JP6956316B2 - Evaluation method for component mounting system and transport pallets - Google Patents

Description

The present invention relates to a component mounting system for mounting components on a soft substrate held on a transport pallet and an evaluation method for a transport pallet.

In the component mounting device used to mount components on the board in the manufacturing process of the mounting board, the component mounting operation of raising and lowering the component holding part such as the suction nozzle holding the component with respect to the board is repeatedly executed at each component mounting position. Will be done. When the substrate to be the target of the component mounting operation is a soft substrate such as a flexible substrate using a thin film of resin, the substrate is handled in a state of being held by a dedicated transport pallet in the component mounting operation (for example, patent). Reference 1). In the prior art shown in Patent Document 1, a flexible carrier sheet having heat resistance and having an adhesive layer formed on the surface is used as a transport pallet so that the flexible wiring board to be worked on is held by the adhesive layer on the surface. I have to.

Japanese Unexamined Patent Publication No. 2008-78522

However, in the prior art including the above-mentioned patent document example, the following problems occur due to the deterioration of the transport pallet. That is, the transport pallet is deformed due to repeated actions such as external force due to handling during transport and heating during reflow for soldering the mounted parts, and the flatness of the holding surface for holding the substrate is impaired. It will be in a state of being. When the transport pallet in such a deteriorated state is used, the board to be held is imitated by the deformed holding surface, so that the component mounting height of the board varies, and stable component mounting operation cannot be performed. ..

In order to prevent such a problem, in the prior art, it was necessary to individually inspect the state of the transport pallet using a dedicated inspection device. For this reason, it takes time and effort to inspect the condition of the transport pallet, which increases the work load, and it is not possible to quickly extract the deteriorated transport pallet that is unsuitable for use, which deteriorates the quality of the component mounting work. It was one of the causes.

Therefore, an object of the present invention is to provide a component mounting system capable of evaluating the state of a transport pallet without individually inspecting the state of the transport pallet, and an evaluation method of the transport pallet.

The component mounting system of the present invention is a component mounting system for mounting components at a plurality of mounting positions of a soft substrate held on a transport pallet, and is a component holding unit having suction holes for holding the components by negative pressure. By controlling the servomotor that raises and lowers the component holding portion and the servomotor based on a preset operation pattern, the parts held by the component holding portion can be raised and lowered to be mounted on the soft substrate. The control unit includes a control unit that causes the component holding unit to perform an operation, and further, the control unit includes a thrust limiting unit that limits the thrust of the servomotor when the component holding unit is lowered toward the soft substrate. A position detection unit that detects the position of the component holding unit in the height direction based on a position signal from the servomotor, and immediately before the component holding unit starts to rise after the component lands at the mounting position. The mounting height of the mounting position is calculated based on the position in the height direction of the component holding unit detected by the position detecting unit and the dimensions of the component mounted by the component holding unit. It is provided with a mounting position height measuring unit and a transport pallet evaluation unit that determines a deformed state of the transport pallet based on a plurality of mounting heights measured by the mounting position height measuring unit.

The method for evaluating a transport pallet of the present invention is a method for evaluating a transport pallet that holds a soft substrate on which components are mounted and determines the deformed state of the transport pallet that is transported to the component mounting device. The transport pallet holding the above is transported to the component mounting device, a plurality of components are mounted at a plurality of mounting positions of the soft substrate at the component holding portion of the component mounting device, and a plurality of components are mounted at the plurality of mounting positions. The position of the component holding portion in the height direction is detected, and the plurality of mounting positions are mounted by the mounting position height measuring unit based on at least the position of the component holding portion in the height direction and the dimensions of the mounted component. The mounting height of the position is obtained, and the deformed state of the transport pallet is determined based on the plurality of mounting heights obtained by the mounting position height measuring unit.

According to the present invention, the state of the transport pallet can be evaluated without individually inspecting the state of the transport pallet.

A perspective view showing an overall configuration of a component mounting system according to an embodiment of the present invention. Structural explanatory view of a soft substrate to be worked on in the component mounting system according to the embodiment of the present invention and a transport pallet in which the soft substrate is gusseted. Configuration explanatory view of the mounting head provided in the component mounting device according to the embodiment of the present invention. Side sectional view of a mounting head provided in the component mounting device according to the embodiment of the present invention. A front sectional view of a mounting head provided in the component mounting device according to the embodiment of the present invention. Schematic diagram of the configuration of the nozzle unit in the mounting head provided in the component mounting device according to the embodiment of the present invention. Schematic diagram of the configuration of the component holding portion in the mounting head provided in the component mounting device according to the embodiment of the present invention. An operation explanatory view of the mounting operation of the component holding portion on the holder of the mounting head provided in the component mounting device according to the embodiment of the present invention. A block diagram showing a configuration of a control system of a component mounting system according to an embodiment of the present invention. Explanatory drawing of arrangement state of load detection part in component mounting apparatus of one Embodiment of this invention Explanatory drawing which shows the relationship of the force acting on the nozzle unit of the component mounting apparatus of one Embodiment of this invention. Explanatory drawing of thrust-load correlation data showing the correlation between the thrust of the servomotor and the load by the component holding portion in the component mounting device according to the embodiment of the present invention. Explanatory drawing of height parameter for elevating motion control in component mounting operation by component mounting device of one Embodiment of this invention Explanatory drawing of component mounting operation by component mounting device of one embodiment of the present invention A flow chart showing a component mounting operation by the component mounting device according to the embodiment of the present invention.

Next, an embodiment of the present invention will be described with reference to the drawings. First, the configuration and functions of the component mounting system 1 will be described with reference to FIG. The component mounting system 1 has a function of mounting components at a plurality of mounting positions of a soft substrate 4 (hereinafter, simply abbreviated as “board 4”) such as a flexible substrate held on the transport pallet 3 shown in FIG. Have. As shown in FIG. 1, the component mounting system 1 is composed of a component mounting device 1M for mounting components on a substrate 4 and a management unit 1S which is a higher-level system. The management unit 1S in the present embodiment has a function of managing the maintenance of the transport pallet 3, such as evaluation of the deformed state of the transport pallet 3.

The configuration of the component mounting device 1M will be described. In FIG. 1, a substrate transport portion 2 is arranged on the upper surface of the base 1a in the X direction (board transport direction). The board transfer unit 2 receives a transfer pallet 3 holding a plurality of boards 4 to be subjected to component mounting work from the upstream side device (not shown), transports the pallet 3 to the mounting work position in the component mounting device 1M, and holds the position. do.

With reference to FIG. 2, the management of the transport pallet 3 and the substrate 4 and the transport pallet 3 in the component mounting system 1 of the present embodiment will be described. The transport pallet 3 has a structure in which an adhesive layer for holding the substrate 4 is formed on the surface of a heat-resistant metal plate. As shown in FIG. 2A, a two-dimensional code 3a for identification is formed on the transport pallet 3. The two-dimensional code 3a is imaged by the substrate recognition camera 16 (see FIG. 3), and the image pickup result is recognized by the two-dimensional code recognition unit 65 (see FIG. 9). As a result, the identification information given to the transport pallets 3 is acquired, and the transport pallets 3 can be individually identified.

A plurality of (here, four) substrates 4 are set on the transport pallet 3. The substrate 4, which is a soft substrate such as a flexible substrate, a film-like substrate, and a thin substrate, has a characteristic of low rigidity and easy bending. Therefore, in handling, by setting the substrate 4 on the transport pallet 3, the proper shape at the time of mounting the parts is maintained. A plurality of mounting positions 4b on which components are mounted are set on each substrate 4. Recognition marks 4a for position recognition at the time of mounting components are formed at diagonal positions of the substrate 4. These substrates 4 are numbered as substrates 4 (1) to 4 (4), and can be individually specified.

FIG. 2B shows the upper surface of the transport pallet 3 with the substrate 4 removed. On the upper surface of the transport pallet 3, the substrate set positions 3b (1) to 3b (4) indicate the contour positions where the substrates 4 (1) to 4 (4) are set. Within each of the board set positions 3b (1) to 3b (4), there are a plurality of height indexes indicating the height of the upper surface of the transport pallet 3 at the positions corresponding to the plurality of mounting positions 4b on each board 4. Positions 3c (1) to 3c (4) are shown.

In the process of continuously using the transport pallet 3, the flatness is deteriorated due to deformation due to heating during reflow or the like. If such deterioration progresses, the transport pallet 3 cannot hold the set substrate 4 in an appropriate state for component mounting operation, and becomes unusable and needs to be replaced. In the prior art, in order to extract the transport pallet 3 in which such deterioration has progressed, it is necessary to individually inspect the state of the transport pallet 3 using a dedicated inspection device.

On the other hand, in the present embodiment, when the components are mounted on the plurality of boards 4 set on the transport pallet 3, the mounting height indicating the heights of the plurality of mounting positions 4b on each board 4 is measured. Then, based on the height information acquired by the measurement, the deformed state due to the deterioration of the transport pallet 3 is evaluated. Here, the height of the upper surface of the transport pallet 3 at the height index position 3c corresponding to the mounting position 4b is obtained from the mounting height, which is the height of the mounting position 4b.

Then, by comparing the state of the top surface height at the height index position 3c obtained for one transport pallet 3 with a preset evaluation standard, whether or not the transport pallet 3 is in a state that can withstand use. Is determined. The evaluation criteria define the upper limit of the amount of variation allowed in the height of the upper surface and the locally deformed state that cannot be used.

That is, in the present embodiment, in the transport pallet 3 in which the plurality of substrates 4 are set, the plurality of height information measured for each of the plurality of substrates 4, that is, each of the substrates 4 (1) to 4 (4). The height information of the upper surface of the pallet indicating the height of the height index positions 3c (1) to 3c (4) in the above is calculated based on the measurement result in the component mounting operation for the substrates 4 (1) to 4 (4). Then, the deformed state of the transport pallet 3 is evaluated based on the calculation result.

In the evaluation of this deformed state, the identification information obtained by recognizing the two-dimensional code 3a formed on the transport pallet 3 and the plurality of mounting positions 4b on each of the plurality of substrates 4 (1) to 4 (4) It is associated with the mounting height to provide a group of mounting height information. Then, the mounting height information of these groups is stored in the mounting height information storage unit 64 (see FIG. 9) as information for evaluating the transport pallet 3.

Parts supply units 5 are arranged on both sides of the board transport unit 2, and a plurality of tape feeders 6 are arranged side by side in each of the component supply units 5. The tape feeder 6 has a function of transporting the carrier tape containing the component P (see FIGS. 13 and 14) to the component take-out position by the mounting head 11 described below.

Y-axis moving tables 8 driven by linear motors are arranged in the Y direction on the upper surfaces of the pair of frame members 7 arranged at both ends in the X direction in the component mounting device 1M. Similarly, an X-axis moving table 9 driven by a linear motor is erected between the Y-axis moving tables 8 so as to be movable in the Y direction. The mounting head 11 is freely mounted on the X-axis moving table 9 so as to move in the X direction. The Y-axis moving table 8 and the X-axis moving table 9 constitute an XY table 10, and by driving the XY table 10, the mounting head 11 moves in the XY direction. As a result, the mounting head 11 takes out the component P from the tape feeder 6 by the component holding unit 31 (see FIG. 3) and mounts the component P on the substrate 4 held on the transport pallet 3.

A component recognition camera 12 is arranged in the movement path of the mounting head 11 between the substrate transport section 2 and the component supply section 5 with the imaging direction facing upward. The component recognition camera 12 takes an image of the component P held by the mounting head 11 from below. By recognizing the imaging result, the component P held by the mounting head 11 is identified and the position is detected. The mounting head 11 has a built-in mounting head control unit 13, and the base 1a has a built-in main body control unit 14.

The mounting head control unit 13 has a function of controlling the ascending / descending operation of the component holding unit 31 (see FIG. 4) that holds the component P in the mounting head 11. Further, the main body control unit 14 has a function of controlling the main body unit of the apparatus and issuing a work command to the mounting head control unit 13. The mounting head control unit 13 and the main body control unit 14 constitute a control unit 15 that controls each unit of the component mounting device 1M.

In the present embodiment, the mounting head 11 is removable from the X-axis moving table 9 of the XY table 10 which is the mounting head moving mechanism. FIG. 3A shows a cross section of the X-axis moving table 9 in a state where the mounting head 11 is mounted on the X-axis moving table 9. A back member 23 is provided on the back surface of the mounting head 11 having a component holding portion 31 for holding the component at the lower end portion. As shown in FIG. 3B, the back member 23 is detachable (arrow a) from the moving base 22 provided on the X-axis moving table 9.

The movement base 22 is freely coupled to the X-axis movement table 9 via a pair of slide guides 21 in the X direction. The moving base 22 is driven in the X direction with respect to the X-axis moving table 9 by the linear motor 20. The linear motor 20 has a configuration in which the mover 20b coupled to the movement base 22 faces the stator 20a arranged in the X direction on the X-axis movement table 9. A substrate recognition camera 16 is arranged at the lower end of the moving base 22 with the imaging direction facing downward. The substrate recognition camera 16 moves integrally with the mounting head 11 to take an image of the transport pallet 3 located below and the substrate 4 held by the transport pallet 3. As a result, the two-dimensional code 3a as the identification mark formed on the transport pallet 3 and the recognition mark 4a for detecting the position of the substrate 4 are recognized.

A connector holding portion 25 is coupled to the upper end portion of the moving base 22 via a horizontal coupling member 24. The upper portion of the mounting head 11 and the connector holding portion 25 are connected to each other via the piping connector 26 and the wiring connector 27. The piping connector 26 has a function of supplying air pressure or vacuum pressure to the mounting head 11 from the main body of the apparatus. The wiring connector 27 has a function of supplying power and exchanging electric signals from the main body of the device to the mounting head 11. As a result, the mounting head control unit 13 built in the mounting head 11 and the main body control unit 14 built in the base 1a are connected.

As shown in FIG. 3B, when the back member 23 is removed from the moving base 22, the head-side connecting portions 26a and 27a provided on the mounting head 11 in the piping connector 26 and the wiring connector 27 are connector holding portions. It is separated from the main body side connecting portions 26b and 27b provided in 25. When the mounting head 11 is mounted on another component mounting device, the back member 23 is fixedly coupled to the moving base 22 of the other device, and the head-side connecting portions 27a and 26a are provided on the connector holding portion 25 of the other device. It is fitted to the main body side connecting portions 26b and 27b.

Next, the configuration of the mounting head 11 will be described with reference to FIGS. 4 and 5. As shown in FIGS. 4 and 5, a plurality of mounting heads 11 are provided on the front surface of the vertical back member 23 (here, 12 nozzle rows in which 6 nozzles are arranged in the X direction are arranged in 2 rows in the Y direction). The nozzle unit 30 is arranged. These nozzle units 30 are held by a shaft holding portion 23a and a servomotor mounting portion 23b fixed to the back surface member 23, and the outer surface side is surrounded by the cover member 11a.

As shown in FIG. 4, the nozzle unit 30 has a configuration in which a shaft 35 having an upper portion 36 and a lower portion 32 is moved up and down by a servomotor 41, thereby raising and lowering a component holding portion 31. The shaft 35 is supported by the shaft holding portion 23a, and the servomotor 41 is attached to the servomotor mounting portion 23b. The moving rod 42 that moves up and down by the servomotor 41 is coupled to the upper portion 36 via a rotating member 40. The rotating member 40 is rotatably attached to the moving rod 42, and the upper portion 36 is coupled to the moving rod 42 in a form that allows relative rotation.

By driving the servomotor 41, the component holding portion 31 mounted on the lower portion 32 of the shaft 35 moves up and down, whereby the component P held by the component holding portion 31 is transferred to the substrate 4 held by the transport pallet 3. An ascending / descending operation for mounting is performed. The mounting head control unit 13 for raising and lowering the component holding unit 31 is attached to the back member 23 and connected to the head side connecting unit 27a. With this configuration, the mounting head control unit 13 can be mounted as described above. It can be detachably connected to the main body control unit 14.

As shown in FIG. 5, a pulley 37 is attached to each upper portion 36 in a form capable of transmitting rotation to the upper portion 36 while allowing the upper portion 36 to move up and down. The belt 37a tuned to the pulley 37 is driven by the Θ-axis motor 38, which enables the Θ rotation operation of rotating each upper portion 36 to rotate the component holding portion 31 around the nozzle axis. These plurality of component holding portions 31 have a function of holding the component P by the negative pressure introduced into the suction hole 31d (see FIG. 7).

That is, the mounting head 11 in the component mounting device 1M shown in the present embodiment includes a plurality of component holding portions 31 for holding the component P by the negative pressure introduced into the suction hole 31d, and a plurality of component holding portions 31 for raising and lowering the plurality of component holding portions 31. By controlling the servomotor 41 and the servomotor based on a preset operation pattern, the component P held by the component holding unit 31 can be raised and lowered to be mounted on the substrate 4 held by the transport pallet 3. It is configured to include a mounting head control unit 13 that causes the component holding unit 31 to perform an operation.

Next, the configuration and function of the nozzle unit 30 will be described with reference to FIG. In FIG. 6, the shaft 35 having the upper portion 36 and the lower portion 32 is held by the shaft holding portion 23a. A component holding portion 31 having a nozzle 31a and a nozzle holding portion 31b is attached to a holder portion 32a (see FIG. 7) provided in the lower portion 32 in a vertically displaceable state. An urging member 33 using a compression spring, which is an elastic body, is mounted between the lower portion 32 and the nozzle holding portion 31b of the component holding portion 31. The urging member 33 constantly presses the component holding portion 31 downward with a predetermined urging force set as a pressurization value in advance.

A return spring 39, which is a compression spring, is mounted between the pulley 37 attached to the upper portion 36 and the rotating member 40. The return spring 39 exerts an upward reaction force on the rotating member 40. That is, when lowering the component holding portion 31, the upper portion 36 is lowered against the reaction force of the return spring 39 by the downward thrust of the servomotor 41. Then, when raising the component holding portion 31, the upper portion 36 is raised by the upward thrust of the servomotor 41 and the upward reaction force of the return spring 39.

The shaft 35 is provided with an air joint portion 34 located above the lower portion 32. The air joint portion 34 communicates the suction hole 31d provided in the component holding portion 31 with an external negative pressure generation source (not shown). When raising and lowering the component holding portion 31, the air joint portion 34 is guided by the raising and lowering guide member 34a provided so as to extend downward from the shaft holding portion 23a, and moves up and down together with the shaft 35.

The servomotor 41 that raises and lowers the shaft 35 includes a linear motor unit 41a that moves the moving rod 42 inserted in the vertical direction up and down, and an encoder 44 that outputs a pulse signal as the moving rod 42 moves. The encoder 44 has a linear scale 44a provided on the moving rod 42 and a movement detecting unit 44b provided on the vertical member 43 facing the linear scale 44a and detecting the movement of the linear scale 44a. The movement detection unit 44b outputs an encoder pulse indicating the movement distance and direction of the linear scale 44a to the position detection unit 53 (see FIG. 9) as a position signal.

Next, with reference to FIGS. 7 and 8, the detailed configuration of the component holding portion 31 and the mounting operation of mounting and holding the component holding portion 31 on the lower portion 32 will be described. FIG. 7 shows a side surface in a state where the component holding portion 31 is held by the lower portion 32, and FIGS. 8 (a) and 8 (b) show side surfaces in two orthogonal directions, respectively.

As shown in FIG. 7A, a holder portion 32a for holding the component holding portion 31 is provided in the lower portion 32. A slide portion 31c provided in a cylindrical shape in the component holding portion 31 is fitted in a fitting portion 32b provided in a hollow circular hole shape in the holder portion 32a in a state of being displaceable in the vertical direction. A nozzle holding portion 31b is provided below the slide portion 31c, and the nozzle holding portion 31b holds a nozzle 31a provided with a suction portion 31f for sucking parts.

At the upper end of the slide portion 31c, pins 31e for fixing the position of the component holding portion 31 to the holder portion 32a are provided in a shape protruding on both sides in the radial direction. The holder portion 32a is provided with a guide groove for guiding the pin 31e to a fixed position, as described below. That is, as shown in FIG. 7A, an insertion portion 32c extending vertically upward from the lower end surface of the holder portion 32a is provided on the side surface of the holder portion 32a.

A horizontal portion 32d is provided at the upper end portion of the insertion portion 32c in a range in which the holder portion 32a is rotated by half a turn. Further, as shown in FIG. 7B, the end portion of the horizontal portion 32d is connected to the guide portion 32e extending vertically downward to the middle of the height of the holder portion 32a. In the state where the component holding portion 31 is held by the holder portion 32a, the pin 31e is located at the lower end portion of the guide portion 32e, whereby the component holding portion 31 is held by the holder portion 32a. At this time, a predetermined clearance is secured between the upper end portion of the slide portion 31c and the ceiling surface of the fitting portion 32b, and the pin 31e can be moved in the vertical direction in the guide portion 32e. As a result, the position of the component holding portion 31 in the vertical direction can be displaced with respect to the lower portion 32.

The suction portion 31f communicates with the suction hole 31d formed inside the component holding portion 31, and when the component holding portion 31 is held by the holder portion 32a, the suction hole 31d is a suction hole formed in the lower portion 32. It becomes a communication state with 32f. The suction hole 32f is connected to an external negative pressure generation source via an air joint portion 34 (see FIG. 6), whereby the component P is held by the nozzle 31a by the nozzle 31a in the component holding portion 31.

In the above configuration, the nozzle 31a, the nozzle holding portion 31b, the sliding portion 31c, the suction hole 31d and the pin 31e are attached to the lower portion 32 of the shaft 35 in a vertically displaceable state, and are used to hold the parts by negative pressure. A component holding portion 31 having a suction hole 31d is configured. An elastic urging member 33 is fitted on the outer circumference of the slide portion 31c between the lower end surface of the holder portion 32a and the nozzle holding portion 31b. The urging member 33 urges the component holding portion 31 downward with respect to the lower portion 32 of the shaft 35.

Next, with reference to FIG. 8, the operation procedure when the component holding portion 31 is held by the holder portion 32a of the lower portion 32 will be described. First, as shown in FIG. 8A, the pin 31e provided on the slide portion 31c in the component holding portion 31 is aligned with the insertion portion 32c of the holder portion 32a. Then, in this state, the component holding portion 31 is brought closer to the holder portion 32a so that the slide portion 31c is fitted to the fitting portion 32b (arrow b).

Next, as shown in FIG. 8B, the component holding portion 31 is raised while guiding the pin 31e by the insertion portion 32c (arrow c), and when the pin 31e reaches the horizontal portion 32d, the pin 31e is moved to the horizontal portion. The component holding portion 31 is rotated around the axis while being guided by 32d. As a result, as shown in FIG. 8C, the pin 31e reaches the end of the horizontal portion 32d. After that, as shown in FIG. 8D, the component holding portion 31 is pulled down while guiding the pin 31e by the guide portion 32e (arrow e). As a result, the pin 31e is located at the lower end of the guide portion 32e, and the component holding portion 31 is held by the holder portion 32a of the lower portion 32.

Here, the relationship between the forces acting on the nozzle unit 30 having the above configuration will be described with reference to FIG. In FIG. 11, the thrust T is the thrust generated by the servomotor 41 and acts in the direction of pushing down the shaft 35 coupled via the rotating member 40. The weight W is the sum of the weights of the hatched portions indicating the movable portions in the drawing, that is, the moving rod 42, the rotating member 40, the upper portion 36, the air joint portion 34, the lower portion 32, the component holding portion 31, and the thrust T. Similarly, it acts in the direction of pushing down the shaft 35 downward.

The reaction force F1 is the reaction force of the return spring 39, and acts in the direction of pushing up the shaft 35 via the rotating member 40. The resistor F2 is an external resistance force such as a sliding guide portion that slidably holds the above-mentioned movable portion, and acts upward on the shaft 35 driven in the downward direction. The load LF indicates the load when the component holding portion 31 lowers and comes into contact with the contact portion, for example, the component P held by the component holding portion 31 is pressed against the substrate.

In FIG. 11, in order to acquire thrust-load correlation data (see FIG. 12), the component holding unit 31 is pressed against the load detecting unit 45 (see FIGS. 9 and 10) having a function of measuring the load LF. Indicates the state. Further, the urging force FP shown in FIG. 11 is a pressurization value of the urging member 33 interposed between the component holding portion 31 and the lower portion 32, and indicates the pressing force exerted on the component holding portion 31 and the lower portion 32.

In the above-mentioned force acting state, the load LF is represented by the relationship shown in the mathematical formula (1) in the figure, that is, LF = T + W-F1-F2. Here, since the weight W, the reaction force F1, and the resistance F2 can be regarded as fixed values for the same nozzle unit 30, the load LF uniquely depends on the thrust T. In the component mounting device 1M shown in the present embodiment, the thrust T is set so that the urging force FP and the load LF satisfy the inequality (2), that is, the load LF is smaller than the urging force FP. I have to.

Setting the thrust T so that the load LF is smaller than the urging force FP has the following technical significance. That is, in the prior art, the urging member 33 has a role of elastically supporting the component holding portion 31, and when the component held by the component holding portion 31 is mounted, the urging member 33 is pushed in. The reaction force generated was used to press the component against the substrate.

On the other hand, in the component mounting device 1M shown in the present embodiment, the limit value of the load LF such that the load LF pushing down the component holding portion 31 becomes smaller than the urging force FP of the urging member 33 is first defined as the limiting load LFL. do. Then, the thrust T of the servomotor 41 corresponding to such a limit load LFL is obtained as a thrust limit value TL and stored in the mounting head control unit 13. When driving the servomotor 41 in the actual component mounting operation, the servomotor 41 is controlled so that the thrust T does not exceed the thrust limit value TL.

By controlling the thrust T of the servomotor 41 in the nozzle unit 30 in this way, the component is mounted on the substrate by the pressing force of the load LF itself without compressing the urging member 33 in the lowering operation of the component holding portion 31. be able to. As a result, even if the height of the substrate varies depending on the mounting position of the component, the component can be pressed against the substrate by the load LF that can be controlled with high accuracy.

In order to enable such control of the thrust T, in the present embodiment, the value of the thrust T of the servomotor 41 is limited by the mounting head control unit 13 that controls the operation of the nozzle unit 30 of the mounting head 11. The thrust limit value TL to be used is set for each servomotor 41, and the servomotor 41 is controlled based on the set thrust limit value TL. To set the thrust limit value TL, refer to the limit load LFL included in the command from the main body control unit 14 provided in the main body of the component mounting device 1M with the thrust-load correlation data (see FIG. 12) created in advance. Is done by. Hereinafter, a configuration provided by the control unit 15 including the mounting head control unit 13 and the main body control unit 14 in order to execute such a control process in the component mounting device 1M will be described with reference to FIG.

In FIG. 9, the control unit 15 that controls the entire component mounting device 1M is composed of a main body control unit 14 and a mounting head control unit 13 connected to the main body control unit 14 via a wiring connector 27. The main body control unit 14 controls operations such as transporting the transport pallet 3 holding the substrate 4 in the component mounting device 1M and taking out parts from the component supply unit 5 by the mounting head 11, and also controls the mounting head control unit 13. It has a function to send a control command to it. Further, the main body control unit 14 is connected to the management unit 1S, which is a higher-level system, via the communication network 75.

That is, the main body control unit 14 controls at least the XY table 10 (mounting head moving mechanism) that moves the mounting head 11, and transmits a command for raising and lowering the component holding unit 31 to the mounting head control unit 13. In other words, the control unit 15 controls the servomotor 41 that raises and lowers the shaft 35 of the nozzle unit 30 based on the operation pattern preset and stored in the second storage unit 58 as the “standard operation pattern” 58d. As a result, the component holding unit 31 is made to perform an elevating operation for mounting the component held by the component holding unit 31 on the substrate 4 held by the transport pallet 3.

The mounting head control unit 13 has a servomotor that controls servomotors 41 (# 1 to # 12) of the nozzle unit 30 for each of a plurality of nozzle units (12 in this case) arranged on the mounting head 11. Control units 50 (# 1 to # 12) are provided. Each servo motor control unit 50 includes a motor driver 51, a thrust detection unit 52, a position detection unit 53, a landing detection unit 54, a timer 55, a thrust limit unit 56, a first storage unit 57, and a second storage unit 58. I have.

Here, as described above, the mounting head 11 is detachably attached to the XY table 10 which is the mounting head moving mechanism, and the first storage unit 57 is a non-volatile storage unit. With this configuration, even when the mounting head 11 is removed from the X-axis moving table 9 of the XY table 10 and becomes a single unit, the stored contents can be retained. As a result, even when the mounting head 11 removed from one component mounting device 1M is moved to another component mounting device 1M, each nozzle unit 30 of the mounting head 11 is stored in the first storage unit 57. It is possible to operate correctly by referring to the obtained correlation data.

The motor driver 51 is a drive control device for the servomotor 41, and supplies power to the servomotor 41 based on a preset operation pattern (arrow f) to drive the servomotor 41. Then, the deviation from the target position and the target speed determined by the operation pattern is detected by the pulse signal sent from the encoder 44 of the servomotor 41 (arrow g), and the servomotor 41 is driven by the servo control that feeds back the detected deviation. do.

The thrust detection unit 52 has a function of detecting the thrust of the servomotor 41. That is, the thrust generated by the servomotor 41 is detected by the current supplied from the motor driver 51 to the servomotor 41 (arrow f) or the current value notified from the motor driver 51 (arrow h). In the present embodiment, the thrust of the servomotor 41 is limited by the function of the thrust limiting unit 56 based on the above-mentioned thrust limiting value TL.

The thrust limiting unit 56 refers to the limiting load LFL included in the control command from the main body control unit 14 as the thrust-load correlation data stored in the first storage unit 57, which is the correlation data storage unit, and refers to the thrust limiting value. The TL is obtained and stored in the first storage unit 57 as the "thrust limit value" 57a. Then, the process of setting the obtained thrust limit value TL in the motor driver 51 is executed (arrow i).

That is, when the component holding unit 31 descends and reaches the thrust limiting height TLh (see FIG. 13) that is preset and stored as the "thrust limiting height" 58c in the second storage unit 58, the first The thrust limit value TL stored as the "thrust limit value" 57a in the storage unit 57 is set in the motor driver 51. When the component holding portion 31 rises and moves to a position higher than the thrust limit height TLh, the setting of the thrust limit value TL in the motor driver 51 is released.

In this configuration, the thrust limiting unit 56 and the motor driver 51 limit the thrust of the servomotor 41 based on the thrust-load correlation data and the information of the limiting load LFL included in the control command from the main body control unit 14. When the value TL is set and the component holding unit 31 is lowered toward the substrate 4 held by the transport pallet 3, the thrust limiting unit that limits the thrust of the servomotor 41 to the thrust limiting value TL or less is configured. Here, the thrust limit value TL is such that when the servomotor 41 is driven with the same thrust as the thrust limit value TL, the load acting on the component from the component holding portion 31 is applied to the component holding portion 31 by the urging member 33 which is an elastic body. It is set in a range smaller than the urging force FP that urges.

In the thrust limiting unit having the above configuration, the load LF acting on the component from the component holding unit 31 when the servomotor 41 is driven is smaller than the urging force FP in which the urging member 33 urges the component holding unit 31. A thrust limit value TL that limits the thrust of the servomotor 41 is set within the above range, and the thrust of the servomotor 41 is limited to the thrust limit value TL or less. Specifically, when the servomotor 41 is driven by the motor driver 51, the current supplied to the servomotor 41 is limited so that the thrust is equal to or less than the thrust limit value TL.

The position detection unit 53 counts the encoder pulse from the encoder 44 of the servomotor 41. This count value becomes position information indicating the position of the component holding portion 31 in the height direction. That is, the position detection unit 53 has a height position measurement function that detects the position of the component holding unit 31 in the height direction based on the position signal from the servomotor 41. The mounting position height measurement described later is performed by using the height position measurement function of the position detection unit 53.

The landing detection unit 54 detects that the parts held by the parts holding unit 31 have landed on the substrate 4 held by the transport pallet 3. This landing detection is performed by one of the following two methods. First, as one method, the thrust detection unit 52 determines that the thrust limit value TL of the servomotor 41 has reached the set thrust limit value TL while the thrust limit value TL is set and the thrust T is limited by the above-mentioned thrust limit unit. If is detected, it is detected that the component has landed on the substrate 4. As an alternative method of this method, it may be detected that the component has landed on the substrate 4 by the fact that the encoder pulse output from the encoder 44 of the servomotor 41 is stagnant.

The timer 55 has a function of measuring the elapsed time after the landing detection unit 54 detects the landing. Then, when the measured elapsed time reaches the "target time" 58e stored in the second storage unit 58, which is set in advance as an appropriate statically indeterminate time, the component holding unit 31 starts to rise. In the present embodiment, the mounting head control unit 13 of the control unit 15 has an elapsed time before the ascending start timing defined by the operation pattern stored in the “standard operation pattern” 58d of the second storage unit 58. When the target time "58e" is reached, the servomotor 41 is controlled to raise the component holding portion 31.

The first storage unit 57 is a correlation data storage unit, and provides a plurality of correlation data (thrust-load correlation data) showing the relationship between the thrust T of the servomotor 41 and the load LF generated at the tip of the component holding unit 31. Store by servo motor. The first storage unit 57 is a non-volatile storage unit, and can retain the stored contents even when the mounting head 11 is removed from the XY table 10.

The contents of the above-mentioned thrust-load correlation data will be described with reference to FIG. FIG. 12 is a graph in which the thrust T of the servomotor 41 is on the horizontal axis and the load LF generated at the tip of the component holding portion 31 is on the vertical axis. In the nozzle unit 30 having the configuration shown in FIG. 11, the thrust T and the load LF have a linear relationship in a practically target section, and in the graph of FIG. 12, the thrust T and the load LF have a characteristic straight line [ There is a relationship represented by [L].

This characteristic straight line [L] is acquired as follows. First, the load A and the load B generated at the tip of the component holding unit 31 when the servomotor 41 is driven by two thrusts A and B having different sizes are measured by the load detecting unit 45 shown in FIG. .. Then, in FIG. 12, the straight line connecting the two data points (PA) and (PB) defined by (thrust A, load A) and (thrust B, load B) is defined as the characteristic straight line [L].

When the limit load LFL is specified by the control command transmitted from the main body control unit 14 at the time of executing the component mounting operation, the thrust corresponding to this limit load LFL is set to the thrust limit value TL on the characteristic straight line [L]. Ask as. That is, the servomotor 41 uses the thrust-load correlation data shown in FIG. 12 and the limit load LFL applied to the component P by the component holding unit 31 when the component P is mounted on the substrate 4 held on the transport pallet 3. The thrust limit value TL for limiting the generated thrust T is calculated. The obtained thrust limit value TL is stored in the first storage unit 57, which is a correlation data storage unit, as a "thrust limit value" 57a for each of a plurality of servomotors.

In driving the servomotor 41 in the component mounting operation, the thrust limit value TL stored in this way is set in the motor driver 51 at a predetermined timing so that the thrust of the servomotor 41 becomes equal to or less than the thrust limit value TL. Thrust is controlled. With such a configuration, in the component mounting device 1M provided with the plurality of component holding portions 31 and the servomotor 41, it is possible to reduce the variation in load due to the variation in the characteristics of the servomotor 41.

The above-mentioned thrust-load correlation data is a digital value indicating "thrust limit value" 57a, "thrust A" 57b, "load A" 57c, "thrust B" 57d, and "load B" 57e in the first storage unit 57. Is memorized in the form of. The load A and the load B are set so that the urging member 33, which is an elastic body, is smaller than the urging force FP that urges the component holding portion 31. As a result, in the load measurement using the load detection unit 45, the load LF can be measured without compressing the urging member 33, and the thrust-load correlation can be correctly obtained.

The second storage unit 58 stores work execution data transmitted from the main body control unit 14 to the mounting head control unit 13, such as height parameters and operation patterns for elevating operation control in the mounting operation. These work execution data are created by the mounting work execution unit 60 of the main body control unit 14 based on the mounting data for each board type, and are transmitted to the mounting head control unit 13.

Next, the height parameters for elevating motion control included in these work execution data will be described with reference to FIG. FIG. 13 schematically illustrates the positional relationship of the height parameters for control when the shaft 35 (see FIG. 6) on which the component holding portion 31 holding the component P is mounted is lowered by the servomotor 41. .. In FIG. 13, the horizontal line drawn above indicates the standby height Z0, which is the position of the component holding portion 31 before the start of operation.

In the first example EX1 shown at the lower left side, the mounted state of the component P in the ideal state is shown. That is, here, a state is shown in which the substrate 4 in an ideal state without deformation is set in the substrate holding portion whose height is correctly held, and the component holding portion 31 holding the component P is lowered with respect to the substrate 4. There is. The upper surface of the substrate 4 in this state shows the mounting height Z1 in the ideal state. On the way from the standby height Z0 to the mounting height Z1, the thrust limit height TLh, which is the height at which the thrust limit value TL is applied to start the thrust limit that limits the thrust of the servomotor 41, is set. , It is stored in advance in the second storage unit 58 of the mounting head control unit 13.

Further, the height above the mounting height Z1 by the mounting thickness dimension d (here, the thickness of the component P, the thickness of the land 4c, and the thickness of the joining solder S) is set by the component holding portion 31. The landing height ZC indicates the height of the component holding portion 31 when the held component P comes into contact with the joining solder. The position above the landing height ZC by a predetermined deceleration height offset OFD is the deceleration height Dh that defines the deceleration position for decelerating the descending speed of the component holding portion 31 from high speed to low speed. Further, the position below the landing height ZC by the target height offset OFT in consideration of prevention of missed swing is the target height Th which is the target for lowering the component holding portion 31. In the present embodiment, the deceleration height Dh is set to a fixed position, and deceleration is always started at the same height position regardless of the state of the substrate 4 set on the transport pallet 3. ing.

In the second example EX2 and the third example EX3 shown on the right side of the first example EX1, the height position of the substrate 4 is displaced from the substrate 4 in the ideal state by the upward variation Δ1 and the downward variation Δ2, respectively. Shows the mounting state of the component P of. The upper surface of the substrate 4 in the second example EX2 shows the mounting height Z11 in this state. Then, the height above the mounting height Z11 by the above-mentioned mounting thickness dimension d becomes the landing height ZC1, and the deceleration height Dh1 is set at a fixed position above the landing height ZC1.

The upper surface of the substrate 4 in the third example EX3 shows the mounting height Z12 in this state. The height above the mounting height Z12 by the mounting thickness dimension d is the landing height ZC2, and the position below the landing height ZC1 by the target height offset OFT1 is the target for lowering the component holding portion 31. The target height is Th1. Here, the height is set so that missed swing does not occur even when the height of the assumed mounting position is the lowest. The target height is not shown for the second example EX2, and the deceleration height is not shown for the third example EX3.

These height parameters are stored in the second storage unit 58. Here, the target height Th1 is set for each operation of the nozzle unit 30 in the mounting head 11, and is set as a “target height” 58a, which is a target lowering height when lowering the component holding portion 31 in the component mounting operation. It is updated and memorized each time. Further, the deceleration height Dh1 and the thrust limit height TLh are stored as the "thrust limit height" 58c.

The “standard operation pattern” 58d is an operation pattern of a mounting operation in mounting components by the mounting head 11 for the substrate 4 held on the transport pallet 3. This operation pattern includes a deceleration height for decelerating the speed at which the component holding unit 31 is lowered from a high speed to a low speed, and a target height which is a target lowering height of the component holding unit 31.

The “target time” 58e is a statically indeterminate time in which the component holding portion 31 holding the component P is lowered to maintain the statically indeterminate state while pressing the component P against the substrate 4 held on the transport pallet 3. .. In the present embodiment, when the elapsed time measured by the landing detection unit 54 after the landing detection unit 54 detects the landing reaches the target time Ts stored as the “target time” 58e, the component holding unit The 31 is separated from the component P and raised.

The XY table 10, the board transport unit 2, the component supply unit 5, the touch panel 68, the board recognition camera 16, the component recognition camera 12, the notification unit 69, and the load detection unit 45 are connected to the main body control unit 14. The main body control unit 14 has a mounting work execution unit 60, a mounting position height measuring unit 61, a mounting data storage unit 62, a component information storage unit 63, a mounting height information storage unit 64, and a two-dimensional code as internal processing function units. It includes a recognition unit 65 and a thrust-load correlation data acquisition unit 66.

The mounting work execution unit 60 controls the XY table 10, the board transfer unit 2, the component supply unit 5, the mounting head 11, the component recognition camera 12, and the board recognition camera 16 based on the mounting data stored in the mounting data storage unit 62. do. As a result, a series of operations for mounting the component P on the substrate 4 held on the transport pallet 3 (see the flow shown in FIG. 15) is executed. The touch panel 68 is an operation input unit that displays an input operation and an operation screen at the time of the input operation, and performs an input operation required for executing the above-mentioned series of operations. The notification unit 69 is a notification means such as a signal tower or a display screen that operates in a predetermined situation, and notifies that fact when an abnormal state is detected in the component mounting operation by the mounting head 11.

The load detection unit 45 is a detection unit having a function of detecting the load LF shown in FIG. As shown in FIG. 10, the load detector 45 is provided with a load detector 45a such as a load cell on the upper surface, and the load LF is pressed by abutting the lower end portion of the component holding portion 31 against the load detector 45a. Can be measured. The load detection unit 45 can be detachably connected to the main body control unit 14 via the connector device 45b. When load measurement is required, it is arranged on the base 1a of the mounting head 11 as shown in FIG.

The mounting position height measuring unit 61 reaches the position detecting unit 53 at a predetermined timing from the time when the component lands on the mounting position of the substrate 4 held on the transport pallet 3 to just before the component holding unit 31 starts to rise. Calculates the mounting height of the mounting position based on the position in the height direction of the component holding portion 31 detected by the manufacturer and the dimensions of the component P mounted by the component holding portion 31.

The mounting data storage unit 62 stores mounting data such as mounting position coordinates of the component P on the board 4 to be mounted by the component mounting device 1M. The component information storage unit 63 stores component information indicating the model number, dimensions, and the like of the component P mounted on the substrate 4. The mounting height information storage unit 64 stores the mounting heights of a plurality of mounting positions measured by the mounting position height measuring unit 61.

The two-dimensional code recognition unit 65 acquires the identification information given to the transport pallet 3 by recognizing the imaging result of the two-dimensional code 3a formed on the transport pallet 3 captured by the substrate recognition camera 16. Perform the processing to be performed. Therefore, the substrate recognition camera 16 and the two-dimensional code recognition unit 65 form a transport pallet identification information acquisition unit that acquires the identification information given to the transport pallet 3.

The thrust-load correlation data acquisition unit 66 performs a process for acquiring the thrust-load correlation data shown in FIG. That is, as shown in FIG. 10, the mounting head 11 is made to access the load detection unit 45 prepared at a predetermined position on the base 1a, and the servomotor 41 of the nozzle unit 30 to be measured is driven by a specified thrust. The component holding unit 31 is pressed against the load detector 45a of the load detecting unit 45, and the load LF corresponding to the thrust at this time is measured. The measurement result is transmitted to the mounting head control unit 13 as thrust-load correlation data, and is stored in the first storage unit 57 as the correlation data storage unit.

As described above, in the present embodiment, the mounting head control unit 13 is provided with the first storage unit 57 as the correlation data storage unit and the thrust limiting unit described above. Here, the first storage unit 57 stores correlation data indicating the relationship between the thrust of the servomotor 41 and the load LF generated at the tip of the component holding unit 31 for each of a plurality of servomotors.

Then, the thrust limiting unit sets a thrust limiting value TL that limits the thrust generated by the servomotor 41 based on the correlation data stored in the first storage unit 57 and the load information included in the command from the main body control unit 14. It has a function of limiting the thrust of the servomotor 41 to the thrust limit value TL or less when the component holding unit 31 is set and lowered toward the substrate 4 held by the transport pallet 3. By having the mounting head control unit 13 having such a configuration, it is possible to stably control the mounting load with high accuracy in a configuration in which the servomotor 41 is provided for each of the plurality of component holding units 31. ..

Next, the configuration and function of the management unit 1S will be described. As shown in FIG. 9, the management unit 1S includes a transport pallet evaluation unit 70, an image generation unit 71, a transport pallet information storage unit 72, a display 73, and an operation unit 74, and is a main body via a communication network 75. It is connected to the control unit 14.

The transport pallet evaluation unit 70 performs an evaluation process for determining the deformed state of the transport pallet 3 based on a plurality of mounting heights measured by the mounting position height measuring unit 61 provided in the main body control unit 14. Here, the transport pallet 3 to be evaluated has the identification information of the transport pallet 3 acquired by the above-mentioned transport pallet identification information acquisition unit. Then, a group of mounting height information in which the acquired identification information is associated with a plurality of mounting heights measured by the mounting position height measuring unit 61 for the substrate 4 set on the transport pallet 3 is stored in the mounting height information. It is stored in part 64.

The transport pallet evaluation unit 70 has come to detect a deformed state of the transport pallet 3 to which the identification information is given by using a group of mounting height information stored in the mounting height information storage unit 64. There is. Here, a plurality of boards 4 are set on the transport pallet 3, and a group of mounting height information stored in the mounting height information storage unit 64 includes a plurality of mounting heights of the plurality of boards 4. It is a included data aspect.

The image generation unit 71 generates an image imitating the shape of the transport pallet 3 based on a plurality of mounting heights measured by the mounting position height measuring unit 61. Here, for example, an image that schematically displays the three-dimensional shape of the upper surface of the transport pallet 3 is generated as needed. The transport pallet information storage unit 72 stores information related to management of the transport pallet 3 used in the component mounting system 1. These information include information uploaded from the main body control unit 14, that is, a group of mounting height information stored in the mounting height information storage unit 64.

The display 73 is a display device such as a liquid crystal panel, and displays an image generated by the image generation unit 71, a guidance screen at the time of operation input, and the like. The operation unit 74 is an operation input device such as a touch panel built into the keyboard or the display 73, and the management unit 1S performs operation input of commands related to evaluation and management of the transport pallet 3.

Next, with reference to FIG. 15, the component mounting process executed by the component mounting device 1M having the above configuration will be described. Prior to the start of the process shown in FIG. 15, the transport pallet 3 on which the substrate 4 to be worked is set is carried into the substrate transport unit 2, positioned and held, and the substrate recognition by the substrate recognition camera 16 is executed. It has become.

When the component mounting process is started, the transport pallet identification information is first read (ST1). That is, the two-dimensional code 3a formed on the transport pallet 3 is imaged by the substrate recognition camera 16, and the image pickup result is recognized by the two-dimensional code recognition unit 65. Next, the mounting head 11 is moved to the component supply unit 5, the component holding unit 31 is lowered, and the component holding unit 31 holds the component P to be mounted (ST2). Next, the mounting head 11 holding the component P by the component holding unit 31 is moved above the component recognition camera 12, and the component P is imaged by the component recognition camera 12 to perform component recognition (ST3).

Next, the component holding portion 31 is moved to the mounting position (ST4). That is, the mounting work execution unit 60 of the main body control unit 14 controls the XY table 10 based on the mounting data stored in the mounting data storage unit 62, so that the component holding unit 31 is designated by the mounting operation sequence. It is positioned above the mounting position of the substrate 4 held by the pallet 3.

Next, the main body control unit 14 transmits a component mounting command to the mounting head control unit 13 (ST5). That is, a control command including a number for specifying the component holding unit 31 in the mounting head 11 to be worked, a target height Th1, a deceleration height Dh1, a limiting load LFL, and other mounting operation parameters is transmitted to the mounting head control unit 13. do. Then, these mounting operation parameters are stored in the first storage unit 57 and the second storage unit 58 for executing the mounting operation in the mounting head 11.

After that, the component mounting operation by the nozzle unit 30 of the mounting head 11 is executed by the control processing function of the mounting head control unit 13. In this component mounting operation, the servomotor 41 is driven by the servomotor control unit 50 (ST6), whereby the component holding unit 31 holding the component P is moved with respect to the mounting position of the substrate 4 held on the transport pallet 3. To raise and lower. Then, the component mounting operation is completed by landing on the mounting position of the substrate 4 and raising the component holding portion 31 after a predetermined static time has elapsed (ST7).

With the completion of this operation, the thrust detection result detected by the thrust detection unit 52 of the servomotor control unit 50 in the component mounting operation, and the position of the component holding unit 31 at the time of mounting the component P detected by the position detection unit 53 are controlled by the main body. It is transmitted to the unit 14 (ST8). Then, the mounting height is calculated and stored based on the transmitted position of the component holding unit 31 (ST9).

That is, the mounting position height measuring unit 61 calculates the mounting height based on the position of the component holding unit 31 in the height direction and the dimensions of the mounted component, and the result is obtained in (ST1). A group of mounting height information associated with the identification information of the transport pallet 3 is stored in the mounting height information storage unit 64. As a result, the component mounting operation targeting the component holding unit 31 of one nozzle unit 30 is completed, and then the presence or absence of the component holding unit 31 whose work has not been completed is confirmed (ST10).

Here, if there is a component holding unit 31 whose work has not been completed, that is, a component holding unit 31 in a state where the component is held without being mounted, the process returns to (ST4) and the subsequent processes are repeatedly executed. On the other hand, when there is no component holding unit 31 whose work has not been completed, it is confirmed that all the components have been mounted (ST11). If the mounting is not completed, the process returns to (ST2) and the subsequent processes are repeatedly executed.

Then, when it is confirmed in (ST11) that the mounting of all the parts is completed, the transport pallet identification information stored in the mounting height information storage unit 64 and the mounting height measurement result are uploaded to the management unit 1S (ST12). The transport pallet identification information and the mounting height measurement result uploaded to the management unit 1S are stored in the transport pallet information storage unit 72 as transport pallet information. As a result, the component mounting process by the component mounting device 1M is completed. After that, based on the stored transport pallet information, the transport pallet evaluation unit 70 can evaluate the transport pallet, and the image generation unit 71 can generate an image imitating the shape of the transport pallet.

Next, the mounting operation executed by the component mounting device 1M having the above configuration will be described with reference to FIG. This mounting operation is executed by controlling each unit shown in FIG. 9 by the control unit 15 including the mounting head control unit 13 and the main body control unit 14. FIG. 14 schematically shows the ascending / descending operation of the component holding portion 31 in the component mounting operation, the vertical axis corresponds to the elevating displacement of the component holding portion 31, and the horizontal axis corresponds to the passage of time. Further, TR1 shown by a thick broken line in FIG. 14 indicates a set locus TR1 in which the lower end portion of the component holding portion 31 moves in a preset operation pattern. Further, TR2 shown by a thick solid line shows a real locus TR2 in which the lower end portion of the component holding portion 31 moves in the actual mounting operation shown in FIG.

In FIG. 14, the timing ta is the timing of starting the operation, and the state in which the component holding portion 31 is moved above the mounting position of the substrate 4 held by the transport pallet 3 and is made to stand by at the standby height Z0. Shown. The thrust limit height TLh indicates the start height of the thrust limit that limits the thrust of the servomotor 41 to the thrust limit value TL or less when the component holding portion 31 is lowered. The landing height ZC indicates the height of the component holding portion 31 when the terminal of the held component P comes into contact with the solder portion supplied to the substrate 4 held on the transport pallet 3 and the component P lands. There is. Further, the target height Th1 is a height that is a target for the lowering operation of the component holding portion 31, and the component P actually lands in consideration of the variation in the mounting height of the substrate 4 held on the transport pallet 3. It is set lower than the height to be used.

First, with reference to FIG. 14A, a high-speed mounting mode M-1 in which the component holding portion 31 is lowered only at high speed in order to shorten the working operation time in this mounting operation will be described. The component holding unit 31 that holds the component P moves above the mounting position of the substrate 4 held on the transport pallet 3, and is located at the standby height Z0 at the timing ta and is in the standby state. Next, the thrust limit value TL for limiting the thrust of the servomotor 41 is set by the function of the thrust limiting unit 56 provided in the servomotor control unit 50. Here, when the servomotor 41 is driven with the same thrust as the thrust limit value TL, the load acting on the component P from the component holding portion 31 causes the elastic body urging member 33 to urge the component holding portion 31. The thrust limit value TL is set within a range smaller than the urging force FP.

Next, by controlling the servomotor 41 based on a preset operation pattern, the component holding portion 31 is lowered toward the mounting position of the substrate 4 held by the transport pallet 3 with the target height Th1 as the target. .. In the middle of this descent, when the height of the component holding portion 31 reaches the thrust limit height TLh, the thrust of the servomotor 41 is limited to the thrust limit value TL or less before the component P lands at the mounting position. ..

After that, when the component holding portion 31 is further lowered, the component holding portion 31 reaches the landing height ZC, and the terminals of the held component P come into contact with the solder portion supplied to the substrate 4 held on the transport pallet 3. The part P is in a landed state. The impact at the time of landing is absorbed by the urging member 33, and after the impact absorption, the urging member 33 returns to the normal length before landing. After that, the component holding unit 31 maintains the pressing state for a target time Ts for statically indeterminating the landing state of the component P from the pressing start timing preset in the operation pattern. Then, ascending of the component holding portion 31 is started at the ascending start timing when the target time Ts is timed up, the component holding portion 31 is ascended to the standby height Z0, and the mounting operation is completed.

In the pressed state in the above-mentioned mounting operation, the thrust limit value TL is set in a range smaller than the urging force FP before the component P lands on the mounting position, so that the servomotor 41 is larger than the urging force FP. The component P is pressed against the substrate 4 held by the transport pallet 3 with a small thrust. Therefore, it is possible to stably control the mounting load in a low load region with high accuracy as compared with the conventional method in which the component P is pressed against the substrate 4 by the elastic force of the urging member 33 that is pushed and elastically deformed after landing. It has become.

Next, the low impact mounting mode M-2 will be described with reference to FIG. 14 (b). Here, the deceleration height Dh1 is set between the thrust limit height TLh and the landing height ZC, which is different from the high-speed mounting mode M-1. That is, in the low impact mounting mode M-2, when the component holding unit 31 holding the component P reaches the deceleration height Dh1 in the process of descending from the standby height Z0, the descending speed is switched from high speed to low speed. As a result, the component holding portion 31 can be lowered to the landing height ZC to reduce the impact when the component P lands.

In both the high-speed mounting mode M-1 and the low-impact mounting mode M-2 described above, the mounting height is detected during the mounting operation. That is, at a predetermined timing from when the component P lands on the mounting position of the substrate 4 held on the transport pallet 3 to immediately before the component holding section 31 starts to rise, the mounting position height measuring section 61 is the position detecting section. The position information of the component holding unit 31 is acquired from 53. The position information of the component holding portion 31 acquired at this timing is the landing height ZC indicating the position of the component holding portion 31 in the height direction in FIG. Then, the mounting position height measuring unit 61 calculates the mounting height of the mounting position where the component P is mounted based on the acquired position information and the dimensions of the mounted component P. That is, due to the function of the mounting position height measuring unit 61 provided in the main body control unit 14, the landing height ZC indicating the position of the component holding unit 31 in the height direction in FIG. 13 and the mounting thickness dimension d including the dimension of the component P The mounting height Z1 is obtained based on the above. Then, the evaluation of the transport pallet 3 by the transport pallet evaluation unit 70 provided by the management unit 1S is performed based on the plurality of mounting heights Z1 thus obtained.

The timing at which the mounting position height measuring unit 61 acquires the position information of the component holding unit 31 from the position detecting unit 53 is such that the urging member 33, which is an elastic body, absorbs the impact when the component P lands at the mounting position. It is within the period until immediately before the component holding portion 31 starts ascending, and most preferably immediately before the start of ascending. Since the acquisition of the position information is performed in a state where the cushioning urging member 33 is fully extended, even when the cushioning urging member 33 is provided, the position information of the position detection unit 53 is used to acquire the position information. The height of the component holding portion 31 can be detected with high accuracy.

Further, since the load LF on which the component holding portion 31 presses the substrate 4 held on the transport pallet 3 is a low load, the substrate 4 held on the transport pallet 3 is hardly deformed. Therefore, even if the height of the mounting position is measured using the height position of the component holding portion 31, there is little error and accurate height measurement can be performed. As a result, it is possible to acquire the board height information including the height of the mounting position by a simple method in parallel with the execution of the component mounting operation without using a dedicated measuring device.

Next, in the component mounting system 1 provided with the component mounting device 1M and the management unit 1S having the above-described configuration, the deformation of the transport pallet 3 that holds the substrate 4 (soft substrate) on which the components are mounted and transports the components to the component mounting device 1M. The evaluation method of the transport pallet for determining the state will be described with reference to each figure.

In this method of evaluating the transport pallet, first, as shown in FIG. 1, the transport pallet 3 holding the substrate 4 is transported to the component mounting device 1M. Next, as shown in (ST2) of FIG. 15, the component holding portion 31 holds the component and moves the component holding portion 31 to the mounting position of the substrate 4 ((ST4) of FIG. 15). Next, by driving the servomotor to raise and lower the component holding unit 31, a plurality of components are mounted at a plurality of mounting positions.

In the mounting operation of mounting the components, as described with reference to FIG. 14, the position detecting section 53 detects the position in the height direction of the component holding section 31 when mounting the plurality of components at the plurality of mounting positions. Then, at least the position in the height direction of the component holding unit 31 detected by the position detecting unit 53 (see the landing height ZC shown in FIG. 13) and the dimensions of the mounted component (see the mounting thickness dimension d shown in FIG. 13). Based on this, the mounting position height measuring unit 61 obtains the mounting heights of a plurality of mounting positions. Then, based on the plurality of mounting heights obtained by the mounting position height measuring unit 61, the transport pallet evaluation unit 70 determines the deformed state of the transport pallet 3.

It should be noted that the function of the image generation unit 71 generates an image imitating the shape of the transport pallet 3 based on a plurality of mounting heights measured by the mounting position height measuring unit 61 and displays it on the display 73. You may. In this case, the transport pallet 3 is evaluated by visually observing the displayed image.

Regarding the transport pallet 3 to be evaluated here, in (ST1) shown in FIG. 15, the identification information of the transport pallet 3 is acquired by the above-mentioned transport pallet identification information acquisition unit. Then, a group of mounting height information in which the acquired identification information is associated with a plurality of mounting heights measured by the mounting position height measuring unit 61 for the substrate 4 set on the transport pallet 3 is stored in the mounting height information. It is stored in the unit 64, uploaded to the management unit 1S, and stored in the transport pallet information storage unit 72.

Then, in the evaluation of the transport pallet 3 by the transport pallet evaluation unit 70, the identification is performed using a group of mount height information stored in the mounting height information storage unit 64 (or the transport pallet information storage unit 72). The deformed state of the transport pallet 3 to which the information is given is detected and evaluated. Here, a plurality of boards 4 are set on the transport pallet 3, and a group of mounting height information stored in the mounting height information storage unit 64 includes a plurality of mounting heights of the plurality of boards 4. It is a included data aspect.

As described above, in the evaluation of the transport pallet 3 in the component mounting system 1 shown in the present embodiment, the deformed state of the transport pallet 3 is determined by using the mounting height measurement function provided in the component mounting device 1M. ing. As a result, it is possible to quickly and easily extract the transport pallets 3, which are not preferable to be used, as compared with the case where 100% of the transport pallets 3 to be used are inspected using a dedicated inspection device. Further, since the measurement of the mounting height used for the evaluation of the transport pallet 3 is incorporated during the work operation as a part of the component mounting operation, the additional time required for the evaluation of the transport pallet 3 is required. Does not occur. Therefore, the state of the transport pallet can be evaluated without individually inspecting the state of the transport pallet, and the evaluation for maintenance of the transport pallet 3 can be easily and easily performed.

The component mounting system and the evaluation method of the transport pallet of the present invention have an effect that the state of the transport pallet can be evaluated without individually inspecting the state of the transport pallet, and is a soft substrate such as a flexible substrate. It is useful in the field of mounting components on the pallet.

1 Parts mounting system 1M Parts mounting device 1S Management unit 3 Transport pallet 4 Board (soft board)
11 Mounting head 15 Control unit 30 Nozzle unit 31 Parts holding unit 31d Suction hole 32 Lower 33 Biasing member 35 Shaft 36 Upper 41 Servo motor 44 Encoder 45 Load detection unit P Parts T Thrust LF Load FP Biasing force TLh Thrust limit height Z0 Standby height ZC, ZC1 Landing height Dh, Dh1 Deceleration height Th, Th1 Target height

Claims (9)

A component mounting system in which components are mounted at multiple mounting positions of a soft substrate held on a transport pallet.
A part holding part having a suction hole for holding the part by negative pressure,
A servo motor that raises and lowers the component holding unit,
By controlling the servomotor based on a preset operation pattern, a control unit that causes the component holding unit to perform an elevating operation for mounting the component held by the component holding unit on the soft substrate. With
Further, the control unit
A thrust limiting portion that limits the thrust of the servomotor when the component holding portion is lowered toward the soft substrate, and a thrust limiting portion.
A position detection unit that detects the position of the component holding unit in the height direction based on a position signal from the servomotor, and a position detection unit.
By the height position of the component holding portion detected by the position detecting unit and the component holding portion at a predetermined timing from the landing of the component to the mounting position to immediately before the component holding portion starts to rise. A mounting position height measuring unit that calculates the mounting height of the mounted position based on the dimensions of the mounted parts, and
A transport pallet evaluation unit that determines the deformation state of the transport pallet based on a plurality of mounting heights measured by the mounting position height measuring unit.
A component mounting system equipped with. The component mounting system according to claim 1, further comprising an image generation unit that generates an image that imitates the shape of the transport pallet based on the plurality of mounting heights. Further, a shaft portion having a lower portion and an upper portion and an elastic body are provided.
The component holding portion is attached to the lower part of the shaft in a vertically displaceable state, and is urged downward with respect to the shaft by the elastic body.
The thrust limiting portion of the servomotor is provided in a range in which the load acting on the component from the component holding portion when the servomotor is driven becomes smaller than the force with which the elastic body urges the component holding portion. The component mounting system according to any one of claims 1 or 2, wherein a thrust limit value for limiting the thrust is set, and the thrust of the servomotor is limited to the thrust limit value or less. Further, a transport pallet identification information acquisition unit that acquires the identification information assigned to the transport pallet, and a transport pallet identification information acquisition unit.
A group of mounting height information associated with the acquired identification information and a plurality of mounting heights measured by the mounting position height measuring unit for the soft substrate set on the transport pallet to which the identification information is given is stored. Wearing height information storage unit and
With
From claim 1, the transport pallet evaluation unit detects a deformed state of the transport pallet to which the identification information is given by using the group of mounting height information stored in the mounting height information storage unit. The component mounting system according to any one of 3. The component mounting system according to claim 4, wherein a plurality of soft substrates are set in the transport pallet, and the mounting height information of the group includes a plurality of mounting heights of the plurality of soft substrates. .. It is an evaluation method of a transport pallet that determines the deformed state of a transport pallet that holds a soft substrate on which components are mounted and transports it to a component mounting device.
The transport pallet holding the soft substrate is transported to the component mounting device, and the transfer pallet is transferred to the component mounting device.
A plurality of components are mounted at a plurality of mounting positions of the soft substrate in the component holding portion of the component mounting device.
The position in the height direction of the component holding portion when a plurality of components are mounted at the plurality of mounting positions is detected.
Based on at least the position in the height direction of the component holding portion and the dimensions of the mounted component, the mounting position height measuring unit obtains the mounting heights of the plurality of mounting positions.
A method for evaluating a transport pallet, which determines a deformed state of the transport pallet based on a plurality of mount heights obtained by the mounting position height measuring unit. The method for evaluating a transport pallet according to claim 6, further comprising generating an image imitating the shape of the transport pallet based on the plurality of mounting heights. Further, the identification information given to the transport pallet is acquired, and the identification information is acquired.
A group of mounting height information in which the acquired identification information is associated with a plurality of mounting heights measured for a soft substrate set on a transport pallet to which the identification information is given is stored.
The transport according to claim 6 or 7, wherein in the evaluation of the transport pallet, the deformed state of the transport pallet to which the identification information is given is evaluated by using the stored group of mounting height information. How to evaluate the pallet. The transport pallet according to claim 8 , wherein a plurality of soft substrates are set in the transport pallet, and the mounting height information of the group includes a plurality of mounting heights of the plurality of soft substrates. Evaluation method.

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