JP7441145B2 - Board-to-board work machine - Google Patents

Description

The present disclosure relates to a substrate-to-substrate working machine that supports a substrate conveyed by a conveyance device with backup pins.

Conventionally, various board-to-board working machines have been proposed that support the board using backup pins. For example, the substrate-to-board working machine described in Patent Document 1 below supports the substrate from below with a plurality of backup pins placed on a mounting member. The board-to-board working machine sucks the backup pins using a suction nozzle provided on the mounting head, and replaces or changes the arrangement of the backup pins.

Japanese Patent Application Publication No. 2011-14626

In the above-mentioned board working machine using backup pins, the backup pins used to support the board and the backup pins not used are placed in different locations. For example, a board-to-board work machine uses many backup pins when performing work on a large board, and conversely uses fewer backup pins when performing work on a small board. The board-to-board working machine requires enough space to accommodate unused backup pins. However, when the backup pin is used without being accommodated, the space for accommodating it becomes empty and there is a possibility that it will become a dead space.

The present disclosure has been made in view of the above-mentioned points, and an object of the present disclosure is to provide a board-to-board working machine that can effectively utilize a space for accommodating unused backup pins.

This specification includes a transport device that transports a substrate, and a first back-up pin that supports the substrate transported by the transport device from below and is disposed below the substrate transported by the transport device. a mounting surface, a mounting member having a housing portion capable of housing the backup pin; and a mounting member arranged in a closed position to close the housing portion when the backup pin is not housed in the housing portion; A closing member constituting a second placement surface on which the backup pin that supports the backup pin from below can be placed is disclosed.

According to the substrate-to-board working machine of the present disclosure, the closing member uses a backup pin, and when opening the space in the housing part, the backup pin is placed in the closing position to block the housing part and supports the board from below. That is, it constitutes a mounting surface on which the backup pin to be used can be mounted. Thereby, while the backup pin is in use, the space accommodating the backup pin can be utilized as a mounting surface on which the backup pin is placed. The space for accommodating the backup pin can be effectively utilized, and, for example, it is possible to downsize the device.

It is a perspective view showing a component mounting machine concerning a 1st embodiment. It is a perspective view showing a moving device. FIG. 2 is a perspective view showing a substrate transport and holding device. FIG. 3 is a perspective view showing a gripping device and a backup pin of the work head. FIG. 2 is a block diagram showing a control device. FIG. 4 is a schematic diagram showing a cross section taken along the line II shown in FIG. 3, and is a diagram showing a process for arranging backup pins. FIG. 6 is a schematic diagram showing backup pin arrangement processing. FIG. 6 is a schematic diagram showing backup pin arrangement processing. FIG. 3 is a schematic diagram showing backup pin arrangement processing. FIG. 6 is a schematic diagram showing backup pin arrangement processing. FIG. 7 is a perspective view showing a substrate transport and holding device according to a second embodiment. It is a schematic diagram which shows the structure of the closure member of another example.

Hereinafter, a first embodiment for carrying out the contents of the present disclosure will be described in detail with reference to the drawings. FIG. 1 shows a perspective view of a component mounting machine 10 according to this embodiment. The component mounting machine 10 is a device for mounting components onto the board 12. The component mounting machine 10 includes an apparatus main body 20, a substrate conveyance/holding device 22, a moving device 24, a mark camera 26, a parts camera 27, a component supply device 30, a bulk component supply device 32, and a control device 34 (see FIG. 5). There is. Note that examples of the substrate 12 include a circuit board, a base material with a three-dimensional structure, and the like, and examples of the circuit board include a printed wiring board, a printed circuit board, and the like. Moreover, each figure used for explanation is a conceptual diagram, and the shape of each part may not necessarily be exact.

The device main body 20 includes a frame portion 40 and a beam portion 42 mounted on the frame portion 40. The substrate transport/holding device 22 is disposed at the center of the frame portion 40 in the front-rear direction, and includes a transport device 50 and a clamp device 52 . The transport device 50 is a device that transports the substrate 12, and the clamp device 52 is a device that holds the substrate 12. Thereby, the substrate transport/holding device 22 transports the substrate 12 and holds the substrate 12 fixedly at a predetermined position. In the following description, the transport direction of the substrate 12 will be referred to as the X direction, the horizontal direction perpendicular to that direction will be referred to as the Y direction, and the vertical direction will be referred to as the Z direction. That is, the lateral direction of the component mounting machine 10 is the X direction, and the front and back direction is the Y direction. Further, details of the substrate transport and holding device 22 will be described later.

The moving device 24 is disposed on the beam section 42 and includes two working heads 60 and 62 and a working head moving device 64. Each work head 60, 62 is a device for mounting components onto the substrate 12. As shown in FIG. 3, a suction nozzle 66 is provided on the lower end surface of each work head 60, 62, and the suction nozzle 66 suction-holds the component. Further, each work head 60, 62 is equipped with an adjustment device using a motor as a drive source, and the adjustment device allows the suction nozzle 66 to be raised, lowered, rotated, etc., thereby adjusting the vertical position and orientation of the component held by suction. ing.

FIG. 2 shows the working head 60 and the working head moving device 64 of the moving device 24. As shown in FIG. Furthermore, FIG. 2 shows a simplified configuration of the moving device 24, and the configuration of each part may not necessarily match the configuration of FIG. 1. Further, FIG. 2 omits illustration of the work head 62. Further, FIG. 2 shows the work head 60 moving in the XY directions with broken lines. As shown in FIGS. 1 and 2, the work head moving device 64 includes a pair of X-direction moving devices 68, a Y-direction moving device 70, and a Z-direction moving device 72. The work head moving device 64 is an XY robot type moving device. Each of the pair of X-direction moving devices 68 includes an X-rail 81 that extends along the X-direction, and an X-slide 82 that moves along the X-rail 81. The Y-direction moving device 70 is supported at both ends in the Y-direction by a pair of X slides 82, respectively. The pair of X-direction moving devices 68 move the Y-direction moving device 70 to any position in the X direction by moving the X slide 82 along the X rail 81 based on the drive of the electromagnetic motor 24A (see FIG. 5). Move to. Note that one of the pair of X-direction moving devices 68 is provided with a protection member 83 that protects cables and the like that connect the work heads 60 and 62 to the control device 34 .

Further, the Y-direction moving device 70 includes a Y rail 91 extending in the Y direction, a Y slide 92 that moves along the Y rail 91, and a protection member 93. The Y-direction moving device 70 moves the Y slide 92 along the Y rail 91 based on the drive of the electromagnetic motor 24B (see FIG. 5). Further, the protection member 93 protects cables and the like that connect the work heads 60 and 62 to the control device 34. The working heads 60 and 62 are attached to a Y slide 92. Therefore, the work heads 60, 62 can be moved to any position in the XY direction by driving the two electromagnetic motors 24A, 24B. The two work heads 60 and 62 can be integrally moved to any position on the frame portion 40 by an X-direction moving device 68 and a Y-direction moving device 70.

Further, each work head 60, 62 is detachably mounted on a Y slide 92. Furthermore, the Z-direction moving device 72 is capable of individually moving each work head 60, 62 in the vertical direction. In other words, the working heads 60 and 62 can be individually moved in the vertical direction by the Z-direction moving device 72. Note that the Y-direction moving device 70 may be configured to include two Y slides 92 corresponding to the two working heads 60 and 62, and to move each working head 60 and 62 individually in the Y direction.

The mark camera 26 is attached to the Y slide 92 so as to face downward, and can move in the X direction, Y direction, and Z direction together with the work heads 60 and 62. Thereby, the mark camera 26 images an arbitrary position on the frame section 40. As shown in FIG. 1, the parts camera 27 is disposed on the frame section 40 between the substrate conveyance and holding device 22 and the component supply device 30 in an upwardly facing state. Thereby, the parts camera 27 images the parts held by the suction nozzles 66 of the work heads 60 and 62 from below.

The component supply device 30 is disposed at one end of the frame portion 40 in the front-rear direction, and supplies components. The component supply device 30 includes, for example, a tray-type component supply device, a tape feeder, a stick feeder, and the like. The bulk parts supply device 32 is disposed at the end of the frame section 40 on the opposite side of the component supply device 30 in the front-rear direction, and aligns a plurality of components that have been scattered separately. Supply parts. The components supplied by the component supply device 30 and the bulk component supply device 32 include electronic circuit components, solar cell components, power module components, and the like.

Next, details of the substrate transport and holding device 22 will be explained. As shown in FIG. 3, the transport device 50 of the substrate transport and holding device 22 includes a pair of guide rails 101, 102 and a conveyor belt 103 provided on each guide rail 101, 102. A pair of guide rails 101 and 102 are arranged parallel to each other and extend in the X direction. The guide rail 101 is supported by a support plate 105 fixed to the frame portion 40 and has a fixed position. A pair of guide members 107 are attached to both ends of the guide rail 101 in the X direction. The guide rail 102 is movably supported by a pair of guide members 107 with respect to the guide rail 101 . The guide rail 102 is slidable in the Y direction by being supported by a pair of guide members 107 at both ends in the X direction. Thereby, the transport device 50 can change the distance between the pair of guide rails 101 and 102 in the Y direction, depending on the width of the substrate 12 to be transported in the Y direction. The component mounting machine 10 includes, for example, a moving mechanism (not shown) such as an electromagnetic motor that moves the guide rail 102 relative to the pair of guide members 107. The component mounting machine 10 automatically adjusts the distance between the pair of guide rails 101 and 102, that is, the width in the Y direction of the board 12 to be transported by the transport device 50, in accordance with the width in the Y direction of the board 12 to be produced. . Note that the distance between the guide rails 101 and 102 may be adjusted manually by a person. Further, the guide rails 101 and 102 may have a configuration in which the positions are fixed and the distance cannot be adjusted. Furthermore, it is also possible to make the guide rail 101 slidable in the Y direction.

Furthermore, two pulleys 109 are disposed on each side surface of the guide rails 101 and 102, with the Y direction as the axis. Two pulleys 109 are arranged at both ends of each guide rail 101, 102 in the X direction. The conveyor belt 103 is wound around a pulley 109 of each guide rail 101, 102. The conveyor belt 103 of each guide rail 101, 102 is driven by an electromagnetic motor 111 (see FIG. 5) to rotate.

Further, the clamp device 52 includes a mounting member 113, a plurality of backup pins 115, a lifting mechanism 117, a pair of clamp bars 119, and a closing device 121. The mounting member 113 is arranged below the pair of guide rails 101 and 102. The mounting member 113 is, for example, a plate-shaped member. The length of the mounting member 113 in the X direction is shorter than that of the guide rail 101. Further, the length of the mounting member 113 in the Y direction is, for example, a length that matches the movable range of the guide rail 102 in the Y direction. The mounting member 113 extends from below the guide rail 101 to a position where it can move in the Y direction of the guide rail 102. Note that FIG. 3 omits illustration of the mounting member 113 on the near side in the Y direction.

Furthermore, a first mounting surface 113A on which a backup pin 115 is arranged is formed on the upper surface of the mounting member 113. The first mounting surface 113A is, for example, a plane parallel to the X direction and the Y direction. The backup pins 115 are placed on the first mounting surface 113A and support the substrate 12 transported by the transport device 50 from below. The elevating mechanism 117 is arranged below the mounting member 113, and moves the mounting member 113 up and down in the Z direction by driving an electromagnetic motor 123 (see FIG. 5).

Further, as shown in FIG. 3, each of the pair of clamp bars 119 is fixed to the upper surface of each of the guide rails 101 and 102. Each of the pair of clamp bars 119 is, for example, a plate-shaped member that has a predetermined width in the Y direction and extends in the X direction. Each of the pair of clamp bars 119 extends toward each other in the Y direction, and extends above the mounting member 113. With this structure, the substrate transport and holding device 22 clamps the substrate 12 transported by the transport device 50 using the clamp device 52 . Specifically, the substrate 12 is transported by the transport device 50 to a position where a pair of clamp bars 119 are provided. The clamp device 52 drives the electromagnetic motor 123 to raise the mounting member 113. The backup pin 115 placed on the first placement surface 113A contacts the lower surface of the substrate 12. For example, the substrate 12 is lifted from the conveyor belt 103, and both edges of the upper surface in the Y direction are brought into contact with the lower surfaces of the pair of clamp bars 119. Thereby, the substrate 12 is supported from below by the backup pins 115 and is held by the clamp device 52 by restricting movement of both edges of the upper surface by the clamp bars 119.

The plurality of backup pins 115 are arranged on the first mounting surface 113A depending on the size of the substrate 12, for example. In other words, in the case of a small board 12, redundant (unused) backup pins 115 are generated. In the component mounting machine 10 of this embodiment, an accommodation hole 113B for accommodating an unused backup pin 115 is formed in the mounting member 113.

A plurality of accommodation holes 113B are formed in the mounting member 113 on both sides in the X direction. For example, the plurality of accommodation holes 113B are arranged between the pair of guide rails 101, 102 when the distance between the pair of guide rails 101, 102 in the Y direction is made the shortest. This shortest distance (hereinafter sometimes referred to as minimum distance) is, for example, the smallest width in the Y direction of the board 12 produced by the component mounting machine 10. That is, it is the distance between the guide rails 101 and 102 when the substrate 12 with the smallest width in the Y direction is arranged so as to be transportable. For example, when the guide rail 102 is brought close to the guide rail 101 in the Y direction to a position where the distance is the minimum, the movement is regulated by a stopper (not shown) provided on the guide member 107. The guide rail 102 is restricted from approaching the guide rail 101 closer than the minimum distance by the stopper. Note that the guide member 107 does not need to include a stopper. In this case, the guide rail 102 may be configured to be able to slide in the Y direction to a position where it contacts the guide rail 101. Moreover, when the pair of guide rails 101 and 102 are fixed, a plurality of mounting members 113 and accommodation holes 113B may be arranged between the fixed guide rails 101 and 102. Moreover, the accommodation hole 113B is formed to penetrate the mounting member 113 in the Z direction. The cross-sectional shape of the accommodation hole 113B is, for example, circular. The plurality of accommodation holes 113B are arranged in line at each of both ends of the mounting member 113 in the X direction. The plurality of accommodation holes 113B on one side in the X direction are formed in the mounting member 113 in a state where they are arranged in 4×4 rows, that is, arranged in 4 rows in the X direction and in 4 rows in the Y direction. ing.

Each of the plurality of accommodation holes 113B is a hole for accommodating an unused backup pin 115, that is, a stock backup pin 115 that is not used to support the board 12. Specifically, the work head 60 is provided with a gripping device 125 for gripping and moving the backup pin 115. FIG. 4 shows a perspective view of the gripping device 125 and the backup pin 115. As shown in FIGS. 3 and 4, the gripping device 125 includes a pair of gripping claws 127. A pair of gripping claws 127 are arranged at the lower end of the gripping device 125. Furthermore, the pair of gripping claws 127 can be opened and closed by driving an electromagnetic motor 129 (see FIG. 5).

On the other hand, the backup pin 115 includes a base portion 115A and a pin portion 115B. The base portion 115A is a portion that serves as a base placed on the first placement surface 113A of the placement member 113, and has, for example, a cylindrical shape. Further, the pin portion 115B is a portion that contacts the substrate 12 and supports the substrate 12 from below, and has a cylindrical shape that is thinner than the base portion 115A, for example. The pin portion 115B is fixed, for example, to the center of the upper surface of the base portion 115A. The pin portion 115B may include, for example, a flexible member at the tip portion to protect the substrate 12.

Furthermore, an engaged portion 115C that is engaged with the gripping claw 127 is formed on the pin portion 115B. The engaged portion 115C has, for example, two tapered portions whose outer diameter is longer than that of the pin portion 115B, and an outer circumferential surface of the pin portion 115B sandwiched between the two tapered portions, so that the engaged portion 115C is fitted along the outer periphery of the pin portion 115B. It forms a groove. The work head 60 drives the electromagnetic motor 129 to insert the pair of gripping claws 127 into the groove-shaped engaged portion 115C from, for example, both sides of the pin portion 115B in the radial direction, thereby clamping the pin portion 115B. . Thereby, the work head 60 can hold and move the backup pin 115 with the pair of gripping claws 127.

Moreover, the closing device 121 is provided corresponding to the accommodation hole 113B formed on both sides of the mounting member 113 in the X direction. Note that FIG. 3 illustrates only one of the pair of closure devices 121. A pair of closure devices 121 are provided below the accommodation hole 113B. Each of the pair of closure devices 121 includes a closure member 131. The closing member 131 has, for example, a plate shape extending in the X direction and the Y direction, and has a plurality of convex portions 131A (see FIG. 4) formed on the upper surface.

The closing member 131 closes the accommodation hole 113B by inserting a plurality of convex portions 131A into each of the plurality of accommodation holes 113B. Note that FIG. 3 shows only one accommodation hole 113B and one convex portion 131A in order to avoid complicating the drawing.

To explain in detail, the convex portion 131A is formed in a cylindrical shape, for example, in accordance with the shape of the accommodation hole 113B. For example, the convex portion 131A is formed in a cylindrical shape with an outer diameter slightly shorter than the inner diameter 113C of the accommodation hole 113B. A second placement surface 131B is formed on the protruding upper surface of the convex portion 131A. The second mounting surface 131B is, for example, a circular plane.

Each of the pair of closure devices 121 drives an electromagnetic motor 133 (see FIG. 5) to move the closure member 131 in the Z direction. For example, when the backup pin 115 is accommodated in the accommodation hole 113B, the closure device 121 is placed in a position (hereinafter referred to as this The position of the closing member 131 in the Z direction is adjusted so that the position is (sometimes referred to as a retracted position). When the closing member 131 is in the retracted position, the second placement surface 131B functions as the bottom of the accommodation hole 113B that accommodates the backup pin 115, and supports the base 115A from below. In addition, in the retracted position, the closing device 121 may be arranged such that the second mounting surface 131B is slightly lowered downward from the lower opening of the accommodation hole 113B or raised upward.

The inner diameter 113C of the accommodation hole 113B is, for example, slightly longer than the outer diameter of the cylindrical base 115A. For example, the backup pin 115 is accommodated in the accommodation hole 113B with a gap provided between it and the inner wall of the accommodation hole 113B, and is placed on the second mounting surface 131B. The work head 60 grips the engaged portion 115C with the gripping claws 127 of the gripping device 125, takes out the backup pin 115 from the accommodation hole 113B, and places it on the first placement surface 113A. Note that the work of arranging the backup pin 115 in the accommodation portion formed by the accommodation hole 113B and the second placement surface 131B may be performed by the work head 60 using the gripping device 125, or may be performed manually by a person. Also good. When a person performs the process manually, by forming a recess between the accommodation hole 113B and the second mounting surface 131B, the position where the backup pin 115 is stocked becomes clear, and the position where the backup pin 115 is to be stocked becomes clear. (misalignment) can be suppressed.

In addition, the closing device 121 raises the placement member 113 when the backup pin 115 is not accommodated in the accommodation hole 113B, so that the second placement surface 131B is arranged at the upper opening position of the accommodation hole 113B. That is, the second mounting surface 131B is arranged flush with the first mounting surface 113A. The accommodation hole 113B is closed by the convex portion 131A. The position of the closing member 131 where the second mounting surface 131B and the first mounting surface 113A are flush with each other is hereinafter referred to as a closing position. Thereby, the second mounting surface 131B forms a plane on which the backup pin 115, which is the same plane as the first mounting surface 113A, can be mounted. In other words, it is possible to fill the hole that would have been formed when the closing member 131 was in the retracted position, and to place the backup pin 115 thereon. In addition, in the closing position of the closing device 121, the second mounting surface 131B may be placed at a position slightly lowered downward from the upper opening of the accommodation hole 113B or at a position raised upward.

For example, the work head 60 uses the gripping claw 127 of the gripping device 125 to place the backup pin 115, which has been taken out from the accommodation hole 113B onto the first mounting surface 113A, onto the second mounting surface 131B in the closed position. This expands the area on which the backup pins 115 are placed on a long substrate 12, such as the substrate 12 long in the X direction, and supports the substrate 12 more stably by the backup pins 115 placed on the expanded area. be able to.

Note that FIG. 3 omits illustration of the mounting member 113 on the near side in the Y direction. Further, the accommodation hole 113B and the closing member 131 are provided only on one side in the Y direction (the back side, the guide rail 101 side). Therefore, the accommodation hole 113B and the closing member 131 of this embodiment are provided on the fixed conveyor belt 103 side (guide rail 101) in the Y direction of the mounting member 113. However, for example, the accommodation hole 113B and the closing member 131 may be arranged throughout the movable range of the guide rail 102 in the Y direction. Thereby, a region for accommodating or arranging (expanding) the backup pin 115 can be formed not only in the X direction but also in the Y direction. Even if the substrate 12 is long in the Y direction, it can be accommodated by widening the second mounting surface 131B on which the backup pins 115 are arranged.

Therefore, the closing member 131 of this embodiment is disposed below the mounting member 113 and has a convex portion 131A that can be inserted into the accommodation hole 113B. The convex portion 131A supports the base portion 115A of the backup pin 115 accommodated in the accommodation hole 113B when the closing member 131 is placed in the retracted position. In addition, when the closing member 131 is placed in the closing position, the convex portion 131A is inserted into the accommodation hole 113B, and the tip thereof forms a second mounting surface 131B.

According to this, when the closing member 131 is arranged at the retracted position, the backup pin 115 accommodated in the accommodation hole 113B can be supported by the convex portion 131A provided on the closing member 131. Further, when the closing member 131 is placed in the closing position, the accommodation hole 113B can be filled with the convex portion 131A to form the second placement surface 131B. Therefore, the closing member 131 can be used not only as a member for closing the accommodation hole 113B but also as a member for supporting the backup pin 115.

Further, as shown in FIG. 5, the control device 34 of the component mounting machine 10 includes a controller 140, a plurality of drive circuits 142, and an image processing device 146. The plurality of drive circuits 142 are connected to the above-described substrate transport and holding device 22, moving device 24, work heads 60, 62, component supply device 30, and bulk component supply device 32. The controller 140 is mainly a computer, including a CPU, ROM, RAM, etc., and is connected to a plurality of drive circuits 142. Thereby, the controller 140 can control the operations of the substrate transport and holding device 22, the moving device 24, the component supply device 30, and the like. The controller 140 is also connected to an image processing device 146. The image processing device 146 processes the image data obtained by the mark camera 26 and the parts camera 27, and the controller 140 acquires various information from the image data. For example, the control device 34 adjusts the position of the gripping device 125 based on image data captured by the mark camera 26 of the backup pin 115 in the accommodation hole 113B and information on the XY coordinates of the accommodation hole 113B set in advance. Then, the backup pin 115 is held by the gripping claws 127.

The component mounting machine 10 of this embodiment has the above-described configuration and performs a component mounting operation on the board 12 held by the board transport and holding device 22. Specifically, the control device 34 controls the substrate conveying and holding device 22 to convey the substrate 12 to the working position, and clamps and holds the substrate 12 fixedly by the backup pins 115 and the clamp bar 119. The control device 34 calculates, for example, the position coordinates of the insertion hole formed in the substrate 12 in the X and Y directions based on the image data captured by the mark camera 26.

The control device 34 controls the component supply device 30 and the like to supply components to predetermined supply positions. The control device 34 controls the work heads 60 and 62 to suction and hold the component at the supply position using the suction nozzle 66, and attaches it to the insertion hole of the substrate 12. Thereby, parts can be mounted on the board 12.

Next, the process of arranging the backup pins 115 by the component mounting machine 10 will be described. The control device 34 of the component mounting machine 10 obtains, for example, a control program necessary for producing the next board 12 from the management device. The control program here is data in which information necessary for the mounting operation, such as the type of board 12, position information of the insertion hole of the board 12, and information on the parts to be mounted, is set. Furthermore, the management device is, for example, a device that controls and manages the operations of board-related working machines such as the component mounting machine 10 lined up on the production line.

For example, the lengths of the substrate 12 in the X and Y directions are set in the control program. The control device 34 executes the arrangement of the backup pins 115, the movement of the mounting member 113, etc. based on the information of the control program. More specifically, as shown in FIG. 6, the control device 34 controls the gripping device 125 of the work head 60 to place the backup pin 115 accommodated in the accommodation hole 113B on the first placement surface 113A.

For example, in the initial stage when the component mounting machine 10 is powered on and the system is started, the control device 34 controls the closing device 121 to move the second mounting surface 131B of the closing member 131 to the lower side of the accommodation hole 113B. The position of the closing member 131 is adjusted so that it is in a retracted position that matches the opening of the closing member 131. Thereby, the accommodating portion that accommodates the backup pin 115 can be configured by the accommodating hole 113B and the second mounting surface 131B. Note that FIGS. 6 and 7 show the mounting member 113 in a retracted position. Further, FIGS. 8 to 10, which will be described later, show a state in which one of the pair of placement members 113 is placed in the closed position. Further, the closed position does not indicate only a specific position as will be described later, but indicates a relative position with respect to the mounting member 113, such as when moving together with the mounting member 113.

Therefore, when the backup pin 115 is accommodated in the accommodation hole 113B, the closing member 131 of this embodiment is placed in the retracted position within the component mounting machine 10 and opens the accommodation hole 113B. According to this, by setting the closing member 131 to the retracted position within the component mounting machine 10, the unused backup pin 115 can be accommodated in the opened accommodation hole 113B.

Further, the inner diameter 113C (see FIG. 4) of the accommodation hole 113B of this embodiment is formed to match the outer diameter of the backup pin 115. When storing unused backup pins 115 in the accommodation hole 113B, before the component mounting machine 10 starts using the backup pins 115 or before replenishing the component mounting machine 10 with new backup pins 115, the operator: It is necessary to arrange the backup pin 115 in a predetermined storage position. For example, even if the control device 34 adjusts the position of the gripping device 125 based on the XY coordinates of the preset storage position and attempts to grip the backup pin 115 with the gripping claws 127, if the backup pin 115 is not placed at the correct storage position, The backup pin 115 cannot be held. If the position where the backup pin 115 is arranged deviates from the correct storage position, the work head 60 will not be able to grip the stored backup pin 115 with the gripping device 125 and will not be able to move it. On the other hand, by forming the accommodation hole 113B in a size that matches the outer diameter of the backup pin 115, the worker can insert the backup pin 115 into the accommodation hole 113B when placing the backup pin 115 in the accommodation position. By simply doing this, the backup pins 115 can be placed within a certain range. For example, the control device 34 controls the gripping device 125 to control the backup pin 115 with the gripping device 125 based on image data of the backup pin 115 in the accommodation hole 113B captured by the mark camera 26 and information on the XY coordinates of the accommodation hole 113B set in advance. can be held appropriately. The movement of the backup pin 115 by the gripping device 125 can be executed with high precision.

Further, for example, when the length of the substrate 12 in the X direction is less than or equal to the length in the X direction of the non-formation region 151 in which the accommodation hole 113B is not formed, the control device 34 controls A backup pin 115 is arranged at. This non-formation area 151 is, for example, an area between the accommodation holes 113B formed at both ends of the mounting member 113 in the X direction, and is the innermost area in the X direction among the accommodation holes 113B arranged in a plurality of rows and columns. This is the area between the accommodation holes 113B. When the length of the substrate 12 in the X direction is less than or equal to the length of the non-formation area 151 in the X direction, the convex portion 131A is inserted into the accommodation hole 113B to make the second mounting surface 131B flush with the first mounting surface 113A. Since there is no need to cause the backup pin 115 to be formed in the non-formation area 151, the control device 34 arranges the backup pin 115 in the non-formation area 151. The control device 34 arranges the backup pin 115 at a position avoiding the insertion hole of the board 12, for example, based on the control program. Therefore, when the substrate 12 can be satisfactorily supported only by the first mounting surface 113A of the non-formation area 151 in which the accommodation holes 113B are not formed, the control device 34 uses the backup pins only in the non-formation area 151 between the accommodation holes 113B. Place 115.

The length of the non-formation area 151 in the X direction is, for example, the length of the minimum size board 12 that can be transported and mounted by the component mounting machine 10. In other words, the size of the non-forming area 151 is a size that matches the minimum size of the board 12 that can be produced by the component mounting machine 10. Thereby, by reducing the non-formation area 151 to match the minimum size of the substrate 12 that can be produced, it is possible to downsize the substrate transport and holding device 22. Note that the size of the non-formation area 151 is not limited to the size of the minimum size of the substrate 12 that can be produced. For example, the size of the non-formation area 151 may be smaller than or equal to the minimum size of the substrate 12 that can be produced, or may be the size of the substrate 12 that is produced the most.

Further, the control device 34 may determine the length of the substrate 12 in the X direction and the Y direction using a method other than the control program. For example, the control device 34 may determine the length of the board 12 in the X direction, etc. based on input information from an input device such as the touch panel 13 (see FIG. 1) provided in the component mounting machine 10. Further, when the length of the substrate 12 in the X direction is longer than the length of the non-formation region 151, the control device 34 controls whether the accommodation hole 113B is formed in a region outside the non-formation region 151 in the X direction. The backup pin 115 may be arranged in a portion where there is no space (such as a region between two accommodation holes 113B).

On the other hand, if the length of the substrate 12 in the X direction is longer than the length of the non-formation area 151 in the X direction, the control device 34 moves the closing member 131. As shown in FIG. 7, the control device 34 once moves the backup pin 115 accommodated in the accommodation hole 113B on one side in the X direction to the non-formation area 151, for example. The plurality of accommodation holes 113B formed on one side in the X direction are all empty.

Next, as shown in FIG. 8, the control device 34 drives the electromagnetic motor 133 (see FIG. 5) of the closure device 121 to raise the closure member 131 to the closure position, and The accommodation hole 113B is closed. By setting the closing member 131 to the closed position, the accommodation hole 113B is closed by the convex portion 131A, and the second mounting surface 131B and the first mounting surface 113A constitute surfaces on which the backup pin 115 is mounted. As shown in FIG. 9, the control device 34 controls the gripping device 125 to arrange the backup pin 115 on a surface including the second mounting surface 131B and the first mounting surface 113A. The control device 34, for example, based on the image data of the mark camera 26 and information on the placement of the backup pin 115 on the first placement surface 113A and the second placement surface 131B (XY coordinates of the previous placement location), The position of the gripping device 125 is adjusted to grip and move the backup pin 115.

Note that the control device 34 may raise the closing member 131 to the closing position while keeping the backup pin 115 housed in the housing hole 113B without taking it out from the housing hole 113B. Further, the control device 34 may perform the lifting of the closing member 131 and the operation of taking out and arranging the backup pin 115 in the accommodation hole 113B in parallel.

As shown in FIG. 9, the control device 34 controls the transport device 50 to transport the substrate 12 to the position of the clamp bar 119. Next, as shown in FIG. 10, the control device 34 drives the electromagnetic motor 123 of the clamping device 52 and the electromagnetic motor 133 of the closing device 121, so that the mounting member 113 on which the backup pin 115 is mounted and the closing member Raise 131. For example, the control device 34 raises the placing member 113 and the closing member 131 while maintaining their relative positions in the Z direction. The control device 34 raises the mounting member 113 until the backup pin 115 mounted on the first mounting surface 113A contacts the lower surface of the substrate 12. Further, of the pair of closure devices 121, the closure device 121 from which the backup pin 115 has been taken out raises the closure member 131 while maintaining the relative position of the closure member 131 with respect to the placement member 113 at the closure position (Fig. 10 left side). Furthermore, the closing device 121 with the backup pin 115 housed in the accommodation hole 113B raises the closing member 131 while maintaining the position of the closing member 131 with respect to the placement member 113 at the retracted position (right side in FIG. 10). Thereby, the backup pins 115 placed on the first mounting surface 113A and the second mounting surface 131B support the substrate 12 from below.

The substrate 12 is lifted from the conveyor belt 103, supported from below by backup pins 115, and held by the clamp device 52 by restricting movement of both edges of the upper surface by clamp bars 119. The control device 34 uses work heads 60 and 62 to attach parts to the substrate 12 whose position is fixed by the clamp device 52. In this way, the component mounting machine 10 of this embodiment can utilize the closing member 131 as a mounting surface on which the backup pin 115 is mounted and the board 12 is supported.

As described above, the conveyance device 50 of this embodiment includes a pair of conveyor belts 103 that convey the substrates 12. The plurality of accommodation holes 113B and the closing member 131 are arranged below the pair of conveyor belts 103. According to this, the space between and below the pair of conveyor belts 103 for conveying the substrates 12 can be effectively used as a space for arranging the accommodation hole 113B of the mounting member 113 and the closing member 131.

Further, the plurality of accommodation holes 113B are respectively provided at both ends of the mounting member 113 in the conveying direction (in the present embodiment, the X direction) in which the substrate is conveyed by the pair of conveyor belts 103. According to this, the spaces at both ends of the mounting member 113 in the transport direction can be utilized both as an area for stocking the backup pins 115 and as an area for placing the backup pins 115 as the second placement surface 131B. Thereby, the component mounting machine 10 can be downsized.

Further, the closing device 121 drives the electromagnetic motor 133 to move the closing member 131 between the retracted position and the closed position. Based on the control program acquired from the management device, the control device 34 controls the closure device 121 when the size of the substrate 12 to which the mounting operation is performed is equal to or larger than the length of the non-formation area 151 in the X direction. The closing member 131 is moved to the closing position, and the gripping device 125 is controlled to place the backup pin 115 on the second placement surface 131B.

According to this, for example, when the size of the substrate 12 to be worked next is larger than a predetermined size, the control device 34 moves the closing member 131 to the closing position to form the second mounting surface 131B. can do. Then, by placing backup pins 115 on the second placement surface 131B, it is possible to increase the number of backup pins 115 that support the substrate 12 or to expand the range in which they are placed. The backup pins 115 can be automatically arranged in accordance with the size of the board 12.

Incidentally, in the first embodiment, the component mounting machine 10 is an example of a board-facing working machine. The accommodation hole 113B is an example of an accommodation part. The gripping device 125 is an example of a moving device. The closure device 121 and the electromagnetic motor 133 are an example of a member moving device.

As described above in detail, the mounting member 113 of the first embodiment has a first mounting surface 113A on which the backup pin 115 is mounted and a plurality of accommodation holes 113B in which the backup pin 115 can be accommodated. ing. The control device 34 drives the closing device 121 to place the closing member 131 in the closing position (see FIGS. 8 and 9) to close the accommodation hole 113B, so that a backup pin 115 that supports the substrate 12 from below can be placed therein. A second mounting surface 131B is configured.

According to this, the mounting member 113 is formed with an accommodation hole 113B for accommodating the backup pin 115 that is not used. When using the backup pin 115 to open the space in the accommodation hole 113B, the closing member 131 is placed in the closed position to close the accommodation hole 113B and open the second placement surface 131B on which the backup pin 115 can be placed. Configure. Thereby, while the backup pin 115 is in use, the space that accommodates the backup pin 115 can be utilized as the second placement surface 131B on which the backup pin 115 is placed. The space for accommodating the backup pin 115 can be effectively utilized, and the device can be made smaller.

Next, a second embodiment for carrying out the contents of the present disclosure will be described. In the following description, the same components as those in the first embodiment described above will be denoted by the same reference numerals, and the description thereof will be omitted as appropriate. In the first embodiment described above, a plurality of accommodation holes 113B for accommodating a plurality of backup pins 115 one by one are formed in the mounting member 113. On the other hand, as shown in FIG. 11, one accommodating part 211 that can accommodate a plurality of backup pins 115 at once may be formed in the mounting member 113. Therefore, the number of backup pins 115 accommodated in one accommodating portion 211 is not limited to one.

Further, in the first embodiment, the closing member 131 that closes the accommodation hole 113B is arranged below the mounting member 113. On the other hand, as shown in FIG. 11, a closing member 213 that closes the housing part 211 may be arranged above the housing part 211. For example, the closing member 213 is a plate-shaped member that is sized to match the shape of the opening of the accommodating portion 211 . A second mounting surface 213A on which the backup pin 115 can be mounted is formed on the upper surface of the closing member 213. Stepped portions 211A on which the closing member 213 can be placed are formed at both ends of the accommodating portion 211 in the Y direction.

In the closure device 121 of the second embodiment, the closure member 213 can be moved in the X direction based on, for example, the drive of an electromagnetic motor 133 (see FIG. 5). The position of the closing member 213 shown in FIG. 11 is a retracted position in which the accommodating portion 211 is opened. The control device 34 can control the closure device 121 to, for example, slide the closure member 213 in the X direction from the retracted position to the closure position that closes the storage portion 211 (as indicated by the arrow in FIG. 11). reference). Further, the closing device 121 is capable of moving the closing member 213 up and down in the Z direction in accordance with the up and down movement of the placement member 113 in the Z direction.

For example, the control device 34 uses the gripping device 125 to take out the backup pins 115 as many as necessary according to the size of the substrate 12 to be produced from the storage portion 211 based on the control program. The control device 34 controls the closing device 121 to move the closing member 213 to the closing position and placing it on the stepped portion 211A, thereby closing the accommodation portion 211 with the closing member 213. The second mounting surface 213A constitutes a mounting surface that is flush (same plane) with the first mounting surface 113A. The backup pin 115 that is not used is housed in the housing portion 211 that is closed with the closing member 213 . In such a configuration, a necessary number of backup pins 115 can be taken out and placed on the first placement surface 113A or the second placement surface 213A. Then, the control device 34 controls the lifting mechanism 117 and the closing device 121 to raise the mounting member 113 and the closing member 213, and the backup pins placed on the first mounting surface 113A and the second mounting surface 213A. 115 can support the substrate 12.

As described above in detail, the closing member 213 of the second embodiment is a plate-shaped member having an upper surface along the first mounting surface 113A, and when placed in the closing position, the closing member 213 is located above the housing portion 211. The upper surface thereof constitutes a second mounting surface 213A. According to this, by moving the closing member 213 above the accommodating portion 211, while closing the accommodating portion 211, the upper surface of the closing member 213 configures the second placement surface 213A along the first placement surface 113A. can do.

Note that the present disclosure is not limited to the above embodiments, and various changes can be made without departing from the spirit thereof.
For example, in each of the embodiments described above, the component mounting machine 10 uses the gripping device 125 to perform the work of arranging the backup pins 115 on the first mounting surface 113A. However, the work of arranging the backup pins 115 may be performed manually by a person. In this case, the component mounting machine 10 does not need to include the gripping device 125.
Moreover, although the accommodation hole 113B was provided at both ends of the mounting member 113 in the X direction, it may be provided only at one end. Further, the accommodation hole 113B may be provided at a position other than the end, such as the center of the mounting member 113 in the X direction. Further, the number of accommodation holes 113B may be one, or may be arranged in a row, or may be arranged irregularly.
Furthermore, in each of the embodiments described above, the component mounting machine 10 includes the closure device 121 that moves the closure members 131 and 213, but it does not need to include the closure device 121. For example, a person may manually move the closing members 131, 213 to the closing position. In this case, the retracted position of the closing members 131, 213 may not be a specific position within the component mounting machine 10, but may be, for example, a place outside the component mounting machine 10 where the closing members 131, 213 are stored.

Further, although the work head 60 includes a gripping device 125 that grips the backup pin 115 as a moving device for moving the backup pin 115, the present invention is not limited to this. The work head 60 may include, for example, a moving device that moves the backup pin 115 by attracting, engaging, or the like. Furthermore, the work head 60 does not need to include the gripping device 125.
Further, the closing member 131 of the first embodiment may be provided for each backup pin 115 arranged in the X direction or the Y direction. For example, as shown in FIG. 12, the closure device 215 may be configured to individually move a plurality of closure members 131 divided into housing holes 113B arranged in the X direction. The closure device 215 has, for example, a set of four backup pins 115 arranged in a row in the Y direction, and four mounting members 113 corresponding to the set of backup pins 115 arranged in a row in the X direction. There is. The four closing members 131 arranged in the X direction are individually movable to different positions in the Z direction. With such a configuration, for example, when it is desired to close only the inner accommodation hole 113B in the X direction, the second mounting surface 131B on which the backup pin 115 is mounted can be adjusted to gradually expand in the X direction. It becomes possible to more precisely expand the second mounting surface 131B in response to an increase or decrease in the length of the substrate 12 in the X direction.
Furthermore, the board-to-board working machine of the present disclosure is not limited to the component mounting machine 10 that mounts components on the board 12. For example, a solder coating device that applies solder to the substrate 12 may be used. In this case as well, control using the closing members 131 and 213 and the mounting member 113 is possible when supporting the substrate 12 with the backup pins 115 during the solder application work. Accordingly, the contents of the present disclosure are applicable to various devices that support the substrate 12 by the backup pins 115.

The technical ideas derived from this disclosure will be described.
(a) Of the pair of conveyor belts, one of the conveyor belts is provided in a fixed position, and the other conveyor belt is provided so as to be movable relative to the fixed conveyor belt. ,
The aforementioned mounting member is
formed with a size that matches the movable range of the moving conveyor belt,
The accommodation hole and the closing member are
The substrate working machine according to claim 6, which is provided at an end of the mounting member on the side of the fixed conveyor belt.

According to this, the accommodation hole and the closing member can be collectively provided on the side of the conveyor belt whose position is fixed among the pair of conveyor belts.

(b) The pair of said conveyor belts are
When the moving conveyor belt is brought closest to the fixed conveyor belt, the conveyor belt is placed with a minimum distance therebetween;
The minimum distance is
The board-to-board work according to (a), wherein the distance is matched to the size of the board that minimizes the distance between the pair of conveyor belts among the boards on which the board-to-board work is performed in the board-to-board work machine. Machine.

According to this, even when performing board-to-board work on a board that is transported over a minimum distance, the backup pin is taken out from the accommodation hole provided between the pair of conveyor belts, and the second mounting pin is placed using the closing member. You can compose surfaces.

Reference Signs List 10 component mounting machine (board-to-board working machine), 12 board, 34 control device, 50 conveyance device, 103 conveyor belt, 113 placement member, 113A first placement surface, 113B accommodation hole (accommodation part), 115 backup pin, 121, 215 closing device (member moving device), 125 grasping device (moving device), 131, 213 closing member, 131A convex portion, 131B second mounting surface, 133 electromagnetic motor (member moving device), 211 accommodating section.

Claims (8)

a transport device that transports the substrate;
a first mounting surface on which a backup pin for supporting the substrate transported by the transport device from below is placed and arranged below the substrate transported by the transport device; and a housing capable of accommodating the backup pin. a mounting member having a portion formed thereon;
a closing member that is disposed in a closed position when the backup pin is not accommodated in the accommodation section, closes the accommodation section, and forms a second mounting surface on which the backup pin that supports the substrate from below can be placed; and,
A board-to-board working machine equipped with The closing member is
The board-facing working machine according to claim 1, wherein when the backup pin is housed in the housing part, it is arranged at a retracted position within the board-facing working machine, and the housing part is opened. The closing member is
a convex portion that is disposed below the placement member and that can be inserted into the accommodating portion;
The convex portion is
When the closing member is placed in the retracted position, the lower part of the backup pin accommodated in the accommodating portion is supported, and when the closing member is placed in the closing position, the distal end portion inserted into the accommodating portion is supported. The substrate-facing work machine according to claim 2, wherein the second mounting surface is configured by:. The closing member is
Claim: The member is a plate-shaped member having an upper surface along the first mounting surface, and covers an upper side of the accommodating portion when placed in the closed position, and the upper surface constitutes the second mounting surface. 3. The substrate-to-board working machine according to claim 1 or claim 2. comprising a moving device that moves the backup pin between the first mounting surface and the accommodating part,
The accommodating part is
The board-facing work machine according to any one of claims 1 to 3, wherein the accommodation hole is formed in a size matching the outer diameter of the backup pin. The transport device is
a pair of conveyor belts for conveying the substrate;
The accommodating part and the closing member are
The board-facing work machine according to any one of claims 1 to 5, which is arranged below the pair of conveyor belts. The accommodating part is
7. The substrate working machine according to claim 6, which is provided at both ends of the mounting member in a conveyance direction in which the substrate is conveyed by the pair of conveyor belts. a moving device that moves the backup pin between the first mounting surface and the accommodating part;
a member moving device that moves the closing member;
a control device that controls the moving device and the member moving device;
Equipped with
The control device includes:
If the size of the substrate to be worked on is larger than a predetermined size, the member moving device is controlled to move the closing member to the closing position, and the moving device is controlled to move the closing member to the second loading position. The board-to-board working machine according to any one of claims 1 to 7, wherein the backup pin is placed on a placement surface.

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