KR20190010449A - Plate sticking device - Google Patents

Abstract

Provided is a reinforcement plate attaching device with high productivity. The present invention includes: an attachment head (20) including a reinforcement plate capturing unit (22), and picking up and pressing a reinforcement plate with vertical movement to change the posture of the reinforcement plate through rotation in θ direction; a rotor (30) intermittently rotated with a plurality of attachment heads arranged at equiangular pitch trisecting a circumvolution; a reinforcement plate supply device (40) placed on a first index position; a reinforcement plate image processing device (50) receiving and processing an image of a second index position, and calculating information about the position and posture of the reinforcement plate; and an attached part possessing and supporting device (60) including a first xy table (62) placed on a third index position. The present invention also includes: a second xy table (64) having the same composition as the first xy table (62); and an xy table placement switching unit (66) switching the placement of the first xy table (62) and the second xy table (64) between the third index position and a position for replacing an attached part.

Description

[0001] PLATE STICKING DEVICE [0002]

The present invention relates to a reinforcement panel attachment device.

BACKGROUND ART [0002] Conventionally, there is known a component mounting apparatus in which a plurality of arms provided with suction nozzles at the tip end intermittently rotate and sequentially pick up electronic components and assemble them into an object (electronic circuit board) (see, for example, Patent Document 1 ).

20 is a diagram showing a configuration of the component mounting apparatus described in Patent Document 1. [Fig.

The component mounting apparatus 900 described in Patent Document 1 is provided with a suction nozzle 922 for suctioning the electronic component WE and moves the suction nozzle 922 up and down along the z axis parallel to the first axis AX1, A plurality of heads 920 are arranged on the circumference of a virtual circle around the first axis AX1 at an equi-angular pitch when the circumference is divided into six equal parts, The head 920 is momentarily stopped temporarily at six indexed positions S1 to S6 on the base (not shown) so that the intermittently rotating intermittent rotary support 930 ) (See Fig. 20).

The component mounting apparatus 900 described in Patent Document 1 has an x-direction moving table 945 which is disposed at a position corresponding to the first index position S1 and in which the component supply cassette 943 is juxtaposed. And an electronic component supply device 940 for supplying the electronic component WE to be picked up to the head 920. [ The position / attitude detecting means (not shown) for detecting the position or attitude of the electronic component WE, or the position / attitude detecting means (not shown) disposed at a position corresponding to the second index position S2, the fifth index position S5 or the sixth index position S6 And positioning means (not shown) for positioning the electronic component. It also has an xy table 962 disposed at a position corresponding to the fourth index position S4 and holding the electronic circuit board BD on the upper surface and making the held electronic circuit board BD movable along the xy plane And an electronic circuit board holding apparatus 960 for receiving the mounting of the electronic component WE by the head 920 at a predetermined position of the electronic circuit board BD (see FIG. 20 and Patent Reference 1, (See upper right column of page 3).

According to the component mounting apparatus 900 described in Patent Document 1, when the head 920 provided with the suction nozzle 922 and the arm 934 intermittently rotate and the suction nozzle 922 stops at the first index position S1 , And the suction nozzle 922 picks up the electronic component WE from the electronic component supply device 940. When the suction nozzle 922 is intermittently rotated to stop at the second index position S2, the fifth index position S5 or the sixth index position S6, the position or attitude of the electronic component WE is detected or the electronic component WE are positioned. When the suction nozzle 922 is intermittently rotated and stopped at the fourth index position S4, the electronic part WE is mounted to the predetermined mounting position of the electronic circuit board BD by the descent along the z axis of the head 920. [

Japanese Patent Application Laid-Open No. 62-85491

However, in the component mounting apparatus 900 described in Patent Document 1, when the electronic circuit board BD on which the mounting of the electronic component WE has been finished is removed, in order to ensure the safety of the operation, the intermittent rotary support body 930, It is necessary to stop the rotation of the head 934, the head 920, etc. (these are collectively referred to as " intermittent rotation part "). Further, even when the electronic circuit board BD on which the electronic component WE has not yet been mounted is newly supplied, it is necessary to stop the intermittent rotary part as in the case of the member removal. While intermittently rotating the electronic circuit board BD in order to replace the electronic circuit board BD, it is not possible to continuously carry out operations of major processes such as pickup of the electronic component WE and mounting of the electronic component WE. As a result, there has been a problem that the overall efficiency of the component mounting apparatus is reduced.

In recent years, flexible substrate "Flexible Printed Circuits (FPC) substrates" have been widely used as electronic circuit boards due to requests for flexibility of substrate shapes, thinning of substrates, and the like. However, since the FPC board is flexible and thin, it is sometimes necessary to reinforce the FPC board. In order to compensate this, an FPC substrate in which a reinforcing plate made of a metal or the like is pasted to a substrate is seen.

The problem that the above-mentioned production efficiency is lowered is also a problem that occurs similarly when the work of affixing the reinforcing plate to the application part (for example, the FPC board) is applied to the component mounting apparatus 900. [

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a reinforcement plate attaching apparatus with high production efficiency.

[1] A reinforcing plate attachment device according to the present invention is a reinforcing plate attachment device for attaching a reinforcing plate to an object to be attached, characterized in that the plane parallel to the upper surface of the base is an xy plane including x- , A predetermined position on the circumference of a virtual circle on the xy plane centering on the first axis as a first axis and a predetermined position on the xy plane as a first axis, A reinforcing plate capturing means for capturing the base and the reinforcing plate is provided when the first index position, the second index position and the third index position are defined in order, and the reinforcing plate capturing means is parallel to the first axis Axis direction of the z-axis so as to be able to pick up and press the reinforcing plate by moving up and down along a z-axis, and allowing the reinforcing plate capturing means to rotate in the &thetas; Wherein a plurality of the attachment heads are arranged on the circumference of the imaginary circle centered on the first axis at an equi-angular pitch when the circumference of the circle is divided into three equal parts, and when rotating about the first axis, A pivoting body that intermittently rotates in such a manner that the patch head is temporarily stopped in the order of a first index position, a second index position, and a third index position on the base; A reinforcing plate feeding device for feeding the reinforcing plate to be picked up of the patch head from the reinforcing plate stocker in which the reinforcing plate is stocked to the patch head and a reinforcing plate at a position corresponding to the second index position And the first camera introduces the image of the reinforcing plate by the first camera to perform image processing, A second index position detecting unit for detecting a position and orientation of the reinforcing plate on the basis of the first index position and the second index position, And a first xy table for allowing the adhesive sheet to move along the xy plane, wherein the adhesive sheet holding member for holding the adhesive sheet for pressing the reinforcing plate by the adhesive sheet at a predetermined position of the held adhesive sheet member Wherein the reinforcing plate attaching device is configured such that when the attaching head capturing the reinforcing plate stops at the third index position, information of the predetermined position of the applied plate member to which the reinforcing plate is to be attached And the position of the reinforcing plate calculated by the reinforcing plate image processing apparatus, the first xy table is moved so that the upper surface of the reinforcing plate xy plane, and based on information about the attitude of the reinforcing plate calculated by the reinforcing plate image processing apparatus, the attaching head is rotated in the &thetas; direction to align the posture of the reinforcing plate And then lowering the attaching head along the z-axis to thereby press the reinforcing plate to the predetermined position of the object to be attached, and the object applying member holding apparatus has a configuration equivalent to that of the first xy table The first xy table and the second xy table are stacked, and the first xy table and the second xy table are alternately arranged between the third index position and the tablet part replacement position And an xy table layout switching unit for switching the arrangement of the first xy table and the second xy table so that the first xy table and the second xy table can be switched.

In the reinforcing plate applying apparatus of the present invention, the attached member holding apparatus includes a second xy table having a configuration equivalent to that of the first xy table, a first xy table and a second xy table, And the xy table arrangement switching unit for switching the arrangement of the first xy table and the second xy table so that the first xy table and the second xy table are alternately arranged between the table and the replacement unit. Therefore, in the independent state separated from the progress of the main process (pickup of the reinforcing plate, detection of the position / posture of the reinforcing plate, and pressing) of the reinforcing plate attaching portion, It is possible to replace the applied adhesive member.

In other words, with respect to the main process, there is no need to stop and wait for the process to be performed only for replacing the applied adhesive member, and the waiting time (loss time) of the main process until the replacement of the applied adhesive member is completed can be reduced . In other words, it is possible to replace the applied adhesive member without substantially affecting the cycle time of the main process. As a result, the reinforcing plate attachment apparatus having high production efficiency is obtained.

Here, the " application member " refers to a member to which a reinforcing plate is attached, for example, an FPC board. The term " replacement of the platemember " refers to an operation (removal of members) for removing the object to be plated attached to the reinforcing plate from the reinforcing plate attaching device and an operation for putting the object to be plated in the state before the reinforcing plate is attached to the reinforcing plate attaching device (Supply of material), or both.

[2] In the reinforcing plate attachment apparatus of the present invention, the xy table arrangement switching unit is a turntable rotatable around a predetermined second axis perpendicular to the upper surface of the base, and the first xy table and the second xy table Is preferably an upper surface of the turntable and is respectively mounted at rotationally symmetric positions around the second axis.

Thus, when the turntable is rotated, for example, the first xy table is moved to the third index position, and the second xy table is moved to the part-to-be- do. Therefore, only by rotating the turntable by 180 DEG, the object to be attached can be replaced at the same position (position where the object is attached). It becomes a reinforcing plate attaching device of high workability, and in addition, it becomes a reinforcing plate attaching device of high production efficiency.

[3] In the reinforcing plate attaching apparatus of the present invention, it is preferable that a heater for heating the reinforcing plate captured in the attaching head is disposed.

In the application of the reinforcing plate, a thermosetting adhesive may be used. In this case, for example, an adhesive is previously applied to a predetermined position (a position at which a reinforcing plate is pasted, hereinafter also referred to as a " sticking position ") of the object to be attached part, and the reinforcing plate is stacked on the adhesive, And the reinforcing plate is adhered to the applied member by heating or softening or melting the adhesive.

According to the reinforcing plate attaching apparatus described in [3] above, the heat from the heater arranged on the attaching head can be conducted to the reinforcing plate capturing means to heat the reinforcing plate capturing means. As a result, the heating of the reinforcing plate can be started from the stage in which the attaching head (more specifically, the reinforcing plate capturing means) picks up the reinforcing plate, and the temperature of the reinforcing plate can be sufficiently raised in advance before the pressing process. In the step of the pressing process, the thermosetting adhesive previously applied to a predetermined position of the applied plate member can be softened or melted by the sufficient heat accumulated in the reinforcing plate. Since the temperature of the reinforcing plate can be increased sufficiently in advance in this manner, reliable compression bonding can be performed. Further, the yield is also improved, and therefore, the reinforcing plate attachment apparatus having high production efficiency is obtained.

Further, according to the reinforcing plate attaching apparatus described in [3], since the reinforcing plate can be heated in parallel with the progress of the main process (pickup of the reinforcing plate, detection of the position and attitude of the reinforcing plate, and compression) It is not necessary to stop and wait for the main process to proceed only for heating. As a result, the reinforcing plate attachment apparatus having high production efficiency is obtained.

[4] The reinforcement panel attachment device of the present invention is an image within the movable range of the first xy table or the second xy table when the reinforcement panel attachment device is viewed in a plane along the first axis, xy table or a second camera for introducing an image of the applied adhesive member held by the second xy table, wherein the second camera holds the first xy table or the second xy table held by the second camera It is preferable that the image forming apparatus further includes an image processing apparatus for introducing an image of the applied patch member and calculating information about the position and posture of the applied patch member with respect to the first xy table or the second xy table .

Even if the position and the posture of the object to be attached to the first xy table or the second xy table are deviated from the predetermined position and posture because of such a configuration, The first xy table or the second xy table is appropriately moved in the xy direction based on the information about the position and posture of the patch member, and the patch head is appropriately rotated in the? Direction to perform the alignment correction. Thereby, the reinforcing plate can be stuck to the applied member with proper position and posture.

Therefore, according to the reinforcing plate attaching apparatus described in [4], the success probability of the attaching can be increased. The yield can be further improved, and thus the reinforcing plate attaching apparatus having high production efficiency can be obtained.

In addition, even if the entire object to be attached is held in the first xy table or the second xy table in the predetermined position and posture, a predetermined position to which the individual reinforcing plate is to be attached, There is a case where it is deviated. Even in this case, by performing the above-described operation, the alignment correction can be individually performed at the time of each application, and the reinforcing plate can be stuck to the applied member at a proper position and posture.

[5] In the reinforcement panel attachment apparatus of the present invention, the image processing apparatus includes a light emitting device capable of emitting a plurality of kinds of light having different peak wavelengths, wherein at least one kind And the illuminating device which emits the light of the first xy table or the second xy table so as to emit the applied adhesive member.

According to this configuration, even if the conditions of the environment surrounding the applied patch member itself or the applied patch member are changed, an optimum kind of light can be selected in the light emitting device according to the conditions and the exposed patch member can be exposed .

Thereby, fluctuation in the manner of viewing of the image of the applied adhesive member is suppressed, and the precision of the image processing of the applied adhesive member can be enhanced. Accordingly, the probability of success of the patch can be increased, and further, the yield can be improved, and consequently, the reinforcing plate patch device with high production efficiency becomes.

[6] The reinforcing plate attachment device according to the present invention may further comprise a reinforcing plate thickness measuring means for measuring a thickness of the object captured by the reinforcing plate capturing means of the attaching head, It is preferable that an abnormality of the number of the reinforcing plates captured by the reinforcing plate capturing means of the patch head is detected by the information outputted by the plate thickness measuring means.

By the reinforcing plate thickness measuring means, it is possible to detect an abnormality in the number of reinforcing plates captured by the reinforcing plate capturing means (for example, when two reinforcing plates are captured). Based on the detection result, it is possible to perform control such as not performing the subsequent pressing step, and it is possible to prevent the production of the defective product in advance.

Accordingly, the probability of success of the patch can be increased, and further, the yield can be improved, and consequently, the reinforcing plate patch device with high production efficiency becomes.

[7] In the reinforcing plate attaching device of the present invention, when the attaching head is stopped at the first index position, the reinforcing plate capturing means of the attaching head catches the reinforcing plate stored in the reinforcing plate stocker It is preferable that the reinforcing plate is displaced in the? Direction with respect to the subsequent reinforcing plate to be picked up next time by rotating the reinforcing plate capturing means in the? Direction around the z-axis.

By rotating the reinforcing plate capturing means in the &thetas; direction around the z-axis (so-called " leveling operation ") after capturing the reinforcing plate, even if two reinforcing plates are attached to each other, So that they can be picked up one by one.

Since the reinforcing plates are separated one by one surely, the probability of success of the adhesive can be increased. The yield can be further improved, and thus the reinforcing plate attaching apparatus having high production efficiency can be obtained.

In the reinforcing plate attaching device of the present invention, it is preferable that the reinforcing plate capturing device further includes a defective product discharging portion, and when it is determined that the reinforcing plate capturing means does not normally catch the reinforcing plate, When the object to be inspected is judged not to be a normal reinforcing plate, the adhesive head to which the reinforcing plate capturing means belongs is temporarily stopped at the defective article discharging portion, and the object, which is caught by the reinforcing plate capturing means, .

When it is determined that the trapping of the reinforcing plate has not been normally performed or the object picked up by the reinforcing plate capturing means is not a regular reinforcing plate, the object trapped by the reinforcing plate capturing means is guided to the defective article discharging portion Thus, it is not necessary to deliver the object to the pressing process, so that it is possible to prevent the production of the defective product in the pressing process in advance.

Accordingly, the probability of success of the patch can be increased, and further, the yield can be improved, and consequently, the reinforcing plate patch device with high production efficiency becomes.

[9] In the reinforcing plate applying apparatus of the present invention, a plurality of the adhesive heads disposed on the circumference of the virtual circle around the first axis are respectively formed so as to be capable of capturing different types of reinforcing plates And the reinforcing plate stocker is a magazine capable of storing a plurality of the reinforcing plates so as to be stacked thereon, and the reinforcing plate feeding device includes a plurality of magazines, a plurality of magazines Wherein one magazine among the plurality of magazines is advanced to the first index position in accordance with the type of the reinforcing plate capturing means associated with the patch head temporarily stopped at the first index position, Magazine switching means for switching the magazine from the first index position

.

Since the reinforcing plate attachment apparatus described in [9] has a plurality of magazines, different types of reinforcing plates (reinforcing plates having different shapes, thicknesses, and shapes) can be stored. In addition, since the magazine switching means is provided, one magazine of the plurality of magazines is advanced to the first index position in accordance with the type of the reinforcing plate capturing means attached to the attaching head temporarily stopped at the first index position, It is possible to exit from the first index position. Thus, depending on the kind of the reinforcing plate handled by the reinforcing plate capturing means, it is possible to move the magazine switching means and supply the reinforcing plate of the appropriate kind.

That is, according to the reinforcing plate attaching apparatus described in the above [9], by providing the reinforcing plate capturing means 22 and the magazine 43 corresponding to the different types of reinforcing plates assumed beforehand, The reinforcing plates Wa, Wb and Wc of different kinds can be stuck together without preparing the reinforcing plates Wa, Wb and Wc. Therefore, it is possible to improve the operation rate of the whole apparatus, and moreover, it becomes a reinforcing plate attaching apparatus with high production efficiency.

[10] In the reinforcing plate applying apparatus of the present invention, the pivoting member performs an operation of rotating in the forward direction at an angular pitch of 120 ° two times and then rotating in the reverse direction at an angular pitch of 240 ° .

The reinforcing plate attachment apparatus described in the above [10] performs an operation of rotating the body in the reverse direction at an angular pitch of 240 after repeating the operation of rotating the body in the forward direction at an angular pitch of 120 degrees twice. Since such an operation is performed, it is possible to solve the problem that the electric cable, the tube for pipe, and the like are wound around the first shaft. As a result, disconnection of the electric cable and the tube for pipes can be prevented.

In the reinforcing plate attaching apparatus of the present invention, when viewed from a plane along the first axis, a hypothetical straight line connecting the first axis and the third index position intersects the reinforcing plate attaching device Parallel to the sides of the front side of the apparatus.

It is possible to compactly accommodate the reinforcing plate feeding device arranged at the first index position and the reinforcing plate image processing device arranged at the second index position in the width direction of the device (left and right direction viewed from the front). Therefore, the reinforcing plate attachment device having a good space efficiency as a whole can be obtained.

Fig. 1 is a plan view for explaining an example of the applied patch member RM and the reinforcing plate W. Fig.
Fig. 2 is a perspective view of the reinforcement panel attachment device 1 according to the first embodiment when viewed from the right side of the oblique direction. Fig.
Fig. 3 is a view for explaining the reinforcing plate applying apparatus 1 according to the first embodiment.
Fig. 4 is a side view of the main part shown for explaining the patch head 20 of the first embodiment.
5 is a side view of a main part for illustrating the reinforcing plate feeding device 40 of the first embodiment.
6 is a view for explaining the pickup process of the reinforcing plate stocker 42 and the reinforcing plate.
7 is a side view of a main portion for illustrating a reinforced plate image processing apparatus 50 according to the first embodiment.
Fig. 8 is a side view of the main part shown for explaining the attached part member holding and holding device 60 of the first embodiment and the alignment of the position and the alignment of the posture.
9 is a view for explaining a pressing process of the reinforcing plate.
10 is a flowchart showing the operation of the reinforcing plate applying apparatus 1 according to the first embodiment and the steps relating to the reinforcing plate applying unit.
Fig. 11 is a view for explaining the reinforcing plate applying apparatus 2 according to the second embodiment.
12 is a flowchart showing the operation of the reinforcing plate applying apparatus 2 according to the second embodiment and the steps relating to the reinforcing plate applying section.
13 is a block diagram for illustrating the lighting device 75 of the third embodiment.
14 is a side view of a main portion for illustrating a reinforcing plate attachment device 4 according to the fourth embodiment.
Fig. 15 is a side view of a main portion for illustrating the leveling operation of the reinforcing plate bonding apparatus 5 according to the fifth embodiment.
16 is a plan view for explaining the defective-product discharging portion 83 of the reinforcing-plate-bonding apparatus 6 according to the sixth embodiment.
17 is a plan view for explaining a reinforcing plate bonding apparatus 7 according to a first modification.
18 is a schematic diagram showing a reinforcing plate applying apparatus 8 according to a second modification.
19 is a schematic diagram showing a reinforcement panel attaching apparatus 9 according to a third modification.
20 is a diagram showing a configuration of the component mounting apparatus 900 described in Patent Document 1. In Fig.

Hereinafter, a reinforcing plate attaching device of the present invention will be described based on the embodiments shown in the drawings. In addition, each drawing is a schematic diagram and does not necessarily reflect actual dimensions strictly.

[Embodiment 1]

One. The attached patch  Member and reinforcing plate

First, a description will be given of an object to be attached and a reinforcing plate to be handled by the reinforcing plate attachment device 1. Fig. Fig. 1 is a plan view for explaining an example of the applied patch member RM and the reinforcing plate W. Fig.

The attached rack member RM may be any member as long as it is a member requiring reinforcement. The attached workpiece RM is typically in the form of a flat plate and can be mounted on the upper surface of the first xy table 62 (described later) or the second xy table 64 (described later).

As a specific example of the attached patch member RM, there can be mentioned an individual FPC board. At this time, a flat FPC jig (not shown) in which a plurality of concave portions capable of dropping the individual FPC boards one by one is formed. Then, the FPC board is prepared beforehand in the concave portions thereof (not shown). The plurality of FPC boards are simultaneously placed on the first xy table 62 or the second xy table 64 by stacking such trays for each tray on the upper surface of the first xy table 62 or the second xy table 64 can do.

As shown in Fig. 1, for example, as shown in Fig. 1, a plurality of FPC boards (FPC1, FPC2, FPC3, FPC4, etc.) are integrally joined to each other with a material such as polyimide, Or " aggregates of a plurality of FPC boards "

A plurality of predetermined positions (attaching positions) to which the reinforcing plate W is to be affixed are set in the object attaching member RM (see the marks Pa, Pb and Pc indicated by dotted lines in Fig. 1).

On the other hand, the reinforcing plate W reinforces the object RM. The purpose of attaching the reinforcing plate W is mechanical reinforcement, heat dissipation, electronic shielding, etc. of the object RM. However, it is not limited to these. The reinforcing plate W may be any as long as it is suitable for any of the above purposes. For example, a flat plate of metal (stainless steel, aluminum, etc.) can be used.

The shape and thickness of the reinforcing plate W are appropriately changed according to the purpose or the shape of the region to be reinforced. In some cases, a plurality of kinds of reinforcing plates W having different shapes and thicknesses are attached to one FPC board (see the signs Wa, Wb and Wc in Fig. 1).

2. Structure of reinforcing plate bonding apparatus 1 according to Embodiment 1

(1) Basic structure of reinforcing plate attaching device (1)

Fig. 2 is a perspective view of the reinforcement panel attachment device 1 according to the first embodiment when viewed from the right side of the oblique direction. Fig. Fig. 3 is a view for explaining the reinforcing plate applying apparatus 1 according to the first embodiment. Fig. 3 (a) is a plan view of the reinforcement panel attachment device 1 when viewed from above, and Fig. 3 (b) is a front view of the reinforcement panel attachment device 1 when viewed from the front.

The reinforcing plate attaching device 1 is a device for attaching the reinforcing plate W to the object rack RM.

2 and 3, the reinforcing plate attaching apparatus 1 according to the embodiment includes an attaching head 20 having a base 10, a reinforcing plate capturing means 22, A reinforcing plate supplying device 40, a reinforcing plate image processing device 50, and a specimen attaching and holding device 60.

The base 10 is a reference for the first index position IX1, the second index position IX2, the third index position IX3, the xy plane, the first axis AX1, the second axis AX2, the z axis, etc. .

The base 10 may be made of metal or rented using natural materials such as marble. Further, the base 10 may be the ground itself (that is, the pivoting body 30, the reinforcing plate feeding device 40, etc. described later may be directly installed on the bottom surface of the factory).

Here, a plane parallel to the upper surface 10a of the base 10 is defined as an xy plane including x and y axes orthogonal to each other, and a predetermined axis perpendicular to the xy plane is defined as a first axis AX1. The division position on the circumference of a virtual circle C1 on the xy plane centered on the first axis AX1 and divided into three equal parts is divided into a first index position IX1, a second index position IX2, And is defined as a third index position IX3 (see Figs. 2 and 3).

Further, when viewing the reinforcing plate attachment device 1 from the front, the direction viewed from the front is the + x direction, the vertical direction is the direction perpendicular to the + z direction, the + x direction and the + z direction, + Y direction, and + z direction as a clockwise direction when viewed along the + z direction. Incidentally, the directions on the opposite sides of the respective directions are collectively denoted by - (for example, -x direction).

(2) The attachment head 20

The attaching head 20 has a reinforcing plate capturing means 22 for capturing the reinforcing plate W. The reinforcing plate capturing means 22 moves up and down along the z axis parallel to the first axis AX1 W to be picked up and squeezed. Further, the attaching head 20 enables the posture of the reinforcing plate W to be changed by rotating the reinforcing plate capturing means 22 in the? Direction (+? Direction or-? Direction) around the z-axis.

Fig. 4 is a side view of the main part shown for explaining the patch head 20 of the first embodiment.

The concrete structure of the reinforcing plate capturing means 22 and the patch head 20 will be described below with reference to Fig.

The reinforcing plate capturing means (22) is means for capturing the reinforcing plate (W). The reinforcing plate capturing means 22 may have any structure as long as it picks up the reinforcing plate W, holds the picked up reinforcing plate W, and can appropriately perform separation of the reinforcing plate W. [ Here, a vacuum chuck 23 is used. The vacuum chuck 23 is provided with a suction port 23a at its tip end (lower surface in FIG. 4). Air is sucked from the suction port 23a through the gas flow path 23b from the main body side of the patch head 20 so as to suck (catch) the reinforcing plate W at the suction port 23a. Further, the reinforcing plate W is separated (released) by releasing air suction (or extruding air).

The reinforcing plate capturing means 22 of the first embodiment is not limited to the vacuum chuck 23. For example, a mechanism-type chuck in which the reinforcing plate W is mechanically picked and held may be employed.

The attaching head 20 is disposed at a predetermined position of the rotary body 30 (the circumference of a virtual circle C1 centered on the first axis AX1, the details of which will be described later).

The attaching head base 20a serving as a base of the attaching head 20 is provided so as to be connected to the distal end portion (the arm distal end 35) of the pivoting body 30. [ The attachment head base 20a is provided with a servomotor M1 at an upper portion thereof. A ball screw BS is connected to the shaft SH1 which is an output shaft of the servo motor M1. The pivot axis of the ball screw BS is parallel to the first axis AX1 (described later).

The attaching head body 20b is connected to the ball screw BS. The servomotor M1 is driven to rotate the ball screw BS so that the attaching head body 20b is moved along the z axis parallel to the first axis AX1 Move up and down.

The attaching head main body 20b is provided with a servomotor M2 at its upper portion and a reinforcing plate capturing means 22 (vacuum chuck 23) at its lower portion. The axis of rotation of the shaft SH2, which is the output shaft of the servo motor M2, constitutes a z-axis parallel to the first axis AX1. The reinforcing plate capturing means 22 (vacuum chuck 23) is connected to the front end of the shaft SH2. The servomotor M2 is driven to rotate the shaft SH2 so that the reinforcing plate capturing means 22 (the vacuum chuck 23) In the? Direction around the z-axis.

A reducer may be interposed between the servomotors M1, M2 and the shafts SH1, SH2.

As described above, the application head 20 moves up and down along the z-axis of the application head body 20b, thereby making it possible to pick up and press the reinforcing plate W. [ Further, the reinforcing plate capturing means 22 (the vacuum chuck 23) is rotated in the? Direction around the z-axis, thereby enabling the attitude of the reinforcing plate W captured by the reinforcing plate capturing means 22 to be changed.

As the concrete means for moving the attaching head main body 20b up and down along the z-axis, it is preferable to use the servo motor M1 described above. The attaching head 20 may be moved by the servomotor M1 such that the lowering speed of the attaching head 20 after the reinforcing plate W contacts the object rack RM is made smaller than the lowering speed until the contact is made, And the width of the press-in at the time of pressing (width at which the reinforcing plate W is further press-fitted after the contact of the reinforcing plate W with the object to be attached RM) can be appropriately adjusted.

It is also preferable that the rotation of the reinforcing plate capturing means 22 (vacuum chuck 23) in the? Direction can be rotated at least 180 degrees with respect to each of the forward direction (+? Direction) and the reverse direction (-theta direction). If the attitude can be arbitrarily set with respect to all the angles (360 degrees) in this manner, even when the pattern of the FPC board (the attached object member RM) is reversed, the FPC board and the reinforcing plate W can be properly So that alignment can be performed.

Here, the " pattern-inverted FPC board " refers to the same shape as one reference FPC board, but is rotationally symmetrical about a predetermined axis with respect to one reference FPC board It says. For example, in Fig. 1, the FPC 2 is an FPC substrate whose pattern is inverted with respect to the FPC 1.

(3) Pivot body (30)

On the circumference of a virtual circle C1 centered on the first axis AX1, the rotary body 30 is provided with a plurality of attachment heads 20 at an equi-angular pitch when one circumference is divided into three equal parts. When the rotary body 30 is rotated about the first axis AX1, the appendix head 20 is temporarily moved in the order of the first index position IX1, the second index position IX2, and the third index position IX3 on the base 10 So as to intermittently rotate (see Fig. 3 (a), etc.).

An example of a specific configuration of the rotary member 30 will be described next with reference to Figs. 2 and 3. Fig.

A rotor body 32 is disposed on the base 10. An intermittent drive motor (not shown) is incorporated in the rotary body base 32. A shaft (not shown) that rotates in conjunction with the output shaft of the intermittent drive motor is opened above the rotary body base 32, and the rotary body 30 is connected to the shaft. Further, a speed reducer may be interposed between the intermittent drive motor and the shaft.

The rotary body 30 is constituted by three arms 34 extending radially from the center of the first axis AX1 while maintaining an opening of 120 degrees with each other and connected to each other in the vicinity of the first axis AX1. On the circumference of a virtual circle C1 centered on the first axis AX1, the tip of the arm 34 (arm tip end 35) is equiangularly spaced at an equi-degree pitch (120 pitch) Three such attachment tables 20 are arranged.

When the intermittent driving motor is driven, the arm 34 and the patch head 20 can be rotated along the circumferential direction of the circle C1. The intermittent driving motor is intermittently driven and appropriately controlled so that the patch head 20 is temporarily stopped in the order of the first index position IX1, the second index position IX2 and the third index position IX3 on the base 10 It can be intermittently pivoted.

Here, the term " pivoting " refers to an operation that can be turned in any direction of the forward direction and the reverse direction. For reference, it is assumed that the rotation only in one direction is called " rotation " or " turning ".

Further, the three attachment heads 20 are arranged so that the distance between the attachment head 20 (in particular, the reinforcing plate capturing means 22) and the first axis AX1 are equal to each other. In other words, the three arms 34 on which the patch head 20 with the reinforcing plate capturing means 22 are disposed have the same richness.

By doing so, when the patch head 20 is temporarily stopped at the first index position IX1, the second index position IX2, or the third index position IX3, the reinforcing plate capturing means belonging to any one of the three arms 34 22) can always be stopped at the same position. Therefore, it is not necessary to specifically operate the attaching head 20 in the xy direction on the attaching head 20 side, and it is possible to perform the pickup step of the reinforcing plate and the pressing step ) Can be performed. Since the operation is simple, it is easy to shorten the cycle time, and it becomes a reinforcing plate attachment device which is easy to maintain precision. Also, the structure of the attaching head 20 can be simplified and a space saving and cost-saving reinforcing plate attaching device can be obtained.

The specific structure of the rotary body 30 has been described above by the arm 34, but the present invention is not limited thereto. For example, it may be a structure in which a sticking head is disposed on a table on a disk.

(4) Reinforcing plate supply device (40)

5 is a side view of a main part for illustrating the reinforcing plate feeding device 40 of the first embodiment. The reinforcing plate lifting unit 45 is schematically shown by arrows. 6 is a view for explaining the pickup process of the reinforcing plate stocker 42 and the reinforcing plate.

The reinforcing plate supplying device 40 is disposed at a position corresponding to the first index position IX1 and is provided with a reinforcing plate W to be picked up from the reinforcing plate stocker 42 in which the reinforcing plate W is stocked, To the head 20 (see Fig. 5).

The reinforcing plate supply device 40 includes a reinforcing plate stocker 42 and a means for supplying a reinforcing plate W to be attached to the application head 20 from the reinforcing plate stocker 42 to the application head 20 Omitted).

The reinforcing plate stocker 42 may be any material as long as it is to stock a plurality of reinforcing plates W.

The reinforcing plate stocker 42 is preferably a magazine type stocker (so-called magazine) capable of storing a plurality of reinforcing plates W therein. This is because the magazine is suitable for containment, transportation, push-up, etc. of the reinforcing plate W. For example, a magazine 43 of the type shown in Fig. 6 (a) can be employed. The magazine 43 has a general shape and stores a plurality of reinforcing plates W so as to be stacked along the inner wall of the container. It is also preferable that the magazine 43 is structured so as to be divided into a magazine frame 43a and a magazine frame 43b along the direction of the stacking. It is easy to set the reinforcing plate W.

Basically, a plurality of reinforcing plates (reinforcing plates of the same kind) having the same shape, thickness and the like are stored in one magazine 43.

As the means for supplying the reinforcing plate W to be attached to the application head 20 from the reinforcing plate stocker 42 to the application head 20 (not designated), for example, the reinforcing plate elevating unit 45, Can be adopted.

The reinforcing plate elevating unit 45 has a function of pushing up the reinforcing plate W upward and is pushed upward from below the reinforcing plate group loaded on the magazine 43 by the pushing stick 46, . The reinforcing plate W1 of the uppermost layer is exposed to the upper surface of the magazine 43 when the pushing-up stick 46 pushes up the group of the reinforcing plate upward. See Figs. 5 and 6 (a). 6 (c) and 6 (d)), the attaching head 20 (more specifically, the reinforcing plate capturing means 22) can pick up the exposed uppermost reinforcing plates W1 one by one. . In this manner, the reinforcing plate feeding device 40 can supply the reinforcing plate W to be the object of picking up the patch head 20 to the patch head 20.

The reinforcing plate lifting unit 45 may be configured to push the lifting stick 46 up and down by pushing the servomotor and a ball screw transport mechanism (not shown). By using the servo motor, even when the reinforcing plate of different thickness is formed, the amount of pushing can be changed flexibly appropriately.

It is preferable that the reinforcing plate supply device 40 has a plurality of magazines 43 and a magazine switching means 44 in which the plurality of magazines 43 are loaded.

The plurality of magazines 43 store different kinds of reinforcing plates W.

The magazine switching means 44 is capable of loading a plurality of magazines 43. The magazine switching means 44 is provided with a plurality of magazines 43 in accordance with the type of the reinforcing plate capturing means 22 included in the attaching head 20 temporarily stopped at the first index position IX1 One of the magazines 43 of the magazine 43 is advanced to the first index position IX1 while the other magazine is withdrawn from the first index position IX1.

The magazine switching means 44 may be configured as shown in Fig. 3 (a) and Fig. 5, for example. Namely, the magazine mounting portion 44a is provided on the upper surface so that the three magazines 43 ₁ , 43 ₂ and 43 ₃ can be stacked, and these three magazines 43 ₁ , 43 ₂ and 43 ₃ are arranged (Direction parallel to the x-axis). Assuming that the reinforcing plate W stored in the current magazine 43 ₁ is picked up and that the reinforcing plate W to be picked up next time is stored in the magazine 43 ₃ , Moves the magazine 43 ₁ in the + x direction and withdraws it from the first index position IX1, and moves the magazine 433 supplied by the next-time reinforcing plate to the right to advance to IX1.

In the above description, the magazine 43 is used as the reinforcing plate stocker 42, but the invention is not limited thereto. For example, a so-called component feeder may be used.

(5) Reinforced plate image processing device (50)

The reinforcing plate image processing apparatus 50 has a first camera 52 for introducing an image including a reinforcing plate W at a position corresponding to the second index position IX2, Image processing is performed by introducing an image, and information on the position and attitude of the reinforcing plate W with respect to the attaching head 20 is calculated (see Fig. 7).

7 is a side view of a main portion for illustrating a reinforced plate image processing apparatus 50 according to the first embodiment.

An example of a concrete configuration of the reinforcing plate image processing apparatus 50 will be described next with reference to Figs. 2, 3A and 7. Fig.

The main constituent elements of the reinforcing plate image processing apparatus 50 are arranged at positions corresponding to the second index position IX2. A first camera 52 is disposed below the second index position IX2. The first camera 52 introduces an image including the reinforcing plate W captured by the reinforcing plate capturing means 22 from below. It is preferable that the optical axis of the first camera 52 and the axis of vertical movement (z axis) of the attaching head 20 which temporarily stops at the second index position IX2 are coaxial. A first lens 56 is disposed between the first camera 52 and the reinforcing plate capturing means 22. Further, a first illumination 55 is disposed between the first camera 52 and the first lens 56. The first illumination 55 illuminates an object captured by the stiffening plate capturing means 22 temporarily stopped at the second index position. The first illumination 55 is preferably a ring-shaped illumination.

The reinforcing plate image processing apparatus 50 performs image processing of an image (an image corresponding to the reinforcing plate W) of the object captured by the reinforcing plate capturing means 22 by the first camera 52. [ Concretely, processing such as binarization is performed to extract the outline of the object. The reinforcing plate image processing apparatus 50 calculates information about the position and posture of the object (the reinforcing plate W) with respect to the attaching head 20 based on such image processing. Concretely, for example, when the object (the reinforcing plate W) is displaced to some extent with respect to the attaching head capturing the object (the reinforcing plate W) and the amount of displacement . If the displacement amount is calculated, the value can be immediately reflected in the alignment amount of the alignment of the position and the alignment of the posture (all of which will be described later).

The information calculated by the reinforcing plate image processing apparatus 50 is not limited to the amount of displacement (relative amount). For example, the absolute position (the coordinates of the x-axis and the y-axis) and the posture (the coordinates of the? -Axis) of the object (the reinforcing plate W) may be calculated.

(6) The attached patch  The member retention device (60)

Fig. 8 is a side view of the main part shown for explaining the attached part member holding and holding device 60 of the first embodiment and the alignment of the position and the alignment of the posture. 9 is a view for explaining a pressing process of the reinforcing plate. Fig. 9 shows a cross-sectional view of the area indicated by the line A-A in Fig. 9 (a) shows a state before the reinforcing plate is squeezed, Fig. 9 (b) shows a state where the reinforcing plate is squeezed at the top, and Fig. 9 (c) Respectively. In Fig. 9 (b), the indication of the patch head 20 (including the reinforcing plate capturing means 22) is omitted.

As shown in Figs. 8 and 3, the attached member holding apparatus 60 is disposed at a position corresponding to the third index position IX3, holds the applied patch member RM on the upper surface thereof, And a first xy table 62 for allowing the attachment member RM to move along the xy plane and for receiving the pressing of the reinforcing plate W by the attachment head 20 at a predetermined position of the retained supporting object RM will be.

The first xy table 62 can hold the object assembly RM on the upper surface thereof. Once the object rack RM is held by the first xy table 62, the position and posture relationship with the first xy table 62 is fixed (does not deviate).

The first xy table 62 may move along the xy plane.

Concretely, for example, a y-rail slidable along the y-axis is prepared, and a driving force is given to the first xy table 62 along the y-axis by a y servo motor (not shown). An x-rail slidable along the x-axis is prepared, and a driving force is given to the first xy table 62 along the x-axis by an x-servo motor (not shown), and this is mounted on the x-rail. The first xy table 62 can be arbitrarily moved along the xy plane by rotating the x servomotor and the y servomotor appropriately in the forward or reverse direction (see FIG. 3).

When the first xy table 62 moves along the xy plane, the applied adhesive member RM held by the first xy table 62 moves along the xy plane with this, and the position of the applied adhesive member RM Can be changed.

The attached application part holding and holding device 60 holds the attached application part RM in a predetermined position Pa, Pb, Pc (refer to Fig. 1 also) of the applied application part RM, Lt; / RTI >

(7) The reinforcing plate attachment device (1) Alignment  And the function of the attachment

The reinforcing plate attachment device 1 is a device for attaching the reinforcing plate W to a predetermined position (attaching position) of the applied object RM to which the reinforcing plate W is to be attached when the attaching head 20 capturing the reinforcing plate W is stopped at the third index position IX3 The first xy table 62 is moved on the basis of the information and the information about the position of the reinforcing plate W calculated by the reinforcing plate image processing apparatus 50 so as to align the position of the reinforcing plate in the xy plane (See FIG. 8).

Here, "alignment of position" refers to an operation of aligning the position of the reinforcing plate W captured by the sticking head 20 with a predetermined position (sticking position) of the applied plate member RM to which the reinforcing plate W is to be stitched .

The reinforcing plate attaching device 1 is configured such that when the attaching head 20 capturing the reinforcing plate W is stopped at the third index position IX3, the posture of the reinforcing plate W, which is calculated by the reinforcing plate image processing device 50, , The attachment head 20 is configured to be rotated in the? Direction (+? Direction or-? Direction) to align the posture of the reinforcing plate W,

Here, "alignment of posture" refers to alignment of the attitude (i.e., inclination) of the reinforcing plate W captured by the attaching head 20 and a predetermined position (attaching position) of the attached member RM to which the reinforcing plate W is to be attached Is an operation of matching the slope of the reference point.

The reinforcing plate attachment device 1 descends the attaching head 20 along the z-axis and refers to a predetermined position (attaching position) Pa (see FIG. 9A) of the object RM to which the adhesive Rs has been applied The reinforcing plate W is pressed against the object to be attached RM by loading the reinforcing plate W in the form of covering the upper surface of the reinforcing plate W from the upper side have.

In the case where the reinforcing plate attachment device 1 is configured to heat the reinforcing plate W through the reinforcing plate capturing means 22 by a heater 81 described later, The adhesive Rs is softened or melted by heat, and the adhesive Rs is fused to the shape of the reinforcing plate W and hardened.

As described above, the reinforcing plate attachment device 1 is configured such that the reinforcing plate W is pressed and attached to a predetermined position (attaching position) of the applied piece RM. See Fig. 9 (c).

Signals related to the operation cooperation between the reinforcing plate supplying device 40, the reinforcing plate image processing device 50, the applied part holding device 60, the rotary body 30, the patch head 20, etc. The information about the alignment is exchanged through the entire control unit (not shown). The entire control unit may be realized by, for example, implementing a so-called PLC (Programmable Logic Controller).

The reinforcing plate image processing apparatus 50, the applied plate member holding and holding apparatus 60, and the rotary member 30 (not shown) ), The patch head 20, and the like, the information about the signal or alignment relating to the operation cooperation may be directly exchanged between the two apparatuses which need to be replaced.

(8) xy  table Batch conversion  Unit 66,

2 and 3, the xy table layout switching unit 66 will be described.

The attached member holding and holding apparatus 60 further includes a second xy table 64 having a configuration equivalent to that of the first xy table 62 and also has an xy table layout switching unit 66. [

The xy table layout switching unit 66 loads the first xy table 62 and the second xy table 64 and loads the first xy table 62 between the third index position IX3 and the patch member replacement position SRP. The first xy table 62 and the second xy table 64 are arranged so that the first xy table 64 and the second xy table 64 are alternately arranged.

The attached work piece holding and holding apparatus 60 and the xy table placement switching unit 66 contained therein may be realized in any configuration as long as the above function is satisfied.

For example, the xy table layout switching unit 66 is a turntable 66a rotatable about a predetermined second axis AX2 perpendicular to the upper surface 10a of the base 10, and the first xy table 62 and the The second xy table 64 is preferably an upper surface of the turntable 66a, and is preferably mounted at rotationally symmetric positions around the second axis AX2 (see Fig. 3).

When the first xy table 62 is disposed at the third index position IX3, the second xy table 64 is disposed at the applied member replacement position SRP on the opposite side via the second axis AX2. When the turntable 66a is rotated 180 degrees from this state, the first xy table 62 is moved out of the third index position IX3 and moved to the attached member replacement position SRP. In association with this, the second xy table leaves the applied part member replacement position SRP and advances to the third index position IX3.

When either one of the first xy table 62 or the second xy table 64 is disposed at the third index position IX3, the movable range of the one table is the R1 (see Fig. 3A) As shown in Fig. The movable range R1 of this one table is designed so as not to interfere with the other table disposed at the applied member replacement position SRP.

(9) Heater (81)

It is preferable that a heater 81 for heating the reinforcing plate W caught in the attaching head 20 is disposed. See FIGS. 4 and 9 (c).

The path between the heater 81 and the portion in contact with the reinforcing plate W in the reinforcing plate capturing means 22 is made of, for example, a metal material and configured to conduct heat. Thus, the heat from the heater 81 arranged on the application head 20 can be conducted to the reinforcing plate capturing means 22 to heat the reinforcing plate capturing means 22.

The heater 81 is normally on.

4 and 9C, the heater 81 is disposed inside the patch head main body 20b, but the present invention is not limited thereto. For example, it may be disposed inside or around the reinforcing plate capturing means 22 (vacuum chuck 23).

(10) Device Layout

3 (a), when viewed from the plane along the first axis AX1, the hypothetical straight line connecting the first axis AX1 and the third index position IX3 is a straight line connecting the reinforcing plate (Including substantially parallel) with respect to the side of the front surface of the patch device 1.

In other words, when the rotary body 30 is temporarily stopped, one of the three arms 34 passes through the first axis AX1 and is parallel to the side of the front face of the reinforcing plate attachment 1 have. The one arm 34, the third index position IX3, the second axis AX2, and the adhesive patch member replacement position SRP are arranged substantially in a straight line. Each of the two remaining arms 34 forms an angle of 60 DEG with respect to the side of the front face of the reinforcing plate attachment device 1. [

3. Operation of the reinforcing plate bonding apparatus 1 according to the first embodiment and processes relating to the reinforcing plate bonding portion

10 is a flowchart showing the operation of the reinforcing plate applying apparatus 1 according to the first embodiment and the steps relating to the reinforcing plate applying unit. Hereinafter, the operation of the reinforcing plate applying apparatus 1 according to the first embodiment and the steps related to the reinforcing plate applying unit will be described using Fig. Here, it is assumed that a rotary member 30 of a female type is used.

(1) Rotation of the rotary body 30 for one index

The rotary member 30 is rotated to a position advanced by one index (120 DEG) (S500). Then, the patch head 20 disposed at the arm distal end 35 of each of the three arms temporarily stops at the first index position IX1, the second index position IX2, and the third index position IX3, respectively. a) See also ".

(2) Pick-up process of reinforcing plate

The reinforcing plate supply device 40 prepares the reinforcing plate W1 in advance so as to supply the reinforcing plate W1 by exposing the uppermost reinforcing plate W1 (S120). For example, according to the type of the reinforcing plate capturing means 22 included in the attaching head 20 stopped at the first index position IX1, one magazine of the plurality of magazines 43 advances to the first index position IX1 , And causes another magazine to be withdrawn from the first index position IX1. Then, the reinforcing plate group stacked on the magazine 43 is pushed upward from the bottom to expose the uppermost reinforcing plate W1 (see also Fig. 5).

The attaching head 20 stopped at the first index position IX1 is lowered along the z axis (S130), waiting for the completion of the supply preparation S120 of the reinforcing plate.

If the reinforcing plate capturing means 22 moves to the position where the reinforcing plate W1 of the uppermost layer can be caught by the lowering of the attaching head 20, the reinforcing plate W is captured continuously (S140). For example, when the reinforcing plate capturing means 22 is the vacuum chuck 23, the vacuum chuck 23 is evacuated from the side of the attaching head body 20b to adsorb the uppermost reinforcing plate W1 at the suction port 23a (See also Fig. 6).

Subsequently, the attachment head 20 is lifted along the z-axis (S150).

(3) Heating process of reinforcing plate

After the attaching head 20 (more specifically, the reinforcing plate capturing means 22) picks up the reinforcing plate W, the heating of the reinforcing plate W is started. The heating of the reinforcing plate W is appropriately continued until the subsequent pressing process of the reinforcing plate.

(4) Detecting the position and attitude of the reinforcing plate (image processing of the reinforcing plate)

It is determined whether or not the attaching head 20 stopped at the second index position IX2 captures an object (not limited to the reinforcing plate W) (S210). For example, by a vacuum sensor of the vacuum chuck 23 or the like.

Subsequently, when the attaching head 20 captures the reinforcing plate W, the first camera 52 introduces an image including the reinforcing plate W at the position corresponding to the second index position IX2 (S220) .

Subsequently, the reinforcing plate image processing apparatus 50 performs image processing on the reinforcing plate W captured by the reinforcing plate capturing means 22 (S230).

Subsequently, the reinforced plate image processing apparatus 50 calculates information about the position and attitude of the reinforcing plate W with respect to the applied patch head 20 based on such image processing (S240). Information on the position and attitude of the reinforcing plate W is stored in the first memory MEM1 in some form, and is passed to a pressing process of a reinforcing plate as a subsequent process.

(5) Pressing process of reinforcing plate

It is determined whether the attaching head 20 stopped at the third index position IX3 has captured the reinforcing plate W (S310).

a) Alignment of posture and position

Subsequently, when the attaching head 20 catches the reinforcing plate W, the posture alignment of the reinforcing plate W is performed (S320). More specifically, first, information about the posture of the reinforcing plate W is read from the first memory MEM1. Subsequently, based on the read information on the posture of the reinforcing plate W, the servomotor M2 is rotated by a required amount, the reinforcing plate capturing means 22 is rotated in the? Direction (+? Direction or? , And aligns the posture between the reinforcing plate W and the attaching position of the object rack RM.

Subsequently, position alignment of the reinforcing plate W is performed (S330). More specifically, first, information about the posture of the reinforcing plate W is read from the first memory MEM1. Subsequently, based on the information about the position of the reinforcing plate W, the xy table disposed at the third index position IX3 of the first xy table 62 or the second xy table 64 is moved along the xy plane by a necessary correction amount And aligns the position between the reinforcing plate W and the attaching position of the workpiece attaching member RM.

The order of performing the reinforcing plate posture alignment S320 and the reinforcing plate position alignment S330 may be reversed. As a result of calculation by the reinforcing plate image processing apparatus 50, even if the correction amount of the position is 0, it is assumed that alignment is performed during position alignment. Likewise, even if the amount of correction of the posture is 0 as a result of calculation by the reinforcing plate image processing apparatus 50, it is assumed that the posture is included in the alignment.

b)

Subsequently, the applicator head 20 is lowered along the z-axis. When the reinforcing plate W caught by the lowering of the sticking head 20 reaches a predetermined position (sticking position) of the packaged member RM, an appropriate pressure is applied in the + z direction and the reinforcing plate W is pressed against the packaged member RM (S340). At this time, when the adhesive Rs is a thermosetting adhesive, heat is transferred from the preheated reinforcing plate W to the adhesive Rs, and the adhesive Rs is softened or melted and fused to the shape of the reinforcing plate W to be cured. So that the reinforcing plate W and the workpiece RM are adhered to each other and are adhered to each other. See also Fig. 9 (c).

As described above, the reinforcing plate W is attached to the applied plate member RM.

(6) Rotation of the pivoting body 30 for one index

The process of picking up the reinforcing plate at the first index position IX1, the process of detecting the position and attitude of the reinforcing plate at the second index position IX2, and the process of pressing the reinforcing plate at the third index position IX3 are completed, And the rotary body 30 is again rotated to a position advanced by one index (120 DEG) (S500).

(1) to (6) are repeatedly performed (S520) until the application of the reinforcing plate W is completed with respect to the applied adhesive member RM disposed at the present third index position IX3. In addition, the information of the predetermined position (attaching position) to which the reinforcing plate W is to be attached is managed in the second memory MEM2 in some form.

(7) Conversion of xy table

When it is judged that the attached portion W of the reinforcing plate W has been completely finished with respect to the applied patch member RM disposed at the third index position IX3, the arrangement of the first xy table 62 and the second xy table 64 is switched (S600). Specifically, either one of the first xy table 62 or the second xy table 64 is moved from the third index position IX3 to the attached member replacement position SRP, and the other table is replaced with the attached member replacement And moves from the position SRP to the third index position IX3.

In the attached member replacing position SRP, since the attached plate member RM 'having the reinforcing plate attachment finished on the moved xy table is held, the attached plate member RM' finished with the reinforcing plate attachment is removed from the xy table can do. After that, the workpieces RM " in a state before the reinforcement plate is attached can be supplied to the xy table after that. In this way, the workpieces can be replaced at the workpieces part replacement position SRP (S700 The replacement of the applied adhesive member may be performed by a person (operator) or by an automatic machine such as a robot.

Each of the above-described steps (2) to (5) (the main steps of the reinforcing plate attachment) is carried out simultaneously in parallel on each of the attachment heads 20 disposed in the three arms 34. Then, the reinforcing plate W is transported to the next index position by the one-index rotations (1) and (6) of the rotary body 30, and each step is executed at the new index position. As these are repeated, an operation of affixing a plurality of reinforcing plates to the applied member proceeds.

In the meantime, in the applied member replacing position SRP, the member removal / supply of the workpieces can be performed in an independent state separated from the progress of the main process of the reinforcing plate attachment.

(8) Control of the rotary body 30

Further, it is preferable that the rotary body 30 performs an operation of rotating in the forward direction at an angular pitch of 120 deg., And then rotating in the reverse direction at an angular pitch of 240 deg.

This will be described in detail with reference to Fig. 3 (a). For example, when paying attention to one of the three arms 34 (more precisely, the appendix head 20 disposed at the arm distal end 35), the appendix head 20 is moved to the first index position IX1 To the second index position IX2, the rotary body 30 is rotated counterclockwise by 120 degrees. Subsequently, when moving from the second index position IX2 to the third index position IX3, the rotary body 30 is similarly rotated counterclockwise by 120 degrees. When moving from the third index position IX3 to the first index position IX1, it is rotated clockwise by 240 degrees.

(9) Other

Further, the heating of the reinforcing plate W, the image reading of the applied member, and the detection of the position and attitude of the applied member, the? Correction (rotation in the? Direction) of the reinforcing plate W, the xy correction It is preferable that the rotation of the rotary body 30 is performed while the rotary body 30 is rotated by one index (for example, movement of the rotary body 30), discharge of defective articles (to be described later) . This is because if the above operation is performed while the rotary body 30 is rotated by one index, the waiting time of the main process can be reduced or eliminated.

4. Effect of reinforcement panel attachment device 1 according to Embodiment 1

(1) The reinforcing plate bonding apparatus 1 according to the first embodiment includes a first xy table 62, a second xy table 64 having a configuration equivalent to that of the first xy table 62, The first xy table 62 and the second xy table 64 are loaded and the first xy table 62 and the second xy table 64 are alternately arranged between the third index position IX3 and the applied member replacement position SRP, And an xy table layout switching unit 66 for switching the arrangement of the first xy table 62 and the second xy table 64.

Therefore, in the independent state separated from the progress of the main process (pickup of the reinforcing plate, detection of the position and attitude of the reinforcing plate, and pressing) of the reinforcing plate attachment device 1, It is possible to replace the workpieces RM 'and RM " concurrently with the process.

That is, with respect to the main process, there is no need to stop and wait for the process to be performed only for replacing the applied adhesive member, and the waiting time (loss time) of the main process until the replacement of the applied adhesive member is completed can be reduced . In other words, it is possible to replace the applied plate member (work order of the applied plate member) without substantially affecting the cycle time of the main process. As a result, the reinforcing plate attachment apparatus having high production efficiency is obtained.

(2) In the reinforcing plate attaching apparatus 1 according to the first embodiment, the xy table arrangement switching unit 66 is a turntable 66a, and the first xy table 62 and the second xy table 64, Is an upper surface of the turntable 66a and is respectively mounted at rotationally symmetric positions about the second axis AX2.

Therefore, for example, when the turntable 66a is rotated, the first xy table 62 is moved to the third index position IX3 and the second xy table 64 is moved to the third index position IX3, And moves to the member replacement position SRP. Therefore, only by rotating the turntable 66a by 180 degrees, the object to be attached can be replaced at the same position (object applying member replacement position SRP). It becomes a reinforcing plate attaching device of high workability, and in addition, it becomes a reinforcing plate attaching device of high production efficiency.

The attached portion member replacement position SRP is set such that the third index position IX3 in which the attaching head 20 moves up and down and the movable range R1 of the pivoting body in which the pivoting body 30 is rotating are positioned between the second axis AX2 And is located on the opposite side. Therefore, it is possible to safely carry out the replacement work of the object to be attached at a position sufficiently away from the place where the mechanical element is moving.

(3) In the reinforcing plate attaching apparatus 1 according to the first embodiment, a heater 81 for heating the reinforcing plate W caught in the attaching head 20 is disposed.

This makes it possible to heat the reinforcing plate capturing means 22 by conducting the heat from the heater 81 disposed on the attaching head 20 to the reinforcing plate capturing means 22. [ As a result, heating of the reinforcing plate W can be started from the stage in which the attaching head 20 (more specifically, the reinforcing plate capturing means 22) picks up the reinforcing plate W, and the temperature of the reinforcing plate W Can be sufficiently raised in advance. In the step of the pressing process, the thermosetting adhesive previously applied to the predetermined position of the workpiece RM can be softened or melted by the sufficient heat accumulated in the reinforcing plate W. Since the temperature of the reinforcing plate W can be increased sufficiently in advance in this way, reliable compression bonding can be performed. Further, the yield is also improved, and therefore, the reinforcing plate attachment apparatus having high production efficiency is obtained.

Further, according to the reinforcing plate applying apparatus 1 of the first embodiment, it is possible to heat the reinforcing plate W in parallel with the progress of the main steps (pickup of the reinforcing plate, detection of the position and attitude of the reinforcing plate and compression) , There is no need to stop and wait for the main process to proceed only to heat the stiffening plate. As a result, the reinforcing plate attachment apparatus having high production efficiency is obtained.

The reinforcing plate applying apparatus 1 according to the first embodiment is configured to heat the side of the reinforcing plate W and is not configured to heat the side of the applied plate member RM. That is, it is not necessary to heat the object RM to a high temperature. Therefore, when the object rack RM 'is removed, the object rack RM' is not heated to a high temperature, so that the operator can safely perform the member removing operation.

For example, in the case of a configuration in which the side of the object RM is heated, a method of waiting for the temperature of the object RM 'to decrease and removing the material is also conceivable. In this method, Need to wait. On the other hand, the reinforcing plate attachment device 1 according to Embodiment 1 is configured to heat the side of the reinforcing plate W by the application head 20, and since the waiting time until the temperature is lowered as described above is lost, The reinforcing plate attachment apparatus having high efficiency is obtained.

(4) In the reinforcement plate attaching apparatus 1 according to the first embodiment, a plurality of attaching heads 20 arranged on the circumference of a virtual circle C1 centered on the first axis AX1, Wa, Wb, and Wc, respectively. The reinforcing plate stocker 42 is a magazine 43 capable of storing a plurality of reinforcing plates so as to be stacked. The reinforcing plate feeding device 40 is configured to be capable of stacking a plurality of magazines 43 and a plurality of magazines 43 and is provided with a reinforcing plate And a magazine switching means 44 for advancing one magazine of the plurality of magazines 43 to the first index position IX1 according to the type of the plate capturing means 22 and for ejecting the other magazine from the first index position IX1 .

As described above, since the reinforcing plate attachment device 1 according to the first embodiment has a plurality of magazines 43, the reinforcing plates Wa, Wb, and Wc of different kinds of reinforcing plates (shape, thickness, Can be stored. In addition, since the magazine switching means 44 is provided, one magazine 43 of the plurality of magazines 43 can advance to the first index position IX1 according to the type of the reinforcing plate capturing means 22. As described above, the magazine switching means 44 can be moved according to the type of the reinforcing plate to be handled by the reinforcing plate capturing means 22, and a proper type of reinforcing plate can be supplied.

That is, the reinforcing plate attaching device 1 according to the first embodiment can provide the reinforcing plate capturing means 22 and the magazine 43 corresponding to different types of reinforcing plates, The reinforcing plates Wa, Wb and Wc of different kinds can be stuck together without performing the procedure of FIG. Therefore, the operation rate of the entire apparatus can be improved, and the reinforcing plate attaching apparatus with high production efficiency can be obtained.

(5) In many cases, an electric cable such as a motor, a heater, a sensor, or a pipe for pipes is connected to the sticking head 20 disposed on the rotary body 30.

The reinforcing plate attachment device 1 according to Embodiment 1 is configured such that after the operation of rotating the pivoting body in the forward direction at an angular pitch of 120 is repeated twice and then the pivoting body is rotated in the reverse direction at an angular pitch of 240 . That is, an operation of returning the twist of the electric cable or the like is performed. Therefore, the electric cable or the like can be prevented from being wound around the first axis AX1. Thereby, disconnection of the electric cable or the like can be prevented.

Conversely, since the rotary body 30 performs the above-described operation, the servomotor can be employed for the z-axis movement and the? -Axis rotation without concern for disconnection of the electric cable or the like. With such a servo motor, it is possible to realize a highly precise attachment (pressing). Accordingly, the probability of success of the patch can be increased, and further, the yield can be improved, and consequently, the reinforcing plate patch device with high production efficiency becomes.

(6) A virtual straight line connecting the first axis AX1 and the third index position IX3 when viewed from the plane along the first axis AX1, is obtained by connecting the reinforcing plate attachment device 1 1) of the front surface.

In other words, one of the three arms 34 is parallel to the side of the front face of the reinforcing plate attachment device 1. Each of the two remaining arms 34 forms an angle of 60 DEG with respect to the side of the front face of the reinforcing plate attachment device 1. [ Since the remaining two arms 34 are not parallel to the sides of the front face of the reinforcing plate attachment device 1 in this way, the reinforcing plate supplying device 40 and the reinforcing plate image processing device 50, The gusset feeder 40 disposed at the first index position IX1 and the gusset plate image processor 50 disposed at the second index position IX2 are arranged in the width direction of the apparatus As shown in Fig.

Therefore, the reinforcing plate feeding device 40 disposed at the first index position IX1 and the reinforcing plate image processing device 50 disposed at the second index position IX2 are arranged in the width direction of the device (left and right as viewed from the front) Can be accommodated compactly. Therefore, the reinforcing plate attachment apparatus can be made space-efficient as a whole.

[Embodiment 2]

Next, the reinforcing plate attachment device 2 according to the second embodiment will be described with reference to Figs. 11 and 12. Fig.

Fig. 11 is a view for explaining the reinforcing plate applying apparatus 2 according to the second embodiment. 12 is a flowchart showing the operation of the reinforcing plate applying apparatus 2 according to the second embodiment and the steps relating to the reinforcing plate applying section.

The reinforcement panel attaching apparatus 2 according to the second embodiment basically has the same configuration as the reinforcement panel attaching apparatus 1 according to the first embodiment but further includes a to-be-attached part member image processing apparatus 70 And is different from the reinforcing plate attachment device 1 according to the first embodiment.

More specifically, the image forming apparatus 70 performs the operation of the first xy table 62 or the second xy table 64 when the reinforcing plate attachment device 2 is viewed in a plane along the first axis AX1 And has a second camera 72 for introducing an image of the object to be attached RM held by the first xy table 62 or the second xy table 64. [ Then, the image processing apparatus 70 introduces an image of the applied piece RM held by the first xy table 62 or the second xy table 64 by the second camera 72, Information about the position and posture of the object applying member RM with respect to the 1 xy table 62 or the second xy table 64 is calculated.

Here, the second camera 72 is normally disposed at a position corresponding to the third index position IX3. Concretely, the second camera 72 is provided with the first xy table 62 or the second xy table 62 so as to be able to introduce the image of the object rack RM held by the first xy table 62 or the second xy table 64 Is located inside the movable range (in plan view) of the second xy table 64 and above the first xy table 62 or the second xy table 64 (see Fig. 11). A second lens 76 accommodated in the lens barrel 77 is disposed between the second camera 72 and the attached member RM. An illumination device 75 is arranged above the applied patch RM to be an image reading object, and illuminates the applied patch RM. The illumination device 75 is preferably a ring-shaped illumination "see FIG. 11 (b)".

The operations related to the applied patch member image processing apparatus 70 are as follows.

The second camera 72 mainly picks up an image of the object RM about an alignment mark (not shown) provided on the object rack RM and introduces the image (S810).

Subsequently, the image processing apparatus 70 performs image processing on the applied patch member RM (S810). Concretely, processing such as binarization is performed to extract the outline of a target region (alignment mark, etc.). Note that the area of interest is not limited to the alignment mark, and for example, the shape of the predetermined position (attachment position) to be attached next time may be noted.

Subsequently, the image processing apparatus 70 calculates information about the position and posture of the object to be attached RM with respect to the first xy table 62 or the second xy table 64 based on such image processing do. In other words, information on the position and posture of the held attached object RM actually held is calculated (S820). For example, with respect to the position and posture that should be originally held in the first xy table 62 or the second xy table 64, it is possible to determine how much the position of the object RM is misaligned, The amount of displacement is calculated. If the displacement amount is calculated, the value can be immediately reflected in the alignment amount of the alignment of the position and the alignment of the posture (all of which will be described later). Further, the information calculated by the image processing apparatus 70 is not limited to the displacement amount (relative amount). For example, absolute positions (coordinates in the x-axis and y-axis) and posture (coordinates in the? -Axis) for the first xy table 62 and the second xy table 64 may be calculated.

Subsequently, in the reinforcing plate position alignment S330, information on a predetermined position (appendix position) of the object RM to be affixed with the reinforcing plate W, information about the position of the reinforcing plate W, The first xy table 62 or the second xy table 64 is moved on the basis of the information about the position of the actually held holding table member calculated by the position calculating unit 62 to align the positions of the rack member RM and the reinforcing plate W I do.

Similarly, in the stiffener posture alignment S320, on the basis of the information about the attitude of the reinforcing plate W and the information about the posture of the applied patch member actually held by the image forming apparatus 70, the patch head 20 ) In the? Direction (+? Direction or? -Direction) to align the attitude of the object rack RM and the reinforcing plate W.

Further, the image reading apparatus, the image processing, and the calculation of the information about the position and the posture of the applied patch member, and the alignment of the position and the posture based on this information by the image processing apparatus 70, It is preferable to perform it every time it is pasted. It is possible to realize a reinforcing plate attachment with higher precision.

Since the reinforcing plate attachment device 2 according to the second embodiment has the above-described structure, the position and posture of the object to be attached RM with respect to the first xy table 62 or the second xy table 64, The first xy table 62 or the second xy table 64 is appropriately moved in the xy direction based on the information about the position and attitude of the applied patch member RM, (20) is properly rotated in the &thetas; direction so that alignment correction can be performed. Thereby, the reinforcing plate can be stuck to the applied member with proper position and posture.

Therefore, according to the reinforcing plate attaching device 2 as described above, the probability of success of the attaching can be increased. The yield can be further improved, and thus the reinforcing plate attaching apparatus having high production efficiency can be obtained.

In addition, even if the entire attached workpiece RM is held in the first xy table 62 or the second xy table 64 in the same position and posture as planned, individual reinforcing plates must be attached for reasons such as manufacturing tolerances The predetermined position to be shifted may deviate from the planned position. Even in this case, by performing the above-described operation, the alignment correction can be individually performed at the time of each application, and the reinforcing plate can be stuck to the applied member at a proper position and posture.

The reinforcement panel attaching apparatus 2 according to the second embodiment is similar to the reinforcement panel attaching apparatus 1 according to the first embodiment except that it further includes the image processing apparatus 70 Respectively. Therefore, the reinforcing plate applying apparatus 1 according to the first embodiment has the same effects as those of the effects.

[Embodiment 3]

13 is a block diagram for illustrating the lighting device 75 of the third embodiment. In the reinforcing plate attaching device 3, the parts other than the lighting device 75 are not shown.

Basically, the reinforcement panel attachment device 3 according to the third embodiment has the same structure as the reinforcement panel attachment device 2 according to the second embodiment, but in the internal configuration of the applied-part member image processing device 70, And is different from the reinforcing plate bonding apparatus 2 according to the second embodiment. 13, in the gusset attaching apparatus 3 according to the third embodiment, the image processing apparatus 70 is a light emitting device (light emitting device) capable of emitting a plurality of kinds of light having different peak wavelengths from each other (62) or a second xy table (64) by emitting light of at least one kind out of a plurality of types of light, Device 75 as shown in FIG. For example, as shown in FIG. 13, three types of light-emitting devices 74 having different peak wavelengths are included, and the light-emitting devices 74 (LED1, LED2, LED3) The device control unit 78 is configured to emit at least one kind of light among three types of light.

In the image processing apparatus 70, the image of the applied patch member RM introduced by the second camera 72 is changed according to the difference in the conditions of the surrounding environment of the applied patch member RM itself or the applied patch member RM There are cases in which the way of seeing is different. Specifically, the difference in the material of the applied adhesive member, the kind of the object to be imaged, the difference due to the "alignment mark / predetermined position (attaching position) to which the reinforcing plate is to be attached", the position (The vicinity of the center of the attached member / the vicinity of the sides / the vicinity of the corners, etc.), the state of the object to be imaged (for example, There are cases in which the image is displayed in a different manner depending on the difference between the images.

The reinforcing plate attachment device 3 according to the third embodiment includes a light emitting device 74 capable of emitting a plurality of kinds of light, and emits light of at least one kind out of a plurality of types of light, And the illuminating device 75 capable of illuminating the applied piece RM held by the first xy table 62 or the second xy table 64. The condition of the environment surrounding the applied part RM itself or the attached part RM It is possible to select the optimum kind of light in the light emitting device 74 in accordance with the conditions and to irradiate the object assembly RM.

Thus, fluctuation in the manner of viewing of the image of the applied adhesive member RM is suppressed, and the accuracy of image processing of the applied adhesive member RM can be enhanced. Accordingly, the probability of success of the patch can be increased, and further, the yield can be improved, and consequently, the reinforcing plate patch device with high production efficiency becomes.

The reinforcement panel attaching device 3 according to Embodiment 3 has the same configuration as the reinforcement panel attaching device 2 according to Embodiment 2 except for the internal configuration of the image processing apparatus 70 . Therefore, the reinforcing plate attaching apparatus 2 according to the second embodiment has the same effects as those of the effects.

[Embodiment 4]

14 is a side view of a main portion for illustrating a reinforcing plate attachment device 4 according to the fourth embodiment. The dotted line entering and exiting from the reinforcing plate thickness measuring means 82 schematically shows a state in which the laser beam reciprocates. The parts other than the reinforcing plate image processing apparatus 50 ', the attaching head 20, the pivoting member 30, etc., are omitted from the reinforcing plate attaching device 4.

The reinforcing plate bonding apparatus 4 according to Embodiment 4 basically has the same structure as the reinforcing plate bonding apparatuses 1, 2 and 3 according to Embodiments 1 to 3, And is different from reinforcement panel attaching devices 1, 2, and 3 according to Embodiments 1 to 3 in internal construction. That is, as shown in Fig. 14, the reinforcing plate attaching device 4 according to the fourth embodiment includes reinforcing plate thickness measuring means (not shown) for measuring the thickness of the object captured by the reinforcing plate capturing means 22 of the attaching head 20 (82). The reinforcing plate attaching device 4 detects an abnormality of the number of the reinforcing plates W captured by the reinforcing plate capturing means 22 of the attaching head 20 based on the information outputted by the reinforcing plate thickness measuring means 82 do.

The reinforcing plate thickness measuring means 82 is preferably installed in the reinforcing plate image processing apparatus 50 '.

The reinforcing plate thickness measuring means 82 may employ, for example, a distance sensor such as a laser sensor 82a. The laser sensor 82a is disposed below the patch head 20 and the thickness of the reinforcing plate is detected by capturing the reflected light while emitting the laser from below. Specifically, the threshold value of the laser sensor 82a is set near the middle between the distance when the reinforcing plate capturing means 22 captures one reinforcing plate W and the distance when two pieces of the reinforcing plate are captured. When the reinforcing plate capturing means 22 picks up two reinforcing plates, the laser sensor 82a detects the thickness exceeding the threshold value, and the laser sensor 82a detects the thickness of the reinforcing plate 1 every day A logic signal opposite to the logic of the signal output at the time of outputting the signal is outputted. Thus, it is possible to detect an abnormality in the number of sheets of the reinforcing plate W captured by the reinforcing plate capturing means 22.

For reference, in general, when a reinforcing plate is picked up one by one from a reinforcing plate group in which a plurality of reinforcing plates are stacked in order to affix a reinforcing plate to a plate member (FPC board or the like), it is difficult to separate the reinforcing plate . This is because, for example, a sticky material adhered to a burr (formed when a reinforcing plate is formed by die-cutting a plate material such as a metal) remaining on the edge of the reinforcing plate or the adhesive material adhered to the reinforcing plate is caught between two reinforcing plates , And when the uppermost reinforcing plate W1 is taken out, it prevents the reinforcing plates from being separated one by one. In this case, as a result, a plurality of reinforcing plates may be picked up in an overlapped state.

On the other hand, in the case of picking up the electronic parts described in Patent Document 1 (the resin mold is completely separated and completely separated), such a problem does not occur.

According to the reinforcing plate attaching device 4 of the fourth embodiment, it is possible to detect an abnormality in the number of the reinforcing plates W captured by the reinforcing plate capturing means 22 (for example, when two reinforcing plates are captured) can do. Based on the detection result, it is possible to perform control such as not performing the subsequent pressing step, and it is possible to prevent the production of the defective product in advance.

Accordingly, the probability of success of the patch can be increased, and further, the yield can be improved, and consequently, the reinforcing plate patch device with high production efficiency becomes.

The reinforcement panel attaching apparatus 4 according to the fourth embodiment is different from the internal structure of the reinforcement panel image processing apparatus 50 'in that the reinforcement panel attaching apparatuses 1, 2, 3 ). Therefore, the effects of the reinforcing plate bonding apparatuses 1, 2 and 3 according to the first to third embodiments are equivalent.

[Embodiment 5]

Fig. 15 is a side view of a main portion for illustrating the leveling operation of the reinforcing plate bonding apparatus 5 according to the fifth embodiment. In addition, the parts other than the reinforcing plate supplying device 40 and the patch head 20 'are omitted from the reinforcing plate attaching device 5.

The reinforcing plate bonding apparatus 5 according to Embodiment 5 basically has the same configuration as the reinforcing plate bonding apparatuses 1, 2, 3 and 4 according to Embodiments 1 to 4, 2, 3 and 4 according to the first to fourth embodiments. That is, as shown in Fig. 15, the reinforcing plate attaching device 5 according to the fifth embodiment is configured such that when the attaching head is stopped at the first index position IX1, the reinforcing plate capturing means 22 of the attaching head 20 After capturing the reinforcing plate W1 stored in the reinforcing plate stocker 42, the reinforcing plate capturing means 22 is rotated in the &thetas; direction around the z-axis so that the reinforcing plate W1 is guided to the succeeding The reinforcing plate W2 of Fig.

By thus rotating the reinforcing plate capturing means 22 in the? Direction around the z-axis (so-called "leveling operation") after the reinforcing plate W1 is captured (for example, by vacuum suction) Even if the reinforcing plates W1 and W2 of the reinforcing plates W1 and W2 are attached to each other, the reinforcing plates can be reliably picked up one by one.

Since the reinforcing plates are separated one by one surely, the probability of success of the adhesive can be increased. The yield can be further improved, and thus the reinforcing plate attaching apparatus having high production efficiency can be obtained.

The reinforcement panel attachment device 5 according to Embodiment 5 is different from the reinforcement panel attachment devices 1, 2, 3, 4 according to Embodiments 1 to 4 in that the attachable head 20 ' And has the same configuration. Therefore, the effects of the reinforcing plate bonding apparatuses 1, 2, 3, and 4 according to the first to fourth embodiments are similarly obtained.

[Embodiment 6]

16 is a plan view for explaining the defective-product discharging portion 83 of the reinforcing-plate-bonding apparatus 6 according to the sixth embodiment.

The reinforcing plate bonding apparatus 6 according to Embodiment 6 basically has the same configuration as the reinforcing plate bonding apparatuses 1, 2, 3, 4 and 5 according to Embodiments 1 to 5, 2, 3, 4, and 5) according to Embodiments 1 to 5 in that the reinforcing plate bonding apparatuses 1, 2, 3, 4, and 5 are further provided. That is, as shown in Fig. 16, the reinforcing plate attachment device 6 according to the sixth embodiment is a circumferential phase of the circle C1 centered on the first axis AX1 and between the first index position IX1 and the second index position IX2 And a defective-product discharge portion 83 is further provided.

When the reinforcing plate attaching device 6 determines that the reinforcing plate capturing means 22 does not normally capture the reinforcing plate W or when the object picked up by the reinforcing plate capturing means 22 is normally reinforced The attached head 20 to which the reinforcing plate capturing means 22 belongs is once stopped by the defective article discharging portion 83 and the object caught by the reinforcing plate capturing means 22 is stopped And is guided to the discharge portion 83.

The defective-product discharge portion 83 may be a flushing box 83a having a box-like shape and an open top. The pivoting head 30 and the attaching head 20 to which the reinforcing plate capturing means 22 belongs are once stopped at the position of the flushing box 83a so that the reinforcing plate capturing means 22 can catch the object The object can be led to the flushing box 83a only by separating (releasing).

Since the reinforcing plate attaching device 6 according to the sixth embodiment has such a structure, the object to be attached which has not been normally captured or determined to be not a regular reinforcing plate is not delivered to the pressing process, It is possible to prevent the production of defective products in advance. Accordingly, the probability of success of the patch can be increased, and further, the yield can be improved, and consequently, the reinforcing plate patch device with high production efficiency becomes.

Also, the arrangement position of the defective article discharge portion 83 is not limited between the first index position IX1 and the second index position IX2. For example, it may be between the second index position IX2 and the third index position IX3. It is preferable that the first camera 52 and the reinforcing plate thickness measuring means 82 are close to each other.

The reinforcing plate bonding apparatus 6 according to Embodiment 6 is different from the reinforcing plate bonding apparatuses 1, 2, 3, and 4 according to Embodiments 1 to 5 in that the reinforcing plate bonding apparatus 6 according to Embodiment 6 further includes the defective- 4 and 5, respectively. Therefore, the effects of the reinforcing plate bonding apparatuses 1, 2, 3, 4, and 5 according to the first to fifth embodiments are equivalent.

Although the present invention has been described based on the above embodiments, the present invention is not limited to the above embodiments. The present invention can be embodied in various forms without departing from the spirit and scope of the present invention. For example, the following modifications are possible.

(1) In the above embodiments, the case where the xy table arrangement switching unit 66 is constituted by the so-called turntable 66a has been described in detail, but the present invention is not limited to this. For example, it may be constituted by a so-called slide table (modified example 1).

17 is a plan view for explaining a reinforcing plate bonding apparatus 7 according to a first modification. 17A is a view showing a state in which the first xy table 62 is arranged in the third index position IX3 and Fig. 17B is a view in which the second xy table is arranged in the third index position IX3 It is a picture of the figure. In FIG. 17 (b), the parts other than the xy table layout switching unit 66 are not shown.

The xy table arrangement switching unit 66 of the reinforcing plate bonding apparatus 7 according to the modified example 1 is constituted by a so-called slide table 66b as shown in Fig. The slide table 66b may slide the first xy table 62 and the second xy table 64, for example, along the x-axis.

In the state shown in Fig. 17 (a), the applied adhesive member RM placed on the first xy table 62 is disposed at the third index position IX3, and the reinforcing plate W is pressed against this applied adhesive member RM do. On the other hand, the second xy table 64 is disposed at the applied member replacement position SRP, and the member to be attached RM ', RM "

Then, when the loaded first xy table 62 and second xy table 64 slide in the -x direction as a whole, the second xy table 64 is moved in the xy direction as shown in Fig. 17 (b) Is disposed at the third index position IX3, and the first xy table 62 is disposed at the lathe member replacement position SRP. By sliding in the same manner, pressing of the reinforcing plate and replacement of the applied adhesive member can be performed alternately.

(2) In each of the above-described embodiments, it has been assumed that the attached member holding apparatus 60 has two sets of xy tables (the first xy table 62 and the second xy table 64) The present invention is not limited to this. For example, it may have three or more sets of xy tables. In this case, three or more sets of xy tables can be appropriately loaded on the xy table arrangement switching unit 66. [

(3) In each of the above-described embodiments, the servomotor M1 is used as a specific means for moving the attaching head main body 20b up and down along the z-axis. However, the present invention is not limited to this. For example, the attaching head main body 20b may be moved up and down using an air cylinder, a cam, or the like.

(4) In each of the above-described embodiments, the example in which the heater 81 is always turned on has been described, but the present invention is not limited thereto. For example, the control of turning on / off each time one main process is performed may be performed while appropriately adjusting the output of the heater 81, the heat capacity of the reinforcing plate capturing means 22, the set temperature, and the like. By doing so, the power consumed by the reinforcement panel attachment device can be saved.

(5) In each of the above-described embodiments, the case where the index positions are provided in three positions and the attaching heads 20 arranged in the pivoting member 30 are three, has been described in detail. However, But is not limited thereto.

That is, a plane parallel to the upper surface of the base is defined as an xy plane including x and y axes which are perpendicular to each other, and a predetermined axis perpendicular to the xy plane is defined as a first axis, and an xy plane (Where n is an integer equal to or larger than 3) is defined as the index position, the rotational body is assumed to be a hypothetical center around the first axis When a plurality of attaching heads are arranged on the circumference of a circle and one of the attaching heads of interest is temporarily stopped in the order of the first index position, the second index position and the third index position on the base, .

In the above configuration, by setting n to an integer of 4 or more, it is possible to attach the reinforcing plate by making four or more index positions or by making four or more adhesive heads.

Such a configuration is equivalent to the reinforcement panel attachment device of the present invention.

For example, it is also possible to have four index positions and two attachment heads 20 arranged on the rotary body 30 (Variation 2).

18 is a schematic diagram showing a reinforcing plate applying apparatus 8 according to a second modification. 18 (a) shows the definition of the index position and the arrangement of various devices, and Fig. 18 (b) is a schematic diagram showing the rotation control of the reinforcing plate attachment device 8. Symbols W1 and W2 denote reinforcing plates which are separate from each other.

As shown in Fig. 18 (a), four division positions at the time when one circumference is divided into four are located on the circumference of a virtual circle C1 on the xy plane centered on the first axis AX1 are defined as index positions .

The reinforcing plate supplying device 40 is disposed at the first index position IX1, the reinforcing plate image processing device 50 is disposed at the second index position IX2, the applied member holding device 60 is disposed at the third index position IX3 In the reinforcing plate attachment device 1 or the like described in the first embodiment or the like.

As shown in Fig. 18 (b), two pivoting heads Ha and Hb are arranged on the circumference of a virtual circle C1 about the first axis AX1 in the pivoting body 30. [ Then, when the rotary body 30 is rotated about the first axis AX1, one attaching head (for example, Ha) to be noticed moves along the first index position IX1, the second index position IX2 and the third index Position IX3 in the order of IX3.

With this configuration, each of the attaching heads Ha and Hb can sequentially enter the reinforcing plate supplying device 40, the reinforcing plate image processing device 50, and the applied member holding device 60, Detection of the position / posture of the reinforcing plate, and pressing of the reinforcing plate can be performed in order.

Further, it is also possible to have four index heads and four attaching heads 20 arranged on the rotary body 30 (Variation 3).

19 is a schematic diagram showing a reinforcement panel attaching apparatus 9 according to a third modification. 19 is a schematic diagram showing the rotation control of the reinforcing plate attachment device 9; W1, W2, W3, W4, W5 and w6 denote reinforcing plates which are separate from each other.

The reinforcing plate bonding apparatus 9 according to Modification 3 basically has the same structure as that of the reinforcing plate bonding apparatus 8 according to the modification 2 in the definition of the index position and the arrangement of various apparatuses. Of (a) ". However, this is different from the reinforcing plate attaching device 8 according to the second modified example in the number of the attaching heads 20.

19, four appendix heads Ha, Hb, Hc, and Hd are arranged on the circumference of a virtual circle C1 centering on the first axis AX1 in the rotary body 30. As shown in Fig. Then, when the rotary body 30 is rotated about the first axis AX1, one attaching head (for example, Ha) to be noticed moves along the first index position IX1, the second index position IX2 and the third index Position IX3 in the order of IX3.

By so constituting, each of the attaching heads Ha, Hb, Hc, and Hd can sequentially enter the reinforcing plate supplying device 40, the reinforcing plate image processing device 50, and the attached member holding device 60, The pickup of the plate, the detection of the position / posture of the reinforcing plate, and the pressing of the reinforcing plate can be performed in order.

1, 2, 3, 4, 5, 6, 7, 8, 9:
10: Base
10a: upper surface of the base
20, 20 ': Attachment head
20a: adhesive head gas
20b: Adhesive head body
22: reinforcing plate capturing means
23: vacuum chuck
23a: (inlet of vacuum chuck)
23b: gas flow path (vacuum chuck)
30:
32: rotor body gas
34: Cancer
35: the tip of the arm
40: Reinforcing plate feeder
42: reinforced plate stocker
43, 43 ₁ , 43 ₂ , 43 ₃ : magazine
43a, 43b: Magazine frame
44: Magazine switching means
44a: Magazine mounting portion
45: Reinforced plate lifting unit
46: Push-up stick
50, 50 ': reinforced plate image processing device
52: First camera
55: First illumination
56: first lens
60: Platemember holding device
62: 1st xy table
64: 2nd xy table
66: xy table layout switching unit
66a: Turntable
66b: slide table
70: Image forming apparatus
72: Second camera
74: Light emitting device
75: Lighting device
76: Second lens
77: lens barrel
78: Light emitting device control section
81: Heater
82: Stiffening plate thickness measuring means
82a: Laser sensor
83:
83a: flushing box
900: Component mounting device
920: Head
922: Adsorption nozzle
930: intermittent rotating support
934: Cancer
940: Electronic component supply device
943: Parts feeding cassette
945: x-direction moving table
960: Electronic circuit board holding device
962: xy table

Claims (11)

A reinforcing plate attaching device for attaching a reinforcing plate to an object to be attached part,
Wherein a plane parallel to the upper surface of the base is an xy plane including x and y axes orthogonal to each other and a predetermined axis perpendicular to the xy plane is defined as a first axis, When a division position on the circumference of a virtual circle and divided into three equal parts is defined as a first index position, a second index position, and a third index position sequentially in the circumferential direction,
The base,
A reinforcing plate capturing means for capturing the reinforcing plate is provided and the reinforcing plate capturing means moves up and down along a z axis parallel to the first axis to enable pickup and compression of the reinforcing plate, Wherein the attachment head is configured to rotate in a direction about the z-axis in the [theta] direction, thereby enabling the posture of the reinforcing plate to be changed,
Wherein a plurality of the attachment heads are arranged at an equi-angular pitch when the circumference of the virtual circle is divided into three equal parts on the circumference of the virtual circle about the first axis, and when the attachment head is rotated about the first axis, A pivoting body intermittently rotating in a sequence of a first index position, a second index position and a third index position on the base in this order,
A reinforcing plate feeding device which is disposed at a position corresponding to the first index position and supplies the reinforcing plate to be a pickup object of the patch head stock to the patch head among the reinforcing plate stockers on which the reinforcing plate is stocked,
And a first camera for introducing an image including the reinforcing plate at a position corresponding to the second index position, wherein an image of the reinforcing plate is introduced by the first camera to perform image processing, A reinforcing plate image processing device for calculating information about the position and posture of the reinforcing plate,
And a first xy table disposed at a position corresponding to the third index position and holding the applied application member on the upper surface and allowing the held applied adhesive member to move along the xy plane, And a specimen attaching / holding device for accommodating the pressing of the reinforcing plate by the attaching head at a predetermined position of the supported attaching member,
Wherein the reinforcing plate attaching device is configured to attach the reinforcing plate to the reinforcing plate when the attaching head capturing the reinforcing plate stops at the third index position, The first xy table is moved to align the position of the reinforcing plate in the xy plane on the basis of the information about the position of the reinforcing plate calculated by the processing device, Aligning the posture of the reinforcement plate by rotating the insert head in the direction of?, And thereafter lowering the insert head along the z-axis, thereby rotating the reinforcement plate To the predetermined position of the object to be attached,
The attached application device holding apparatus includes a second xy table having a configuration equivalent to that of the first xy table, a second xy table on which the first xy table and the second xy table are stacked, Further comprising an xy table layout switching unit for switching the arrangement of the first xy table and the second xy table so that the first xy table and the second xy table are alternately arranged between the first xy table and the second xy table, Attaching device. The apparatus according to claim 1, wherein the xy table arrangement switching unit is a turntable rotatable about a predetermined second axis perpendicular to an upper surface of the base,
Wherein the first xy table and the second xy table are upper surfaces of the turntable and are respectively mounted at rotationally symmetrical positions about the second axis. The reinforcement panel attachment apparatus according to claim 1 or 2, wherein a heater for heating the reinforcing plate captured on the attaching head is disposed. 3. The image forming apparatus according to claim 1 or 2, wherein the reinforcement panel attachment device is an image within the movable range of the first xy table or the second xy table when viewed in a plane along the first axis, And a second camera for introducing an image of the object to be attached held by the second xy table,
Introducing an image of the applied adhesive member held by the first xy table or the second xy table by the second camera and correcting the position of the applied adhesive member with respect to the first xy table or the second xy table And an image processing device for calculating the information about the attitude of the reinforcement panel. 5. The image processing apparatus according to claim 4, wherein the image processing apparatus includes a light emitting device capable of emitting a plurality of kinds of light having different peak wavelengths, wherein at least one kind of light among the plurality of kinds of light is emitted, 1 xy table, or a lighting device capable of emitting the applied adhesive member held by the second xy table. 3. The apparatus according to claim 1 or 2, further comprising reinforcing plate thickness measuring means for measuring a thickness of the object captured by the reinforcing plate capturing means of the attaching head,
Wherein the reinforcing plate attaching device detects an abnormality in the number of the reinforcing plates captured by the reinforcing plate capturing means of the attaching head based on the information outputted by the reinforcing plate thickness measuring means. . The apparatus according to claim 1 or 2, wherein when the patch head is stopped at the first index position,
The reinforcing plate capturing means of the patch head captures the reinforcing plate stored in the reinforcing plate stocker and then rotates the reinforcing plate capturing means in the direction of the? And displaces the reinforcing plate in the θ direction with respect to the subsequent reinforcing plate to be picked up. 3. The apparatus according to claim 1 or 2, further comprising a defective article discharge portion,
When it is judged that the trapping of the reinforcing plate by the reinforcing plate capturing means has not been normally performed or when it is judged that the object picked up by the reinforcing plate capturing means is not a normal reinforcing plate, Wherein the attaching head to which the attaching part belongs is temporarily stopped at the rejecting part discharging part, and the object to be caught by the reinforcing plate capturing part is guided to the defective part discharging part. The method according to claim 1 or 2, wherein the plurality of adhesive heads arranged on the circumference of the imaginary circle about the first axis are different types of adhesive heads each configured to capture different types of reinforcing plates Of reinforcing plate capturing means,
Wherein the reinforcing plate stocker is a magazine capable of storing a plurality of reinforcing plates to be stacked,
The reinforcing plate supply device includes:
A plurality of the magazines,
Wherein a plurality of the magazines are stacked on the first index position, and one magazine among the plurality of magazines is moved to the first index position in accordance with the type of the reinforcing plate capturing means attached to the patch head temporarily stopped at the first index position And a magazine switching means for switching another magazine from the first index position
And the reinforcing plate is attached to the reinforcing plate. 3. The rotary body according to claim 1 or 2, characterized in that the rotary body performs an operation of rotating in the forward direction at an angular pitch of 120 DEG for two times and then rotating in the reverse direction at an angular pitch of 240 DEG A reinforcing plate attachment device. 3. The apparatus according to claim 1 or 2, wherein, when viewed from a plane along the first axis, a hypothetical straight line connecting the first axis and the third index position is formed on the front surface of the reinforcing plate- Is parallel to the sides of the reinforcement panel.

Images