on the first calibration data 21, so that it is possible to ensure the accuracy of movement of at least one holding unit 51 among lifting, tilting, and rotation. Since the first calibration data 21 is acquired based on the identification information of the cart 4, it is possible to shorten the time required to start the work of the working unit body 10.

Further, in this embodiment, the first calibration data 21 has first tilt axis calibration data. As a result, the tilt angle θ1 of the tilting mechanism 55 with respect to the cart reference plane S2 due to an error in assembling the mounted object holding unit 5, an error in assembling the object to the cart body 41, or the like is corrected by the first tilt axis calibration data. be able to. As a result, the first calibration data 21 is acquired based on the identification information of the cart 4, so that it is possible to shorten the time required to start the work of the working unit body 10 after the holding unit 51 is tilted. it can.

In addition, in the present embodiment, the first calibration data 21 has first rotation axis calibration data. As a result, the rotation angle θ2 of the rotation mechanism 56 with respect to the cart reference line W1 caused by an assembly error of the mounted object holding unit 5, an assembly error of the cart main body 41, or the like is corrected by the first rotation axis calibration data. be able to. As a result, since the first calibration data 21 is acquired based on the identification information of the cart 4, it is possible to shorten the time required to start the work of the working unit body 10 after rotating the holding unit 51. it can.

In addition, in the present embodiment, the first calibration data 21 has first lifting axis calibration data. As a result, the error of the rotation center position C2 of the lifting/lowering mechanism portion 54 with respect to the cart reference axis A5 due to the assembly error of the mounted object holding unit 5, the assembly error to the cart main body 41, or the like is determined as the first lifting axis calibration data. Can be corrected by. As a result, the first calibration data 21 is acquired based on the identification information of the cart 4, so that it is possible to shorten the time required to start the work of the working unit body 10 after the holding unit 51 is moved up and down. it can.

Further, in the present embodiment, the height position adjusting mechanism 45 is configured to be able to adjust the inclination of the cart 4 with respect to the cart reference plane S2 in the direction (X direction) orthogonal to the attaching/detaching direction of the cart 4. As a result, the height position adjusting mechanism 45 corrects an error in the inclination angle θ5 of the cart main body 41 with respect to the cart reference plane S2 due to an assembly error of the mounted object holding unit 5, an assembly error in the cart main body 41, and the like. be able to. As a result, not only the first calibration data 21 but also the height position adjusting mechanism 45 corrects the positional deviation of the lifting shaft J3 of the holding portion 51. Further, the height position adjusting mechanism 45 corrects the tilt angle θ5 of the holding unit 51, which the tilt mechanism unit 55 cannot correct based on the first tilt axis calibration data. As a result, it is possible to perform the work on the mounted object more accurately.

(Modification)
It should be understood that the embodiments disclosed this time are exemplifications in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of the claims, and further includes meanings equivalent to the scope of the claims and all modifications (modifications) within the scope.

For example, in the above embodiment, the first calibration data 21 is the calibration data for correcting the moving mechanism 52, the tilting mechanism section 55, the rotating mechanism section 56, and the elevating mechanism section 54, but the present invention is not limited to this. I can't. In the present invention, the first calibration data may be calibration data for correcting a moving mechanism other than the tilting mechanism section, the rotating mechanism section, and the elevating mechanism section.

Further, in the above-described embodiment, the example in which the component mounting apparatus for mounting the electronic component B on the board A is applied to the mounted object working apparatus 1 of the present invention has been shown, but the present invention is not limited to this. The present invention may be applied to mounted work devices other than the component mounting device.

Further, the present invention may be applied to the mounted object working apparatus 1 as a viscous material applying apparatus that performs an operation of applying a viscous material such as solder to the substrate A. In this case, a viscous material application unit for applying a viscous material to the mounted object is provided in the viscous material application device instead of the head unit of the above embodiment.

Further, the present invention may be applied to the mounted object working apparatus 1 as a mounted object inspection apparatus that performs a work of inspecting a mounted object using visible light, infrared light, X-rays, or the like. In this case, instead of the head unit of the above embodiment, an inspection unit for irradiating the mounted object with visible light, infrared light, X-rays or the like for photographing is provided in the mounted object inspection apparatus.

Further, in the above-described embodiment, the controller 43 is provided with the identifier 43 on the cart main body 41, and the control device 2 acquires the identification information of the cart 4 from the identifier 43 by using the board recognition camera 32. However, the present invention is not limited to this. In the present invention, the cart may have a control device that stores the first calibration data associated with the identification information. In this case, the cart is attached to the working unit body, the cart control device and the working unit body control device are electrically connected, and the working unit body control device acquires the first calibration data. To be done.

Further, in the present invention, the control device storing the first calibration data 21 and the control device provided in the mounted work device are connected to each other outside the mounted work device via a network. Good. In this case, the control device of the mounted work device is configured to acquire the first calibration data from the external control device by the control device acquiring the cart identification information from the identifier.

Further, in the above-described embodiment, the moving mechanism 52 has the tilting mechanism portion 55, the rotating mechanism portion 56, and the lifting mechanism portion 54, but the present invention is not limited to this. In the present invention, the moving mechanism may have at least one of the tilting mechanism part, the rotating mechanism part, and the elevating mechanism part. Further, in the present invention, the moving mechanism may have a moving mechanism other than the tilting mechanism section, the rotating mechanism section, and the elevating mechanism section.

Further, in the above embodiment, the marker 63 is provided on the mounting member 6, but the present invention is not limited to this. For example, the holding portion may be provided with a marker.

Further, in the above embodiment, four markers 63 are provided on the mounting member 6, but the present invention is not limited to this. For example, five or more markers may be provided.

Further, in the above-described embodiment, the three marker portions 42 are provided on the cart body 41, but the present invention is not limited to this. Four or more marker units may be provided on the cart body.

Further, in the above embodiment, the head unit 14 has the laser measurement unit 33, but the present invention is not limited to this. The head unit may have a touch sensor.

Further, in the above embodiment, the head unit 14 has one mounting head 142, but the present invention is not limited to this. The head unit may have a plurality of mounting heads.

Further, in the above embodiment, the example in which the substrate A has a flat work surface is shown, but the present invention is not limited to this. In the present invention, the substrate may have an uneven work surface (work surface as a curved surface). Further, it may have both a flat work surface and an uneven work surface.

Further, in the above-described embodiment, the example in which the substrate A is transported by the mounted object transporting unit 12 via the mounting member 6 and held by the mounted object holding unit 5 is shown, but the present invention is not limited to this. I can't. In the present invention, the substrate mounted on the mounting member may be directly held by the mounted object holding unit as long as it can be held.

Further, in the above embodiment, an example in which the mounted object holding unit 5 is configured to hold the substrate A by gripping is shown, but the present invention is not limited to this. For example, the mounted object holding unit may be configured to hold the mounted object by sucking the mounted object by negative pressure.

Further, in the above embodiment, an example of the configuration in which the board A (object to be mounted) is transported along one lane to perform the work is shown, but the present invention is not limited to this. In the present invention, the mounted object may be transported along two or more lanes to perform the work.

Further, in the above-described embodiment, an example in which the rotation center of the holding unit 51 is calculated at three height positions when the first lifting axis calibration data is acquired has been described, but the present invention is not limited to this. Absent. For example, when acquiring the first elevation axis calibration data, the rotation center of the holding unit may be calculated at two or four or more height positions.

Further, in the above embodiment, an example in which the center position of the holding unit 51 is calculated based on the four rotational positions of the holding unit 51 when acquiring the first lifting axis calibration data has been described. It is not limited to this. For example, the center position of the holding unit may be calculated based on two, three, or five or more rotational positions of the holding unit.

In the above embodiment, for convenience of description, the processing operation of the control device 2 is described using the flow-driven flowchart that sequentially performs processing along the processing flow, but the present invention is not limited to this. In the present invention, the processing operation of the control device 2 may be performed by an event driven type (event driven type) process that executes a process for each event. In this case, the event driving may be completely performed, or the event driving and the flow driving may be combined.

1 Mounted Object Working Device 4 Cart 5 Mounted Object Holding Unit 10 Working Part Main Body 21 First Calibration Data (First Calibration Information)
22 Second calibration data (second calibration information)
41 Cart main body 45 Height position adjusting mechanism 51 Holding section 52 Moving mechanism 54 Elevating mechanism section 55 Inclining mechanism section 56 Rotating mechanism section A5 Cart reference axis C2 Rotation center position J1 Tilt axis J2 Rotating axis J3 Elevating axis S1 Main body reference surface S2 Cart Reference plane S3 Inclined surface W1 Cart reference line θ1 Inclination angle θ2 Rotation angle

Claims (7)

A working unit main body (10) for working on a mounted object on which the component (B) is mounted;
A cart (4) that is detachably attached to the working unit body and has individual identification information,
The cart is
An mounted object holding unit (5) having a holding part (51) for holding the mounted part, and a moving mechanism (52) for moving the holding part;
A cart body (41) to which the mounted object holding unit is attached,
Work to be implemented in which the first calibration information (21) for correcting the displacement of the moving shaft of the moving mechanism with respect to the cart body is acquired by the working unit body based on the identification information of the cart. apparatus. Based on the first calibration information and the second calibration information (22) that is acquired when the cart is attached to the working unit body and is used to correct the positional deviation of the cart body with respect to the working unit body. The mounted object working apparatus according to claim 1, wherein the movement mechanism corrects the movement of the holding unit. The moving shaft of the moving mechanism is at least one of a vertical shaft (J3) extending in the vertical direction, a tilt shaft (J1) orthogonal to the vertical shaft, and a rotation shaft (J2) perpendicular to the tilt shaft. The mounted object working apparatus according to claim 1, which has. The mounted object holding unit has a tilting mechanism part (55) for tilting the holding part around the tilt axis,
The first calibration information is a calibration for correcting the positional deviation of the tilt shaft of the tilting mechanism section based on the tilt angle (θ1) of the tilting mechanism section with respect to the cart reference plane (S2) of the cart body. The mounted work device according to claim 3, which has information. The mounted object holding unit has a rotation mechanism section (56) for rotating the holding section around the rotation axis,
The first calibration information is calibration for correcting the positional deviation of the rotation shaft of the rotation mechanism unit based on the rotation angle (θ2) of the rotation mechanism unit with respect to the cart reference line (W1) of the cart body. The mounted object working apparatus according to claim 3, further comprising information. The mounted object holding unit has a lifting mechanism section (54) for moving the holding section along the lifting axis,
The first calibration information is based on the rotation center position (C2) of the holding unit with respect to a plurality of vertical positions of the holding unit with respect to the cart reference axis (A5) of the cart body, and the lifting mechanism unit. The mounted object working device according to claim 3, further comprising calibration information for correcting the positional deviation of the lifting shaft. The cart includes a height position adjusting mechanism (45) for adjusting the height position of the cart when attached to the main body of the working unit,
7. The height position adjusting mechanism is configured to be capable of adjusting the inclination of the cart in a direction orthogonal to the attaching/detaching direction of the cart with respect to the main body reference surface (S1) of the working section main body. The mounted work device according to any one of claims 1 to 4.

Images