JP6916906B2 - Work machine - Google Patents

Description

The present invention relates to a working machine for mounting a component supplied by a tray on a substrate.

As described in the following patent documents, some working machines that perform the work of mounting the components on the board mount the components supplied by the tray on the board.

Japanese Unexamined Patent Publication No. 2009-182025

In a working machine that executes mounting work, the substrate is usually held by a substrate holding device, and the substrate held by the substrate holding device is supported by a support pin from the back surface side. This prevents the substrate from bending during the mounting operation. Therefore, an object of the present specification is to appropriately support the substrate by the support pins.

In order to solve the above problems, the present specification is a tray type that accommodates a holding head for holding parts and a plurality of trays, and supplies the parts placed on the trays to the holding head. a component supply device, a moving device for moving the holding head, a substrate holding apparatus for holding a substrate, and a control unit, the support pin for supporting the substrate from the back side, the tray-type component feeding device The control device is mounted on a tray housed in the tray so that the support pin mounted on the tray is held by the holding head and the held support pin is set in the substrate holding device. Discloses a working machine that controls the operation of the holding head and the moving device.

In order to solve the above problems, component herein includes a retainer which is attached to the holding head which is detachably mounted on slider accommodates a plurality of trays, placed on the tray and a tray-type component supply device for supplying to said holding head, the support pin for supporting a moving device for moving the holding head mounted on the slider, and a substrate holding apparatus for holding a substrate, said substrate from the back side The support pin is mounted on a tray housed in the tray-type component supply device, and the control device is mounted on the tray. The moving device to which the holder is attached so that the pin and the support pin stocked in the stocker are selectively held by the holder and the held support pin is set in the substrate holding device. Disclose a working machine that controls operation and the holder is dedicated to holding the support pin.

According to the present disclosure, the support pins placed on the tray are held by the holding head or the holding tool and set in the substrate holding device. As a result, for example, by placing many support pins on the tray, it is possible to support the substrate more appropriately.

It is a perspective view which shows the component mounting machine. It is a perspective view which shows the component mounting apparatus. It is a figure which shows the component holder. It is a block diagram which shows the control device. It is a perspective view which shows the base material transport holding apparatus in which a stocker is arranged. It is a schematic diagram which shows the tray in which a plurality of backup pins are placed.

Hereinafter, examples of the present invention will be described in detail as embodiments for carrying out the present invention with reference to the drawings.

<Configuration of component mounting machine>
FIG. 1 shows a component mounting machine 10. The component mounting machine 10 is a device for executing component mounting work on the circuit base material 12. The component mounting machine 10 includes an apparatus main body 20, a base material transfer holding device 22, a component mounting device 24, a mark camera 26, a parts camera 28, a component supply device 30, a loose component supply device 32, and a control device (see FIG. 4) 36. I have. Examples of the circuit board 12 include a circuit board, a base material having a three-dimensional structure, and the like, and examples of the circuit board include a printed wiring board and a printed circuit board.

The apparatus main body 20 is composed of a frame portion 40 and a beam portion 42 mounted on the frame portion 40. The base material transfer holding device 22 is arranged at the center of the frame portion 40 in the front-rear direction, and has a transfer device 50 and a clamp device 52. The transport device 50 is a device that transports the circuit base material 12, and the clamp device 52 is a device that holds the circuit base material 12. As a result, the base material transport / holding device 22 transports the circuit base material 12 and holds the circuit base material 12 fixedly at a predetermined position. In the following description, the transport direction of the circuit base material 12 is referred to as the X direction, the horizontal direction perpendicular to that direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. That is, the width direction of the component mounting machine 10 is the X direction, and the front-rear direction is the Y direction.

The component mounting device 24 is arranged in the beam unit 42, and has two work heads 60 and 62 and a work head moving device 64. The work head moving device 64 includes an X-direction moving device 68, a Y-direction moving device 70, and a Z-direction moving device 72. Then, the two work heads 60 and 62 are integrally moved to an arbitrary position on the frame portion 40 by the X-direction moving device 68 and the Y-direction moving device 70. Further, the work heads 60 and 62 are detachably attached to the sliders 74 and 76, and the Z-direction moving device 72 individually moves the sliders 74 and 76 in the vertical direction. That is, the work heads 60 and 62 are individually moved in the vertical direction by the Z-direction moving device 72.

Further, as shown in FIG. 2, a component holder 77 is attached to the lower end surfaces of the work heads 60 and 62. The component holder 77 is a so-called chuck, and as shown in FIG. 3, includes a main body portion 78 and a pair of claw portions 79. The pair of claws 79 are arranged so as to extend downward from the lower surface of the main body 78, and slide so as to be close to and separated from each other. As a result, the component holder 77 holds the parts by the pair of claws 79 by bringing the pair of claws 79 closer to each other, and separates the pair of claws 79 from each other to separate the pair of claws. The parts are separated from between the parts 79. The component holder 77 is removable from the work heads 60 and 62. Further, as the component holders 77, a plurality of types of component holders 77 having different slide amounts of the claws 79 are prepared. Therefore, parts having different dimensions can be appropriately gripped by exchanging the part holders 77 mounted on the work heads 60 and 62 according to the size of the parts to be held.

As shown in FIG. 2, the mark camera 26 is attached to the slider 74 in a downward facing state, and is moved in the X, Y, and Z directions together with the work head 60. As a result, the mark camera 26 images an arbitrary position on the frame portion 40. As shown in FIG. 1, the parts camera 28 is arranged between the base material transporting and holding device 22 on the frame portion 40 and the parts supply device 30 in a state of facing upward. As a result, the parts camera 28 images the parts gripped by the suction nozzles 66 of the work heads 60 and 62.

As shown in FIG. 1, the component supply device 30 is arranged at one end of the frame portion 40 in the front-rear direction. The parts supply device 30 includes a tray-type parts supply device 86 and a feeder-type parts supply device (see FIG. 4) 87. The tray-type component supply device 86 accommodates a plurality of trays inside the tower, discharges any of the plurality of trays from the tower, and mounts the components on the trays, for example. , Supply tray parts such as large parts and irregular parts to the work head. Further, the feeder type component supply device 87 is a device that supplies components by a tape feeder or a stick feeder (not shown), for example, a feeder component such as a small component or a square tip.

As shown in FIG. 1, the loose component supply device 32 is arranged at the other end of the frame portion 40 in the front-rear direction. The loose parts supply device 32 is a device that aligns a plurality of parts that are scattered apart and supplies the parts in the aligned state. That is, it is a device that aligns a plurality of parts in an arbitrary posture in a predetermined posture and supplies the parts in the predetermined posture.

As shown in FIG. 4, the control device 36 includes a controller 100, a plurality of drive circuits 102, and an image processing device 106. The plurality of drive circuits 102 are connected to the transfer device 50, the clamp device 52, the work heads 60 and 62, the work head moving device 64, the tray type parts supply device 86, the feeder type parts supply device 87, and the loose parts supply device 32. ing. The controller 100 includes a CPU, ROM, RAM, etc., and is mainly a computer, and is connected to a plurality of drive circuits 102. As a result, the operation of the base material transfer holding device 22, the component mounting device 24, and the like is controlled by the controller 100. The controller is also connected to the image processing device 106. The image processing device 106 processes the image data obtained by the mark camera 26 and the parts camera 28, and the controller 100 acquires various information from the image data.

<Operation of component mounting machine>
In the component mounting machine 10, components are mounted on the circuit substrate 12 held by the substrate transfer holding device 22 according to the above-described configuration. In the component mounting machine 10, various components can be mounted on the circuit base material 12, but a case where the lead component (see FIG. 3) 110 is mounted on the circuit base material 12 will be described below.

Specifically, the circuit base material 12 is conveyed to a working position, and is fixedly held by the clamp device 52 at that position. Next, the mark camera 26 moves above the circuit base material 12 and images the circuit base material 12. As a result, information regarding an error in the holding position of the circuit base material 12 can be obtained. Further, the component supply device 30 or the loose component supply device 32 supplies the lead component 110 at a predetermined supply position. Then, one of the work heads 60 and 62 moves above the supply position of the component, and the lead component 110 is held by the component holder 77.

Subsequently, the work heads 60 and 62 holding the parts move above the parts camera 28, and the parts camera 28 images the lead parts 110 held by the parts holder 77. As a result, information regarding the tip position of the lead (see FIG. 3) 112 of the lead component 110 can be obtained. Then, the tip position of the lead 112 of the lead component 110 held by the component holder 77 and the position of the through hole (see FIG. 3) 120 formed in the circuit base material 12 coincide with each other in the coordinates in the XY direction. As described above, the operation of the X-direction moving device 68 and the Y-direction moving device 70 is controlled. Subsequently, the operation of the Z-direction moving device 72 is controlled, and the component holder 77 holding the lead component 110 is lowered. As a result, the lead 112 of the lead component 110 held by the component holder 77 is inserted into the through hole 120 of the circuit base material 12 and mounted on the circuit base material 12.

As described above, in the component mounting machine 10, the lead component 110 is mounted on the circuit base material 12, but the inner diameter of the through hole 120 of the circuit base material 12 is slightly larger than the outer diameter of the lead 112 of the lead component 110. The lead 112 is press-fitted into the through hole 120. At this time, since the circuit base material 12 may be bent due to the press-fitting of the leads 112, the backup pin (see FIG. 5) 126 is arranged in the base material transport holding device 22 that holds the circuit base material 12. The circuit base material 12 is supported from the back surface side by the backup pin 126.

The backup pin 126 is housed in a stocker in a conventional component mounting machine, and the backup pin 126 housed in the stocker is held by a chucker dedicated to the backup pin and set in the base material transport holding device 22. Was there. Specifically, in the conventional component mounting machine, the base material transfer holding device 150 shown in FIG. 5 is adopted. In the base material transporting and holding device 150, a stocker 156 is arranged on the side of the base material transporting and holding device 150 along the extending direction of the conveyor belt 152. A plurality of accommodating recesses 158 are formed in the stocker 156 in a state of being arranged in a row, and each accommodating recess 158 has a size capable of accommodating the backup pin 126. Then, the backup pin 126 is accommodated in any one of the plurality of accommodating recesses 158. Incidentally, the stocker 156 is formed with 20 accommodating recesses 158. That is, the stocker 156 can accommodate up to 20 backup pins 126.

Further, chuckers dedicated to backup pins are arranged on the sliders 74 and 76 of the work head used in the conventional component mounting machine. Then, by controlling the operation of the work head moving device 64, the backup pin 126 housed in the housing recess 158 is held by the chucker, and the held backup pin 126 is arranged in the base material transport holding device 150. It is placed on the mounting table 159. The mounting table 159 is arranged between a pair of conveyor belts 152 of the base material transporting and holding device 150, and the backup pin 126 is placed on the mounting table 159 to transport and hold the base material. The circuit base material 12 held by the device 150 is supported by the backup pin 126 from the back surface side. This makes it possible to prevent the circuit base material 12 from bending when the lead component 110 is mounted on the circuit base material 12, that is, when the lead 112 is press-fitted into the through hole 120 of the circuit base material 12. Not limited to lead components, the circuit base material 12 is supported by an appropriate number and type of backup pins 126.

However, there is a possibility that the bending of the circuit base material 12 cannot be appropriately prevented depending on the dimensions of the circuit base material 12, the number of through holes 120 formed in the circuit base material 12, and the like. Specifically, in order to appropriately suppress the bending of the circuit base material 12 when the lead 112 is press-fitted into the through hole 120, it is necessary to support the circuit base material 12 by the backup pin 126 near the through hole 120. On the other hand, the stocker 156 accommodates only a maximum of 20 backup pins 126. Therefore, when the leads 112 are press-fitted into 20 or more through holes 120 during the mounting work, the circuit base material 12 cannot be supported by the backup pin 126 near each through hole 120, and the circuit There is a possibility that the bending of the base material 12 cannot be appropriately suppressed.

Further, when the size of the circuit base material 12 is large, the deflection of the circuit base material 12 also increases during the mounting work, so it is desired that the circuit base material 12 be supported by many backup pins 126. However, since the number of backup pins 126 that can be accommodated in the stocker 156 is limited, it is not possible to mount many backup pins 126 on the mounting table 159, the support density by the backup pins 126 decreases, and the circuit There is a possibility that the bending of the base material 12 cannot be appropriately suppressed.

Therefore, there is a limit to increasing the size of the stocker 156 so that the stocker 156 can accommodate many backup pins 126, and increasing the size beyond the width of the conveyor belt 152 in the X-axis direction is the width of the component mounting machine. If there is no choice but to increase the dimensions and a plurality of rows of stockers are used in the Y direction, for example, even in the case of a mechanical configuration as shown in FIG. 5 in which a plurality of rows of conveyors are arranged in the Y direction, the conveyors arranged in the Y direction are arranged. There is a risk that the component mounting machine will become large due to the arrangement space of the stocker 156 if the mounting pitch is widened. Furthermore, in the conventional component mounting machine, a dedicated chucker for gripping the backup pin 126 is individually provided on the slider separately from the work head, which is a wasteful design.

As described above, in the conventional component mounting machine, there are various problems regarding the use of the backup pin 126. Therefore, in the component mounting machine 10, the above problem is solved by using the tray of the tray-type component supply device 86 for mounting the components and the component holder 77 for gripping the components. There is.

Specifically, as shown in FIG. 6, a plurality of backup pins 126 are placed on the tray 160, and the tray 160 is housed in the tower of the tray-type component supply device 86. Incidentally, the backup pins 126 are mounted in a 5 × 7 row on the tray 160 of FIG. 6, and 35 backup pins 126 are mounted on the tray 160. Then, when the backup pin is mounted, the tray 160 on which the backup pin 126 is mounted receives the backup pin 126 on which the work heads 60 and 62 are mounted on the tray-type component supply device 86 from the tower of the tray-type component supply device 86. It is discharged to a holdable supply position.

Further, the work heads 60 and 62 are equipped with a component holder 77 having a claw portion 79 having a slide amount capable of gripping the backup pin 126. Therefore, by controlling the operation of the work head moving device 64, the backup pin 126 mounted on the tray 160 is gripped by the component holder 77. Then, the backup pin 126 gripped by the component holder 77 is placed at an arbitrary position on the mounting table 159 of the base material transport holding device 22.

In this way, the backup pin 126 is placed on the tray 160, and the backup pin 126 is set on the mounting table 159 of the base material transfer holding device 22 to accommodate the backup pin 126. There is no need to make the stocker 156 even larger. Furthermore, it is not necessary to provide the stocker 156. As a result, it is not necessary to further expand the arrangement space of the stocker 156, or the stocker 156 can be eliminated, and the component mounting machine 10 can be made compact.

Further, since more backup pins 126 can be mounted on the tray 160 than the stocker 156, a large number and types of backup pins 126 can be selected from the tray 160 on which the stocker 156 or the backup pin 126 is mounted. It becomes possible to set it in the base material transport holding device 22. This makes it possible to appropriately suppress the bending of the circuit base material 12. By placing the backup pins 126 on two or more trays 160 and supplying the backup pins 126 in the two or more trays 160, a larger number and types of backup pins 126 can be transferred to the base material transport holding device 22. Can be set to.

Further, in the component mounting machine 10, the backup pin 126 is gripped by the component holder 77 for holding the component, and the gripped backup pin 126 is set in the base material transfer holding device 22. As a result, it is not necessary to dispose a dedicated chucker for gripping the backup pin 126, and waste can be eliminated.

An arbitrary number or type of backup pins 126 are set in the base material transport holding device 22, and the circuit base material 12 is transported and held by the base material transport holding device 22 in which the backup pins 126 are set. Then, the mounting work of the parts is started. At this time, if the component holder 77 used for gripping the backup pin 126 can grip the component to be mounted, the component holder 77 is not replaced and the mounting operation is performed by the component holder 77. Is executed. That is, when the slide amount of the claw portion 79 of the component holder 77 used for gripping the backup pin 126 is a slide amount capable of gripping the component to be mounted, the component holder 77 and the backup pin 126 It is used as a holder that selectively grips parts to be mounted. As a result, one component holder 77 can be used as both a holder for gripping the backup pin 126 and a holder for gripping the component to be mounted.

On the other hand, if the component holder 77 used for gripping the backup pin 126 cannot grip the component to be mounted or the backup pin 126 to be set in the base material transport holding device 22, the component holder 77 is removed from the work heads 60 and 62. Then, the component holder 77 capable of gripping the component to be mounted is mounted on the work heads 60 and 62, and the component mounting work is started. That is, when the slide amount of the claw portion 79 of the component holder 77 used for gripping the backup pin 126 is a slide amount that cannot grip the part to be mounted or the backup pin 126 to be set, or the claw. When the shape of the portion 79 is unsuitable for gripping the part to be mounted or the backup pin 126 to be set, the part to be mounted or the part to be mounted from the first component holder 77 capable of gripping the backup pin 126. , The backup pin 126 to be set is replaced with a second component holder 77 capable of gripping. By replacing the component holder 77 in this way, it is possible to appropriately hold each of the backup pin 126 and the component to be mounted or the backup pin 126 to be set.

The component mounting machine 10 is an example of a working machine. The base material transfer holding device 22 is an example of a substrate holding device. The control device 36 is an example of a control device. The work heads 60 and 62 are examples of holding heads. The work head moving device 64 is an example of the moving device. The component holder 77 is an example of a component holder. The tray-type component supply device 86 is an example of the tray-type component supply device. The lead component 110 is an example of a lead component. The backup pin 126 is an example of a support pin. The tray 160 is an example of a tray.

Further, the present invention is not limited to the above examples, and can be carried out in various embodiments with various modifications and improvements based on the knowledge of those skilled in the art. Specifically, for example, in the above embodiment, only the backup pin 126 is mounted on one tray 160, but the backup pin 126 and the component to be mounted may be mounted on one tray 160. .. Further, a plurality of types of backup pins 126 may be placed on one tray 160.

Further, in the above embodiment, the backup pin 126 is held by the component holder 77, that is, the chuck, but the backup pin 126 may be held by the suction nozzle. That is, the suction nozzle may be adopted as the component holder applied to the present invention. Further, instead of the component holder 77 for holding the component, the suction nozzle, and the like, a dedicated holder for holding the backup pin 126 may be attached to the work heads 60, 62, sliders 74, 76, and the like. In this case, the backup pin 126 is held by a dedicated holder for holding the backup pin 126.

10: Parts mounting machine (working machine) 22: Base material transfer holding device (board holding device) 36: Control device 60: Working head 62: Working head 64: Working head moving device (moving device) 77: Parts holder 86: Tray type parts supply device 110: Lead parts 126: Backup pin (support pin) 160: Tray

Claims (5)

A holding head that holds parts,
A tray-type parts supply device that accommodates a plurality of trays and supplies parts placed on the trays to the holding head.
A moving device for moving the holding head and
A board holding device that holds the board and
Equipped with a control device
Support pins for supporting said substrate from the back side, are placed on the tray housed in the tray-type component feeding device,
The control device is
A working machine that controls the operation of the holding head and the moving device so that the support pins placed on the tray are held by the holding head and the held support pins are set in the substrate holding device. .. The holding head has a component holder and
The part holder
The working machine according to claim 1, wherein the support pin and a component to be mounted on the substrate are selectively held. The holding head has a component holder and
The first aspect of claim 1, wherein a first component holder for holding the support pin and a second component holder for holding a component to be mounted on the board are detachably mounted on the holding head. Working machine. The component holder holds the lead component and
The working machine is
The working machine according to claim 2 or 3, wherein the lead of the lead component held by the component holder is inserted into a through hole of a substrate supported by the support pin. A holder attached to the holding head which is detachably mounted on slider,
A tray-type parts supply device that accommodates a plurality of trays and supplies parts placed on the trays to the holding head.
A moving device for moving the holding head mounted on the slider, and
A board holding device that holds the board and
And stocker for stocking support pins for supporting said substrate from the back side,
Equipped with a control device
The support pin is mounted on a tray housed in the tray-type component supply device.
The control device is
The holder is such that the support pins placed on the tray and the support pins stocked in the stocker are selectively held by the holder, and the held support pins are set in the substrate holding device. Controls the operation of the moving device to which
The holder is a working machine dedicated to holding the support pin.

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