WO2001026440A1 - Dispositif et procede destines a transferer/maintenir des elements en forme de feuille - Google Patents
Dispositif et procede destines a transferer/maintenir des elements en forme de feuille Download PDFInfo
- Publication number
- WO2001026440A1 WO2001026440A1 PCT/JP2000/003212 JP0003212W WO0126440A1 WO 2001026440 A1 WO2001026440 A1 WO 2001026440A1 JP 0003212 W JP0003212 W JP 0003212W WO 0126440 A1 WO0126440 A1 WO 0126440A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- plate
- transfer
- shaped
- holding
- rail
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/0061—Tools for holding the circuit boards during processing; handling transport of printed circuit boards
- H05K13/0069—Holders for printed circuit boards
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/0061—Tools for holding the circuit boards during processing; handling transport of printed circuit boards
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0411—Pick-and-place heads or apparatus, e.g. with jaws having multiple mounting heads
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49002—Electrical device making
- Y10T29/49117—Conductor or circuit manufacturing
- Y10T29/49124—On flat or curved insulated base, e.g., printed circuit, etc.
Definitions
- the present invention relates to a device for transporting and holding a plate-shaped member and a method thereof.
- the present invention relates to an apparatus and a method for holding and carrying a plate-like member that can carry in a plate-like member and that can carry out the plate-like member that is held after a predetermined operation such as printing, processing, or component mounting.
- the present invention uses a board on which components are mounted as an example of a plate-shaped member, and when mounting the components on the board, the plate-shaped member conveyance and holding device suitable as a substrate conveyance and holding device for holding the board.
- the present invention relates to a working device such as a component mounting device provided with a device. Background art
- 1201, 1202, and 1203 are the component supply sections for taping components
- 204 is the component supply section for tray storage components
- 1205 and 1206 are the suction positions of the work head before mounting electronic components.
- 1207 is a nozzle station that houses multiple types of nozzles suitable for multiple types of electronic components
- 1208 is a loader that carries the electronic circuit board 121 1 into the component mounting work area
- 1209 is an electronic device.
- This is a board transfer and holding device composed of support rails 1 209a and 1209 b that support the circuit board 1 212.
- the board transfer and holding device 1 209 has one side according to the size of the electronic circuit board having the maximum size.
- Support rails for 12 It is configured such that 0 9b extends to the position of 1 210.
- Reference numeral 1213 denotes an unloader that unloads the electronic circuit board 1221 from the component mounting work area.
- the operation of the conventional electronic component mounter will be described with reference to FIG.
- the electronic circuit board 1 211 is supported by support rails 1209 a and 1209 b via a loader 1208.
- the work head not shown, is moved by the XY robot along the path indicated by A in FIG. 35, and is supplied to the taping component supply unit by a component suction nozzle attached to the work head.
- the electronic component is sucked from the device, the work head moves, and the recognition camera measures the suction posture of the picked-up component using the recognition camera.
- the components that have been sucked and recognized are mounted on the circuit board 1 212 while their positions are corrected.
- a component supply unit for electronic components is also provided behind the component mounting work area of the mounting apparatus, as indicated by 1203 and 124.
- the electronic components sucked from the taping component supply unit 123 or the tray storage components 1204 are also imaged by the recognition camera 1206, and the suction position and orientation are recognized.
- the picked-up and recognized parts are mounted by the nozzle. This path is indicated by B.
- support rails 1209a and 1209b with a size that can support the largest boards. ing.
- the support rails 1209a and 1209b are designed so that the support rails 1209a on the front side of the mounting device are fixed, and the support rails 1209b on the rear can be moved according to the board size. It has become.
- the rear component supply sections 1206 and 1204 are set further behind the rearmost position 1120 of the support rail 1209b.
- an object of the present invention is to solve the above-described problem, and regardless of the size of the plate-like member, after the plate-like member is carried into the transport position, the plate-like member is moved to a desired work position and held.
- An object of the present invention is to provide an apparatus and method for transporting and holding a plate-like member, which can be performed quickly and well.
- the present invention provides the above-mentioned plate-shaped member transfer and holding device as a substrate transfer and holding device for a board, and irrespective of the size of the board, the component holding, the component recognition, and the component holding member between the component mounting.
- An object of the present invention is to provide a component mounting apparatus capable of shortening a moving distance, shortening a mounting time, and improving mounting efficiency. Disclosure of the invention
- the present invention is configured as described below to achieve the above object.
- a first rail-shaped holding member and a second rail-shaped holding member each including a transport member for transporting a plate-shaped member and capable of loading and unloading and holding the plate-shaped member
- the first rail-shaped holding member and the second rail-shaped holding member are disposed so as to extend in a direction orthogonal to the longitudinal direction, and the second rail-shaped holding member is moved, or the first rail-shaped holding member and the second rail-shaped holding member are moved.
- a second nut fixedly attached to the second rail-shaped holding member and screwed to the screw shaft;
- the selection hook mechanism releases the engagement of the first rail-shaped holding member with the first nut and allows relative rotation of the first nut with respect to the first rail-shaped holding member
- By rotating the screw shaft only the second rail-shaped holding member moves to change the position of the second rail-shaped holding member with respect to the first rail-shaped holding member.
- the first rail-shaped holding member and the second rail-shaped holding member move physically in parallel.
- the plate-like member transport / holding device according to the first aspect, wherein the rotary drive device is a single motor that drives the screw shaft to rotate forward and reverse.
- the second nut instead of the second nut screwed into the screw shaft being fixedly attached to the second rail-shaped holding member, the second nut can be relatively rotated with respect to the second rail-shaped holding member.
- the selection hook mechanism engages with the second nut of the second rail-shaped holding member to stop the rotation of the second nut, and the operation of the second rail-shaped holding member.
- the operation of releasing the engagement with the second nut and allowing the rotation of the second nut can be selected as an alternative. After releasing the engagement with the nut to allow the first nut to rotate relative to the first rail-shaped holding member, rotate the screw shaft to move the first nut upwardly with respect to the first rail-shaped holding member.
- the force for moving only the second rail-shaped holding member, or the selective locking mechanism releases the engagement of the second rail-shaped holding member with the second nut and holds the second rail-shaped second rail-shaped holding member.
- the screw shaft is rotated to move only the first rail-shaped holding member with respect to the second rail-shaped holding member, so that the first rail-shaped holding member and the second rail-shaped holding member are moved.
- the selective lock mechanism engages with the first nut of the first rail-shaped holding member and the second rail-shaped holding member.
- the first or second aspect wherein the first rail-shaped holding member and the second rail-shaped holding member are physically translated in parallel by rotating the screw shaft after engaging with the nut.
- a transport holding device Provided is a transport holding device.
- the two rail-shaped holding members are arranged so as to extend in a direction perpendicular to the axial direction of each of the rail-shaped holding members in parallel with the screw axis and guide the parallel movement of the two rail-shaped holding members.
- the plate-like member conveyance holding device according to any one of the first to third aspects, further comprising a linear guide mechanism.
- the first rail-shaped holding member and the first rail-shaped holding member are rotated by rotating the screw shaft after the selective locking mechanism is engaged with the first nut of the first rail-shaped holding member.
- the first rail-shaped holding member is positioned at a reference position by moving the second rail-shaped holding member parallel to the body, and then the selection lip mechanism is moved to the first rail-shaped holding member.
- the screw shaft is rotated to thereby allow only the second rail-shaped holding member to rotate. Is moved, and the position of the second rail-shaped holding member relative to the first rail-shaped holding member at the reference position is changed so that the position between the first rail-shaped holding member and the second rail-shaped holding member is changed. Adjust the spacing,
- the selection hook mechanism is engaged with the first nut of the first rail-shaped holding member, and then the screw shaft is rotated, whereby the first rail-shaped holding member and the second rail-shaped holding member are rotated.
- the transport of the plate-shaped member according to any one of the first to fourth aspects, wherein the plate-shaped member is integrally moved in parallel while maintaining the adjusted interval.
- a transport holding device is provided.
- the plate-shaped member when the plate-shaped member is transferred between the first rail-shaped holding member and the second rail-shaped holding member by the transfer member, the plate-shaped member comes into contact with the plate-shaped member and
- the plate-like member transport / holding device according to any one of the first to fifth aspects, further comprising a stopper for positioning and holding the plate-like member at the predetermined position.
- the plate-shaped member is a substrate on which a component is to be mounted
- the transporting and holding device for the plate-shaped member comprises: In the component mounting apparatus mounted on the board, two board transporting and holding devices are used to transport and hold the board, and the component mounting work area for component mounting in the component mounting apparatus is along the direction in which the board is transported.
- the first mounting area is divided into a first mounting area and a second mounting area, and the one plate-shaped member transfer and holding device is used as the first substrate transfer and holding device in the first mounting region, and the other one is fixed.
- the transfer and holding of the plate-like member is such that the transfer and holding device for the plate-like member is used as the second board transfer and holding device in the second mounting area, and each of the board transfer and holding devices is independently driven in each mounting area.
- the first component mounting position of the first substrate transfer and holding device in the first mounting area, and the second component mounting position of the second substrate transfer and holding device in the second mounting area 7.
- a first component supply unit for supplying the component to be mounted on the substrate is disposed at an edge of the first mounting region opposite to the second mounting region.
- a second component supply section for supplying the component to be mounted on the substrate is arranged, and the second component supply section is provided.
- a component mounting device provided with the plate-like member transfer / holding device according to the seventh or eighth aspect, wherein the second component recognition unit is arranged near the component.
- the first component supply unit, the first component recognition unit, the second component supply unit, and the second component recognition unit are configured so that the first mounting area and the second mounting area.
- a component mounting apparatus including the plate-like member transfer / holding device according to the ninth aspect, which is arranged substantially point-symmetric with respect to the center of the entire component mounting work area.
- the eleventh aspect of the present invention considering the distance between the first component supply unit and the first component recognition unit, the first component mounting of the first substrate transfer and holding device in the first mounting area is performed. In addition to determining the position, the second component mounting position of the second board transfer and holding device in the second mounting area is determined in consideration of the distance between the second component supply unit and the second component recognition unit. According to a ninth or tenth aspect of the present invention, there is provided a component mounting apparatus provided with the plate-like member transfer / holding device.
- each of the first component supply section and the second component supply section includes a tubing component that should be mounted on the substrate and that holds and holds the component in a tape shape.
- a component mounting apparatus including the plate-like member transfer / holding device according to any one of the ninth to eleventh aspects, which is a component supply unit to be stored.
- the first component mounting position of the first substrate transfer and holding device in the first mounting area, and the second component of the second substrate transfer and holding device in the second mounting area A tray in which the components to be mounted on the board are housed in a tray at a position other than the first component mounting position in the first mounting area, while being staggered so that the mounting position is obliquely opposed to the mounting position.
- the substrate when the substrate is transported between the first rail-shaped holding member and the second rail-shaped holding member by the transport member, the substrate abuts on the substrate, and A stopper for positioning and holding near the center of the whole of the component mounting work area including the first mounting area and the second mounting area, A component mounting apparatus provided with the plate-shaped member transfer / holding device according to any one of the seventh to thirteenth aspects, further provided in the holding device.
- a component mounting apparatus including the plate-like member transfer / holding device according to any one of the seventh to 14th aspects, which is capable of being transferred from the device to the second substrate transfer / holding device.
- the apparatus further comprises: a port for loading the substrate into each substrate transfer and holding device; and an unloader for unloading the substrate from each substrate transfer and holding device.
- the substrate transfer / holding device and the second substrate transfer / holding device are each capable of independently carrying in the substrate from the loader and carrying out the substrate to the fan loader.
- a component mounting apparatus provided with the plate-shaped member transfer holding device according to any one of the aspects.
- a plate-like member transport / holding device including a first rail-like holding member and a second rail-like holding member capable of carrying in and out a plate-like member and holding the plate-like member.
- the ball screw By releasing the restriction of the rotation of the nut of one of the first rail-shaped holding member and the second rail-shaped holding member, the ball screw is rotated when the ball screw shaft rotates. By rotating together with the shaft, the movement of the one rail-shaped holding member is restricted, and the first rail-shaped holding member and the
- the other rail-shaped holding member which is the other of the rail-shaped holding members and whose rotation of the nut is restricted, moves when the ball screw shaft rotates, whereby one of the rail-shaped holding members moves.
- the other side of the rail-shaped holding member A method for transporting and holding a plate-like member in which only the rail-like holding member moves parallel to adjust the distance between the first rail-like holding member and the second rail-like holding member.
- the first substrate transfer and holding device that holds the loaded substrate is moved to one component supply unit side,
- the components of the one component supply unit are mounted on the substrate held by the first substrate transfer / holding device,
- the substrate unloaded from the first substrate transfer and holding device is loaded into the second substrate transfer and holding device
- a component mounting method for carrying the substrate unloaded from the second substrate transfer and holding device into an unloader is provided.
- the component mounting in the first substrate transfer and holding device and the component mounting in the second substrate transfer and holding device are performed simultaneously. Provide an implementation method.
- the component mounting in the first substrate transfer / holding device is performed on the substrate.
- a half of the area on the side of the one component supply unit is mounted, and the component mounting by the second substrate transport / holding device is performed by mounting a half area of the side on the other component supply unit of the board.
- substrate transfer from the loader to the first substrate transfer and holding device transfer of the substrate from the first substrate transfer and hold device to the second substrate transfer and hold device
- a component mounting method according to the eighteenth aspect wherein the substrate is transferred and the substrate is transferred from the second substrate transfer and holding device to the unloader at the same time.
- the plate member in a single plate member working device, can be loaded and unloaded at the plate member transport position, and the loaded plate member is held.
- the plate-shaped member can be adjacent to the first plate-shaped member transfer and holding device, and can be loaded with the plate-shaped member via the first plate-shaped member transfer and holding device.
- a second plate-like member transport holding device that is capable of holding and that can carry out the held plate-like member at the plate-like member transport position;
- the first plate-shaped member transfer and holding device is moved in a direction intersecting the transfer direction of the plate-shaped member, the plate-shaped member transfer position, and the plate-shaped member held by the first plate-shaped member transfer and holding device.
- a first moving device for moving between a first work position for performing a predetermined work and
- the plate-shaped member transfer position and the plate-shaped member held by the second plate-shaped member transfer and holding device And a second moving device for moving the plate-shaped member to and from a second work position for performing a predetermined work.
- the working area of the working device is divided into two working areas, a first working area and a second working area, with the transport direction of the plate member at the plate member transport position as a boundary. Divided into
- the first moving device causes the first plate member transport holding device to perform a predetermined operation on the plate member held by the first plate member transport holding device.
- the second moving device holds the second plate-shaped member transfer and holding device in the second plate-shaped member transfer and holding device.
- the plate member is a substrate on which components are to be mounted.
- the work device for performing the work on the plate member is a component mounting device for mounting the component on the board, and the first and second plate member transfer and holding devices are the first and second plate members.
- the component mounting work area for mounting components in the component mounting apparatus is divided into a first mounting area and a second mounting area along the direction in which the board is transported, and the first board transport and holding apparatus is mounted in the first mounting area.
- the first moving device can be moved to the first component mounting position as the first working position in the area by the first moving device, and the second substrate transfer and holding device is set to the second working position in the second mounting region. 22 or 2 in which the above-mentioned second moving device can be moved to the second component mounting position, and components are independently mounted on the boards held by the respective board transfer holding devices within each mounting area.
- the first component supply unit is configured to supply the component to be mounted on the substrate to an edge of the first mounting region opposite to the second mounting region.
- a first component recognition unit is disposed near the first component supply unit, and is movable within the first mounting area, and holds the component from the first component supply unit. After performing component recognition by the first component recognition unit, a work head for mounting components on the board held by the first board transfer / holding device located at the first component mounting position is provided.
- a second component supply unit for supplying the component to be mounted on the substrate is disposed at an edge of the second mounting region opposite to the first mounting region, and
- a second component recognition unit is arranged near the component supply unit, and is movable in the second mounting area, and holds the component from the second component supply unit, and recognizes the second component. After performing component recognition by the component, a work head for mounting components on the board held by the second board transfer / holding device located at the second component mounting position is provided. According to another aspect of the present invention, there is provided a working device for a plate-shaped member.
- a first plate-like member transport / holding device capable of carrying in, carrying out, carrying out, and holding a plate-like member
- the second plate-like member transport / holding device that can enter, carry out, and hold The plate-like member is moved to the plate-like member transfer position, and the plate-like member is loaded into the first plate-like member transfer holding device, and the loaded plate-like member is passed through the first plate-like member transfer holding device.
- the second plate-shaped member is held and carried into the second plate-shaped member transfer holding device, and the next plate-shaped member is transferred to and held by the first plate-shaped member transfer holding device,
- the first plate-shaped member transfer and holding device is moved from the plate-shaped member transfer position to a first work position in a direction intersecting the transfer direction of the plate-shaped member, and the second plate-shaped member transfer and holding device is moved to the plate position. Moving the plate-shaped member from the transport position to the second working position in a direction intersecting the transport direction of the plate-shaped member,
- a predetermined work is performed on the plate-like member held by the first plate-like member transfer and holding device, and at the second work position, the second plate-like member transfer and hold device A predetermined operation is performed on the plate-like member held in the above-described manner, and the first plate-like member conveyance holding device is moved from the first work position to the plate-like member conveyance direction in a direction intersecting the conveyance direction of the plate-like member. And moving the second plate-shaped member transfer and holding device from the second work position to the plate-shaped member transfer position in a direction intersecting the transfer direction of the plate-shaped member.
- the first plate-shaped member transfer and holding device is positioned at the plate-shaped member transfer position such that the first plate-shaped member transfer and holding device is adjacent to the second plate-shaped member transfer and holding device, and is held by the second plate-shaped member transfer and holding device.
- the plate-like member is carried out of the second plate-like member transport / holding device, and the plate-like member held by the first plate-like member transport / holding device is moved from the first plate-like member transport / holding device to the second position.
- the working area of the working device is divided into two working areas, a first working area and a second working area, with the carrying direction of the plate member at the plate member carrying position as a boundary.
- the first plate-shaped member transfer and holding device performs a predetermined operation on the plate-shaped member held by the first plate-shaped member transfer and holding device, and moves to the first work position in the first work area.
- the second plate-shaped member transfer holding device is provided with the second plate-shaped member transfer holding device.
- the plate-shaped member is a board on which components are to be mounted, and the work device that performs the work on the plate-shaped member mounts the components on the board.
- the first and second plate-like member transfer and holding devices are the first and second substrate transfer and holding devices, and the component mounting work area for mounting components in the component mounting device is the same as the above.
- the first substrate transfer and holding device can be moved to a first component mounting position as the first work position in the first mounting region, and the second substrate transfer and holding device can be moved to the first component mounting position in the second mounting region. It is possible to move to the second component mounting position as the second work position by the above-mentioned second moving device, and to perform component mounting independently on the board held by each board transfer holding device in each mounting area.
- An operation method for the plate-shaped member according to the twenty-sixth or twenty-seventh aspect is provided.
- the second mounting area is provided at an edge of the first mounting area opposite to the second mounting area.
- FIG. 1 is an overall schematic perspective view of a component mounting apparatus having a substrate carrying and holding apparatus according to an embodiment of the present invention
- FIG. 2 is an overall schematic layout diagram of the component mounting apparatus of FIG.
- FIG. 3 is a detailed plan view of the entire component mounting apparatus of FIG.
- FIG. 4 is a detailed plan view of the substrate transfer and holding device of FIG. 1,
- FIG. 5 is a detailed right side view of the substrate transfer and holding device of FIG. 1,
- FIG. 6 is a perspective view of the substrate transfer and holding device of FIG. 1,
- FIG. 7 is a detailed enlarged right side view of a selection opening mechanism of the substrate transfer / holding device of FIG. 1,
- FIG. 8 is a detailed front view of the substrate transfer / holding device of FIG. 1,
- FIG. 9 is an explanatory diagram of the board transfer operation of the two board transfer and holding device of the component mounting apparatus of FIG. 1,
- FIG. 10 is an explanatory diagram of the home return operation and the mounting operation state of the support rail portion of the board transfer and holding device of the component mounting apparatus of FIG. 1,
- FIG. 11 is an explanatory diagram of an initial state of a support rail portion of the board transfer / holding device of the component mounting apparatus of FIG. 1,
- FIG. 12 is an explanatory view of the home position return operation of the support rail on the lip side of the board transfer and holding device of the component mounting apparatus of FIG. 1,
- FIG. 13 is an explanatory diagram of the home position return operation of the servo trail portion on the constantly moving side of the board transfer and holding device of the component mounting apparatus of FIG. 1,
- FIG. 14 is an explanatory diagram of the board width shifting operation of the servo trail portion on the constantly moving side of the board transfer and holding device of the component mounting apparatus of FIG. 1,
- FIG. 15 is an explanatory view of the board transfer state of the support rail portion of the board transfer and holding device of the component mounting apparatus of FIG. 1
- FIG. 16 is an explanatory view of a component mounting state of the support rail portion of the board transfer holding device of the component mounting device of FIG. 1
- FIG. 17 is an explanatory view of maintenance of the support rail portion of the board transfer holding device of the component mounting apparatus of FIG. 1, replacement of the support pin or the support plate, or change of the nozzle,
- FIG. 18 is an explanatory view of the completion state of the mounting operation of the sabot trail portion of the board transfer and holding device of the component mounting apparatus of FIG. 1,
- FIG. 19 is an explanatory view of the board unloading state after the mounting operation of the support rail portion of each board transfer and holding device of the component mounting apparatus of FIG. 1 is completed.
- FIG. 20 is an explanatory diagram of a board loading state of a support rail portion of each board transport and holding device of the component mounting apparatus of FIG. 1,
- FIG. 21 is an explanatory view of a state in which component mounting starts after the board is completely loaded into the support rail portion of the board transport / holding device of the component mounting apparatus of FIG. 1,
- FIG. 22 is a timing chart of the board transfer operation of the first board transfer holding device of the component mounting apparatus of FIG. 1,
- FIG. 23 is a timing chart of the board transfer operation of the second board transfer holding device of the component mounting apparatus of FIG. 1,
- FIG. 24 is a schematic right side view showing the mounting state of FIG. 16 of the board transfer and holding device of the component mounting apparatus of FIG. 1,
- FIG. 25 is a schematic right side view showing the home position return state of FIG. 13 of the board transfer and holding device of the component mounting apparatus of FIG. 1,
- FIG. 26 is a schematic right side view showing the maintenance state of FIG. 17 of the board transfer and holding device of the component mounting apparatus of FIG. 1,
- FIG. 27 is a timing chart of the home position return operation and the board width shifting operation of the support rail portion in each of the board transfer / holding devices of the component mounting apparatus of FIG. 1, and FIG. 28 is the timing chart of FIG.
- FIG. 3 is a block diagram showing a connection relationship between a control device of the component mounting apparatus, each driving device, and each sensor,
- FIG. 29 is a plan view of a component mounting apparatus according to another embodiment of the present invention
- FIG. 30 is a plan view of the mounting operation state of the component mounting apparatus of FIG. 29,
- FIG. 31 is a board replacement operation state of the component mounting apparatus of FIG. FIG.
- FIG. 32 is a plan view of the above-described component mounting apparatus of FIG. 29 in a board exchanging operation state in the second board transport / holding device.
- FIG. 33 is a plan view of a component mounting apparatus according to still another embodiment of the present invention.
- FIG. 34 is a perspective view of a modification of the board transfer and holding device of the component mounting apparatus according to still another embodiment of the present invention.
- FIG. 35 is a plan view of a conventional component mounting apparatus.
- FIG. 36 is an overall schematic arrangement view of a component mounting apparatus according to still another embodiment of the present invention.
- a component mounting apparatus including a plate-like member transfer holding device and a method therefor includes a board for mounting a component as an example of a plate-like member. 2 (When referring to a board regardless of its position, it is indicated by reference number 2, and the board at a specific position is indicated by reference numbers 2-0, 2-1, 2-2, 2-3.) A description will be given of a case in which the present invention is applied to a substrate transport / holding device that holds the substrate 2 and a method for mounting the substrate 2.
- two electronic circuit boards 2 are arranged in a staggered manner in a component mounting work area so as to face each other diagonally, so that components can be mounted independently. Has become.
- two sets of work heads and their driving units, substrate transfer and holding devices, cognitive abilities, etc. are arranged.
- a board transfer holding device that holds the electronic circuit board 2 is In the mounting area, the component is mounted by moving to a position close to the component supply unit.
- Adjustment of the board transfer / holding device according to the width of the board 2 (board width adjustment)
- the reference In the mounting area on the near side, which is closer to the worker, the reference is based on the edge on the near side, and in the mounting area farther from the worker, the reference is based on the edge on the far side.
- the substrate on the right substrate transfer and holding device in FIG. The tact time can be reduced by positioning to the right and shortening the mounting movement distance.
- this mounting apparatus has various advantages.
- FIGS. 1 and 2 are an overall schematic perspective view and a plan view of the electronic component mounting apparatus according to the embodiment of the present invention, respectively.
- the component mounting work area 200 of the mounting apparatus is the same as the plate-shaped work area at the board transfer position. It is divided into two parts, a first mounting area 201 and a second mounting area 202, with the member conveying direction, in other words, the component conveying path as a boundary.
- reference numeral 1 denotes the component which is arranged on the board loading side of the component mounting work area 200 and in which the first mounting area 201 and the second mounting area 202 are adjacent to each other.
- the loader for loading the electronic circuit board 2 into the component transfer path in the mounting work area 200, and the loader 11 is disposed on the board unloading side of the component transfer path in the component mount work area 200, and the first mounting described above.
- various components are as follows: In addition, it is provided point-symmetrically with respect to the center point 102 of the component mounting work area 200 (see FIG. 10).
- reference numeral 3 denotes a pair of support rails 2 1 and 2 2 for carrying and holding the electronic circuit board 2 carried in from the loader 1 at the board carrying position (refer to the sub-rail section regardless of the position).
- the first substrate is indicated by reference numerals 21 and 22 and the support rail portion at a specific position is indicated by reference numerals 21-1, 21-2, 22-1 and 22-2).
- a transport holding device, 4 is a work head in which a plurality of, for example, 10 component suction nozzles 10 for sucking and holding electronic components are exchangeably mounted in the first mounting area 201, and 5 is a first mounting area.
- XY robot that positions work head 4 in 201 in a predetermined position in the XY direction, which is two orthogonal directions in first mounting area 201, XY robot 7 is described later in first mounting area 201
- a plurality of types of nozzles 10 that are arranged near the component supply unit 8 A to be used and that are suitable for a plurality of types of electronic components are stored.
- a nozzle stay Chillon to replace the nozzle 1 0 attached to head 4 to the working in accordance with the requirements.
- 8A and 8B are arranged on the front side of the worker in the first mounting area 201, that is, on the front end side of the worker, respectively, and store the components to be mounted on the board 2 in a tape shape.
- a component supply unit for storing the held taping components, 8C is disposed near the component supply unit 8B in the first mounting area 201, and stores components to be mounted on the substrate 2 in a tray shape.
- the component supply unit 9 for storing the held tray components is disposed in the first mounting area 201 on the side near the component supply unit 8 A in the vicinity of the center of the component mounting work area, and has a work head 4.
- This is a recognition camera that captures the suction posture of the electronic component sucked by the nozzle 10.
- reference numeral 9a denotes a two-dimensional camera among the recognition cameras
- 9b denotes a three-dimensional camera among the recognition cameras 9.
- reference numeral 13 denotes a first unit having a pair of support rails 21 and 22 for carrying and holding the electronic circuit board 2 carried in from the first board carrying / holding device 3 in the first mounting area 201.
- a board transfer and holding device, 14 is a work head in which a plurality of, for example, 10 pieces of component suction nozzles 20 for sucking and holding electronic components in the second mounting area 202 are exchangeably mounted, and 15 is a second head.
- Work head 14 in mounting area 202 is orthogonal to second working area 202
- the XY robot 17 that is positioned at a predetermined position in the XY direction, which is the two directions, is disposed in the second mounting area 202 near a component supply unit 18A described later, and is used for a plurality of types of electronic components.
- This nozzle station stores a plurality of types of suitable nozzles 20 and exchanges them with the nozzles 20 mounted on the work head 14 as necessary.
- a component supply section 18C for storing the stored and held taping components is disposed near the component supply section 18B in the second mounting area 202, and a component storage section for storing components to be mounted on the substrate 2.
- the component supply unit 19 for storing the tray components stored and held in a shape is disposed on the side near the center of the component mounting work area near the component supply unit 18 A in the second mounting area 202, and This is a recognition camera that captures the suction posture of the electronic component sucked by the nozzle 20 of the work head 14.
- 19 a is a two-dimensional camera of the recognition cameras
- 19 b is a three-dimensional camera of the recognition cameras 9.
- a first moving device including a ball screw shaft 35, a first nut 27, a second nut 48, a support rail moving motor 40, a selection lock mechanism 70, and the like, which will be described later, is provided.
- the substrate 2 is moved to a predetermined work position, for example, a first work position for mounting components, for example, a first component mounting position.
- a second moving device including a ball screw shaft 35, a first nut 27, a second nut 48, a support rail moving motor 40, a selection lock mechanism 70, and the like, which will be described later, is provided.
- the second substrate transport and holding device 13 is moved in the direction intersecting the transport direction of the substrate 2 by the moving device, the substrate transport position, and the second substrate transport and holding in the second mounting area 202.
- the substrate 2 held by the device 13 is moved to a predetermined work, for example, a second work position for performing component mounting, for example, a second component mounting position.
- the XY robots 5 and 15 are configured as follows.
- XY robot The two Y-axis drive units 6a and 6a of the device 6 are fixedly arranged at the front and rear edges of the component mounting work area 200 on the mounting device base 16 in the board transfer direction.
- Two X-axis drive units 6b, 6c are arranged so as to be independently movable in the Y-axis direction and avoid collisions over the Y-axis drive units 6a, 6a.
- a work head 4 for moving in the first mounting area 201 is arranged in 6b so as to be movable in the X-axis direction, and an X-axis drive unit 6c is provided for moving in the second mounting area 202.
- the moving work head 14 is arranged so as to be movable in the X-axis direction. Therefore, the XY robot 5 can move in the Y-axis direction on the two Y-axis driving units 6a and 6a fixed to the mounting device base 16 and the Y-axis driving units 6a and 6a. It comprises an X-axis drive 6b and a work head 4 movable in the X-axis direction in the X-axis drive 6b.
- the XY robot 15 has two Y-axis driving units 6a and 6a fixed to the mounting device base 16 and two Y-axis driving units 6a and 6a. It comprises a movable X-axis drive 6c and a work head 14 movable in the X-axis direction in the X-axis drive 6c.
- the structure of the first and second substrate transfer and holding devices 3 and 13 provided with the front and rear servo trail portions 21 and 22 is first characterized.
- the first and second substrate transfer and holding devices 3 and 13 have exactly the same structure, except that the arrangement positions of the first and second substrate transfer and holding devices 3 and 13 are the same as those described above. It is only point-symmetric with respect to the center point 102 of the mounting work area 200. Therefore, the structure of each substrate transfer and holding device will be described below with reference to FIGS.
- reference numerals 21 and 22 denote a pair of support rails extending along the X direction and provided with the substrate carrying and holding belts 500, respectively, to carry and hold the electronic circuit board 2.
- the front support rail 21 of the pair of support rails 2 1, 2 2 is used for adjusting the width between the support rails 2 1, 2 2 according to the width of the board 2.
- the rear support rail 22 functions as a reference-side or lock-side support rail, and the rear support rail 22 functions as a moving-side support rail for moving according to the width of the board 2.
- reference numeral 23 denotes a sabot near the left and right ends of FIG.
- the linear guide members 24 are arranged so as to extend in the direction (Y direction) perpendicular to the longitudinal direction (X direction) of the support rail portions 21 and 22.
- the support rails 21 are arranged at the lower ends of the left support 21 a and the support 21 b near the right end, and move linearly on the linear guide members 23 to move the support rail 21 in the Y direction.
- Front slider that guides you to translate along
- Reference numeral 2 5 is disposed at each of the lower end portions of the left end support portion 22 a and the right end support portion 22 b in FIG. 6 of the support rail portion 22 on the rear side, and each straight guide member 2.
- linear guide members 23 Near the left and right ends of the support rails 21, 22, are arranged above the linear guide members 23 so as to extend in the direction (Y direction) orthogonal to the longitudinal direction (X direction) of the support rails 21, 22, and A ball screw shaft rotatably supported at both ends by the substrate transfer device base 44, and a support rail moving motor 40 for rotating the ball screw shaft 35 in the forward and reverse rotation directions.
- the linear guide member 23, the front slider 24, and the rear slider 25 form a linear guide mechanism.
- reference numeral 27 denotes a free-standing rotation via bearings 47 at the lower ends of the support 21a at the left end of the support rail 21 and the support 21b near the right end, respectively.
- a nut is provided and screwed with the ball screw shaft 35.
- the nut 27 is entirely covered by a sleeve 46 from the outside and rotates integrally with the sleeve 46 so that it cannot rotate relative to the sleeve 46, and is rotatably supported by the bearing 47 by the sleeve 46.
- a gear 28 is fixed to one axial end of the sleeve 46.
- Reference numeral 30 denotes a cylinder for a selective lock mechanism provided on each of the support portions 21a and 21b of the support rail portion 21 and for moving the piston rod up and down.
- a rack gear 29 which can be engaged with the gear 28 is fixed to the upper end of the piston rod of the cylinder 30 for the selective lock mechanism.
- the rack gear 29 2 9 engages with the gear 2 8 to stop the rotation of the nut 2 7, while the pin 4 3 at the lower end of the screw opening locks the cylinder 3 0 when the button rod is lowered to the lower end position.
- Penetrates downward for substrate transfer device Engage with the holes 45 of the base 44 and fix the position of the support rail 21 as immovable.
- the hole 45 of the substrate transfer device base 44 is located when the support rail 21 is located at the origin position P21 as an example of the reference position (the position of the support rail 21 shown by a dotted line in FIG. 6). ) to each pin 4 3 is eclipsed set only ⁇ positions.
- pulleys 92 and 91 are connected to the left and right ball screw shafts 35 and 35, respectively, and a belt 90 is wound around these pulleys 92 and 91.
- the left and right ball screw shafts 35, 35 are synchronously rotated in the same direction via the pulleys 92, 91 and the belt 90.
- a nut 2 is rotatably supported by a bearing 47 and screwed to each ball screw shaft 35.
- each of the gears 28, each of the rack gears 29, and each of the cylinders 30 constitutes each of the selective opening mechanisms 70.
- the front support rails 21 are connected to the left and right selective opening mechanisms 70, 70 by the rack gears 29, 29, respectively.
- the support rails 21 are moved along the axial direction by the selective locking mechanisms 70 and 70 of the support rail 21.
- the support rail portion 21 on the front side it is possible to function as the support rail portion 21 on the reference side, that is, the lock side.
- reference numeral 48 designates a bearing 49 on each of the lower end portions of the support portion 22a at the left end of the support rail portion 22 on the rear side and the support portion 22b near the right end.
- a nut rotatably provided and screwed to the ball screw shaft 35.
- Each nut 48 is entirely covered by a sleeve 50 from the outside, and rotates integrally with the sleeve 50 so as to be relatively unrotatable.
- the nut 50 is rotatably supported by the bearing 48 by the sleeve 50.
- a gear 51 is fixed to one axial end of each sleeve 50.
- the gears 5 1 and 5 1 are fastened to the lower ends of the support 2 2 a on the left end of the support rail 22 on the rear side and the support 2 2 b near the right end by the brackets 52 and 52, respectively. Therefore, when the ball screw shafts 35, 35 rotate, they are guided by the linear guide members 23, 23 and the sliders 24, 24 and can move in parallel along the Y-axis direction.
- a belt driving shaft for synchronously driving the substrate 2 in the front-rear direction via a burley or the like, and 42 is used for placing and transporting the substrate 2 by rotating the belt driving shaft 99 forward and reverse.
- the base 44 for the substrate transfer device on the right side includes a front limit position detection sensor 400 for detecting a front limit position of the front support rail portion 21, and an origin position P 2 of the front support rail portion 21.
- Front home position detection sensor for detecting 1 4 0
- a board passage detection sensor 31 for detecting passage of the electronic circuit board 2 is provided on the support rail section 21 at the right end, that is, the end on the loader 1 side, and the electronic circuit board 2 is held at a predetermined position.
- Board stopper 3 to be stopped 3 2 is at the left end, i.e.
- a board arrival detection sensor that is arranged at the end of the first side and detects that the electronic circuit board 2 has arrived approaching the predetermined position in the board transfer direction from the loader 1 side to the unloader 11 side. Is provided near the substrate stopper 32. As shown in FIG. 9, each of the substrate stopper driving cylinders 32D includes an upper end position detection sensor S32 for detecting the upper end position of the biston rod. The board stopper 32 is located at the ascending position during the mounting operation and keeps in contact with the board 2.
- the support plate driving cylinder 39 has an upper limit position detection sensor S 39 U for detecting the upper limit position of the biston rod and a lower limit position detection sensor S for detecting the lower limit position.
- S 39 U for detecting the upper limit position of the biston rod
- S for detecting the lower limit position.
- the above-mentioned substrate transfer and holding device is provided with a support plate 38 having a size equal to or larger than the largest substrate so as to be able to move up and down.
- the support plate 3 8 is raised by the cylinder 3 9 and the support pin
- each sensor and each driving device are connected to the control device 1000. They are connected to each other, and each drive device is drive-controlled based on a predetermined mounting program. That is, the controller 1000 includes at least the board passage detection sensors 31 (31-1, 31-2), the board arrival detection sensors 33 (33-1, 33-2), and the support plate driving cylinder 39.
- the information on the board transfer position of each support rail Are connected to a database 1001 that stores the information and the like, an operation unit 1002 that performs a desired operation, and the like.
- FIG. 10 is a diagram showing the overall layout, showing the origin return operation and the mounting operation state of the support rails 21 and 22.
- the component supply unit 8 is located at the center point 102 of the component mounting work area 200.
- A, 8B, 18A, 18B, recognition cameras 9 and 19 for capturing the suction posture of electronic components, and work heads 4 and 14 having suction nozzles 10 and 20 shaped appropriately for the electronic components to be sucked (Fig. 1 7)
- the board transfer devices 3 and 13 see FIG.
- the component mounting work area 200 is divided into two parts by a straight line passing through the center point 102 and along the board transport direction, and is divided into two parts by the first mounting area 201 (in FIG. 10, below the component mounting work area 200). Half) and the second mounting area 202 (The upper half of the component mounting work area 200 in FIG. 10).
- the first mounting area 201 the support rails 21—1, 22-1, and the support rails 21 and 22, the board passage detection sensor 31, the board stopper 32, the board arrival detection sensor 33, and the support plate 38 are respectively provided.
- the board passing detection sensor 31-1, board stopper 32-1, board arrival detection sensor 33-1, support plate 38-1, are shown as support rails 21-2, 22-2 in the second mounting area 202 2. This is shown as a board passage detection sensor 31-2, a board stopper 32-12, a board arrival detection sensor 33-2, and a support plate 38-2.
- the support rail portion 21-1 on the hook side is up to the origin position P 21-1 indicated by the lower right solid line
- the support rail portion 22-1 on the moving side is the origin position indicated by the upper right solid line. Move within the range up to position P 22-1.
- the lock-side support rail 21-2 is up to the origin position P21-2 shown by the upper left solid line
- the moving-side support rail 22-2 is the origin shown by the lower left solid line. Move within the range up to position P22-2.
- FIG. 11 when the component mounting apparatus is powered on, the support rails 21—1, 21—2 on the opening side and the support rails 22—1, 22—2 on the moving side are originated. It shows the state that has not been obtained.
- the support rails 22-1 and 22-2 on the moving side are It shows a state of moving at a low speed toward the origin positions P22-1 and P22-2.
- the origin positions P 21-1 and P 21-2 of the support rails 21-1 and 21-2 on the lock side are the positions closest to the recognition cameras 9 and 19 and the parts supply sections 8A and 18A. It has become. That is, in the first mounting area 201, the lock-side sabot trail 21-1 and the moving-side support rail 22-1 are integrally formed at a low speed as shown by the downward arrow in FIG. When the support rails 21-1 on the lip side move to the home position P 21 -1, the movement of both support rails 21-1 and 22-1 is stopped.
- the support rail portion 21-2 on the lock side and the support rail portion 22-2 on the moving side integrally move at a low speed in an upward direction as indicated by an upward arrow in FIG.
- the support rail 21-2 on the lock side is located at the home position P21-2, the movement of both the support rails 21-2 and 22-2 is stopped.
- the support rails 21-1 and 21-2 on the lock side complete home return, and the support rails 21-1 and 21-2 on the lock side are driven and the cylinders 30 and 30 are driven to the respective piston locks.
- the pins 43, 43 at the lower end of the board are fitted into the holes 45, 45 of the bases 44, 44 for the board transfer device, and the support lanyards 21 — 1, 21— 2 on the lock side are the origin positions P 21— 1, Locked to P 21-2. That is, after the lock-side support rails 21-1 and 21-2 have moved to their respective origin positions P21-1 and P21-2, respectively, the lock-side support rails 21_1 and 21--2.
- the support rails 22-1 and 22-2 on the moving side initially move at low speed to the home position side of the support rails 21-1 and 21-2 on the lock side, and
- the support rails 21-1 and 21-2 move in the same direction as the arrow at a low speed, but the support rails 21-1 and 21-2 on the lip side have the origin positions ⁇ 21-1, ⁇ , respectively.
- the support rail moving motor 40 is driven to rotate in the reverse direction and the pole screw shafts 35, 35 are synchronously rotated in the reverse direction. Is moved in the opposite direction at a low speed and moves to the respective origin positions (in the first mounting area 201, the upper right origin point shown by the solid line in FIG. 10 ⁇ 22—1; in the second mounting area 202, Move to the lower left origin position indicated by the solid line of 0 ⁇ 22-2).
- the support rails 2 1-1 and 2 1-2 on the lock side are As shown in Fig.13, with the home positions fixed at P21-1 and P21-2, the support rails 22-1 and 22-2 on the moving side are the substrates 2-1 and 2 on which components are mounted. Move to the support rails 21-1 and 21-2 on the lip side from the origin position P22—1, P22—2 according to the width of -2 to support rails 21—1, 22-. Adjustment of the width between 1 and the support rails 21-2 and 22-2 is completed. At this time, the movement amount of the support rail portions 22-1 and 22-2 on the moving side is stored in advance in the database 1001 with the widths of the substrates 2-1 and 2-2 to be mounted next.
- the calculation unit 1002 calculates The rotation amount of the support rail moving motor 40 is calculated, and the rotation of the support rail moving motor 40 is controlled based on the calculation result.
- the ball screw shafts 35, 35 are rotated after the respective rack gears 29 are engaged with the respective gears 28 by the respective selective locking mechanisms 70, whereby the support rail portions on the lock side and the moving side are moved. 21-2 and 22-2 move synchronously in the same direction, ie, downward in FIG. Then, at the center of the component mounting work area 200 of the mounting apparatus, the lock rails and the movable rails 21-1 and 22 are moved to a position (transfer position) where the left and right board transfer holding devices 3 and 13 are aligned in a straight line (transfer position).
- the first substrate transfer and holding device 3 waits for the loading of the substrate 2-0 from the loader 1.
- the first substrate transfer and holding device 3 and the second substrate transfer and hold device The loading operation of the substrate 2-1 from 3 to the second substrate transfer / holding device 13 is completed, and the loader 1 and the first substrate transfer / holding device 3 are driven under the control of the control device 1000 to load the loader 1
- the sabot trail portions 21-1 and 22-1 of the first substrate transfer and holding device 3 holding the substrate 2-0 Moves downward in Fig.
- the mounting operation is performed with the distance between the recognition cameras 9 and 19 and the electronic circuit boards 2-0 and 2-1 approaching to the nearest position regardless of the size of the electronic circuit board 2.
- the moving distance of the working heads 4 and 14 can be reduced, and the mounting tact can be shortened.
- FIGS. 18 to 21 show the flow of the electronic circuit board 2 during production (component mounting). At the stage when production starts, the support rails 2 1-1 '2 1-2 on the hook side and the support rails 2 2-1, 2 2-2 on the moving side are driven together in synchronization. .
- FIGS. 22 and 23 show time charts in the substrate transfer operation.
- Figure 18 shows the positional relationship at the end of the component mounting production. At this point, the electronic circuit board 2-0 to be produced next is prepared in the loader 1.
- the first and second substrate transfer and holding devices 3 and 13 are controlled by the control device 100.
- Each of the support plates 38-1, 8-2 is started to descend by the drive of the support plate driving cylinders 39, 39, and it is determined that the lower limit position detecting sensor has reached the lower limit position. Detected by S39L, S39L.
- the substrate stopper driving cylinder 3 2 D is driven in the first substrate transfer and holding device 3,
- the stopper 3 2 1 1 provided on the support rail section 2 1-1 on the lip side of the first board transfer and holding device 3 and located at the ascending position during the mounting operation is lowered, and the board 2 can be carried out.
- the stopper 32-2 which is provided on the support rail section 21-2 on the lip side of the second substrate transfer and holding device 13 and which is located at the ascending position during the mounting operation, also descends, and 2 is ready to be unloaded.
- the detection signals from the lower limit position detection sensors S39L and S39L are identical to the detection signals from the lower limit position detection sensors S39L and S39L.
- the first substrate transfer and holding device 3 When input to 100 0 0, in addition to driving the substrate stopper driving cylinder 32D by the first substrate transfer and holding device 3 as described above, the first substrate transfer and holding device 3
- the support rail moving motor 40 is driven to drive the ball screw shaft 3 5, 3 5 rotates synchronously, and the support rails 2 1-1 and 2 2-1 move upward from the first component mounting position to the board transfer position at the center of the component mounting work area 200 as shown in FIG.
- the second board transfer and holding device 13 also drives the support rail moving motor 40 to rotate the ball screw shaft 3 5 ′ 3 5 synchronously, and the support rail 2 1 — As shown in FIG. 18 in a downward direction in FIG. 18, 2, 22-2 starts moving from the second component mounting position toward the board transfer position in the center of the component mounting work area 200.
- the belt drive motor 42 is also driven at the same time as the support rail moving motor 40 is driven, and the second substrate transfer and holding device is driven.
- the transfer is started so that the substrate 2-2, which has been positioned at the right end in 13, is moved toward the left end.
- the board passage detection sensor 3 1-2 detects the board 2-2, it determines whether the support rail moving motor 40 is driven or not, and if it is driven, the belt driving motor 4. Stop driving of 2. If not driven, the drive of the belt drive motor 42 may be continued. This is because the substrate 2-2 is transferred only on the servo rails 2 1-2, 2 2-2 of the second substrate transfer and holding device 13, and is transferred from the second substrate transfer and holding device 13 to the unloader side.
- the purpose of this is to reduce the transfer tact time of the board, so that the board 2-2 does not protrude from the support rails 21-2, 22-2 while the support rails 21-2, 22-2 are moving. To do that. Also, after a predetermined time has elapsed since the support rail moving motor 40 was driven, that is, before the support rails 21-2 and 22-2 are located at the substrate transfer position, the belt driving motor 42 is driven. Is temporarily stopped to prepare for the next substrate transfer operation at the substrate transfer position.
- FIG. 19 the support rails 21-1 and 22-1 of the first board transfer and holding device 3 and the support rails 21-2 and 22-2 of the second board transfer and holding device 13 are parts.
- This figure shows a state where the board arrives at the board transfer position in the center of the mounting work area 200 and stops at each board transfer position.
- the loader 1 the support rails 21-1, 22-1 of the first substrate transport and holding device 3, and the support rails 21-2, 22-2 of the second substrate transport and holding device 13 2, unloader 1 1 is straight Lined up.
- the electronic circuit board 2 flows from right to left.
- the unloaded substrate 2 is unloaded from the second substrate transfer and holding device 13 to the unloader 11. The completion of unloading is determined by detecting that the substrate 2-2 has passed and has been lost by the substrate passage detection sensor 31-2.
- the motor 40 for moving the servo rail portion of the first substrate transfer and holding device 3 is driven, and the substrate produced by the first substrate transfer and holding device 3 is driven.
- the unloading from the first substrate transfer and holding device 3 to the second substrate transfer and holding device 13 is started.
- the belt driving motor 42 While the drive is stopped, the substrate stopper driving cylinder 3 2D is driven to raise the substrate stopper 32-2 to the upper limit position, and the upper end position detection sensor S32 sets the substrate stopper 32-2 to the upper limit position. Detects that it has reached and prepares to stop substrate 2-1. On the other hand, the substrate 2-1 was conveyed from right to left by the drive of the belt driving motor 42, but after the substrate arrival detection sensor 33-2 detected the arrival and passage of the substrate 2-1.
- the belt driving motor 42 After measuring the elapse of a predetermined time (for example, 0.1 lms) by the timer T4 so that the substrate stopper 32-2 is moved up to the upper limit position, the belt driving motor 42 is driven to rotate in the reverse direction, (2) The board 2-1 provided on the support rails 2 1-2 and 2 2-2 of the board transfer holding device 13 is moved from left to right to transfer the board 2-1 in the reverse direction. Then, the right edge of the substrate 2-1 contacts the substrate stopper 32-2, and the arrival of the substrate 2-1 is detected by the substrate arrival detection sensor 33-2. Timer T 3 after arrival detection After the predetermined time is measured, the driving of the belt driving motor 42 is stopped. The extra driving of the belt driving motor 42 is to ensure that the right edge of the substrate 2-1 abuts against the substrate stopper 32-2.
- a predetermined time for example, 0.1 lms
- the motor 40 for moving the servo trail section is driven, and the second board transfer and holding device is driven.
- the support rails 2 1-2 and 2 2-2 of 13 start moving from the board transfer position to the second component mounting position, that is, the direction of the recognition camera 19. That is, the board 2-1 is transported on the support rails 2 1-2 and 2 2-2, and the support rails 2 1-2 and 2 2-2 are moved from the board transport position to the second component mounting position. The movement takes place simultaneously. In this way, the board 2-1 arrives at the predetermined position on the support rails 2 1-2 and 2 2-2 and the support rails 2 1-2 and 2 2-2 move to the second component mounting position. Both the arrival and the end are completed, and the substrate transfer operation ends.
- the support cylinder 38-2 is raised by driving the cylinder 39, and the substrate 2-2 is supported by the servo plate 38-2.
- the substrate stopper driving cylinder 3 2D is driven.
- the board stopper 3 2-1 rises to the upper limit position, and the upper end position detection sensor S 32 detects that the board stopper 3 2-2 has reached the upper limit position.
- the rotation speed of the belt drive motor 42 is reduced, and the impact when the substrate 2-0 contacts the substrate stopper 32-1 is reduced.
- the left edge of the substrate 2-0 abuts on the substrate stopper 32-1, and the arrival of the substrate 2-0 is detected.
- the support rail moving motor 40 is driven to move from the board transfer position to the first component mounting position, that is, to recognize.
- the movement to the camera 9 is started by the servo trails 21-1 and 22-1.
- the movement of 2-1 is performed simultaneously, and the substrate transfer operation ends when both operations are completed. That is, when the driving of the belt driving motor 42 is stopped and the driving of the support rail moving motor 40 is stopped, it is determined that the substrate transfer operation is completed, and the support plate driving The cylinder 39 is driven to raise the support plate 38-1, and the substrate 2-0 is supported by the support plate 38_1.
- FIG. 21 shows a state in which the board transfer operation is completed and the board production, that is, the component mounting operation is started, as in FIG. 16 described above. .
- the support rail portions 21 and 22 of the substrate transfer holding devices 3 and 13 are moved from the first and second component mounting positions. After moving to the board transfer position, each of the completed boards is carried out, the next board is carried in, and then returns to the mounting state in Fig. 21 and the mounting operation is continued. In this way, components can be continuously mounted on the board.
- the component mounting work area 200 of the board 2 is set in the first mounting area 201 with the board loading path from the board loading side to the board unloading side as the center. And the second mounting area 202 are divided into two, and in the first mounting area 201 Then, the board 2-1 is loaded into the first mounting area 201 by the loader 1 and the component supply section 8A and the first component feeding section 8A arranged at the end of the first mounting area 201 along the board loading path direction.
- the board 2-1 is positioned and held at a position closest to the recognition camera 9 as an example of a component recognition unit for a mounting operation.
- the board 2-1 is mounted on the recognition camera 1 as an example of the component supply section 18A and the second component recognition section of the second mounting area 202. Position and hold board 2-1 on the part closest to 9 for mounting.
- the second mounting area 202 at least a half area (hatched area 2A in FIG. 2) on the back side as viewed from the worker near the component supply section 18A of the board 2-1.
- the components are sucked and held from the component supply sections 18A and 18B for mounting. Thereafter, after the mounting operation in the second mounting area 202 is completed, the board 2-1 is unloaded from the second mounting area 202. As a result, the board 2 positioned and held in the mounting areas 201 and 202, the component supply sections 8A and 18A, and the cognitive
- the shortest distance from 9, 19 can be greatly reduced compared to the case where the board is held on the board loading path in the component mounting work area as before, and the mounting time is shortened Can improve productivity.
- one component mounting work area 200 of one mounting apparatus is divided into two parts, a first mounting area 201 and a second mounting area 202, and the two boards 2 are arranged respectively.
- Component mounting and move back and forth in each mounting area to perform component supply, recognition, and mounting on the edge side of the mounting area near the component supply unit, for example, in the first mounting area 201.
- the substrate 2 is positioned at the front edge of the mounting area, and the substrate 2 in the second mounting area 202 is positioned at the rear edge of the mounting area. Therefore, the mounting operation is performed with the distance between the cognitive power cameras 9 and 19 and the electronic circuit boards 2-0 and 2-1 approaching the shortest distance regardless of the size of the electronic circuit board 2.
- the moving distance of the work heads 4 and 14, that is, the distance between the three operation positions of component suction, recognition, and mounting is shortest, and mounting tact time can be reduced, and production efficiency can be reduced.
- the distance between the three operation positions of component suction, recognition, and mounting on a small board was long, and the mounting tact was large.
- the board is positioned and mounted at a position where the distance between the three operation positions of component suction, recognition, and mounting is small, whether the board is small or large, the mounting Can be greatly reduced.
- the two boards 2 are arranged diagonally, that is, in a staggered manner within the component mounting work area 200, so only one substrate 2 is disposed. As compared with the conventional example, the mounting efficiency per unit area can be improved.
- the staggered arrangement of the substrates 2 and 2 enables the area where the substrate 2 is not arranged to be reduced without reducing the number of the already arranged component supply units, for example, the number of cassette supply units.
- other component supply units such as tray-type component supply units 8 C and 18 C that can store semiconductor chips can be arranged in a zigzag pattern. The components can be arranged closer to the substrate, and the component supply efficiency can be improved.
- the support rails 2 1-1, 2 1-2 on the rack side and the support rails 2 2-1, 2 2-2 on the moving side are separated from the mounting positions of the first and second components, respectively. It moves to the position where it retracts from the upper part of 38-1 and 38-2.
- various maintenance work of the mounting apparatus for example, replacement of the support pins 87 supporting the electronic circuit board 2 from below, the support plates 38-1, and 38-2, and the nozzle station 7,
- various maintenance work can be easily performed without any trouble.
- the support plate 38 can be easily and collectively replaced, and the time for changing the position of the support pin 87 can be reduced.
- the operation control and the sensor stopper are arranged so that the substrate 2 is moved and positioned in the direction opposite to the substrate transfer direction.
- the support rail portion 21 on the opening side moves integrally with the support rail portion 22 on the moving side, and a Y-direction moving operation.
- the support rail 21 on the rack side is fixed and the width adjustment operation that moves only the support rail 22 on the moving side can be selected.
- the distance between the support rails 21 and 22 can be selected according to the width of the board.
- the drive shaft for adjusting the width of the board and the drive shaft for moving the board can be shared, and the number of drive axes can be reduced.
- the driving mechanism can be simplified.
- the locking and unlocking operations of the selection lock mechanisms 70 and 70 can be selectively performed by driving the cylinder 30 for the selection lock mechanism.
- Part 2 1 and support rail part 2 2 on the moving side It is possible to easily and reliably select a Y-direction moving operation for integrally moving and a width adjusting operation for moving only the moving-side support rail portion 22 with the lock-side support rail portion 21 fixed.
- the two ball screw shafts 35, 35 can be easily driven synchronously, and the support rails 21, 22 can be translated more reliably.
- the support plate 38 having the support bin 87 and the support rail portions 21 and 22 are separated and driven independently, the support plate 38 and the support rail
- the moving mechanism is lighter and simpler than when the parts are moved integrally, so that the moving operation can be speeded up and the cost can be reduced.
- each of the board transfer holding devices 3 and 13 if a board positioning stopper 32 and a board arrival detection sensor 33 are provided at the front and rear ends in the board transfer direction, respectively, both the front and rear ends in the board transfer direction are provided. Since the board 2 can be positioned, in each of the mounting areas 201 and 202, the board positioning position for positioning the board 2 depends on the size of the board 2, the distribution of the positions where components are to be mounted, Component supply unit Force can be arbitrarily determined based on information such as the distribution state of the position where components are sucked and held.
- the mounting operation can be performed more efficiently, and the mounting tact can be improved. it can.
- the staggered arrangement of the boards 2 and 2 reduces the number of stations, for example, the cassette supply section of the component supply sections already arranged in an area where the board 2 is not arranged.
- the tray-type component supply unit 18C is shown in FIG.
- an automatic tray exchange device 300 may be provided so that the tray-type component supply unit 18C can be automatically exchanged.
- the tray-type component supply unit 8C is manually placed by an operator.
- the device 300 may be provided so that the tray-type component supply unit 8C can be automatically replaced.
- an automatic component supply unit replacement device is arranged for the other component supply units 8 A, 8 B, 18 A, 18 B, and the component supply units 8 A, 8 B, 18 A, 1
- the exchange of 8B may be performed automatically. In this way, the mounting operation does not stop due to a shortage of components in the component supply unit during component mounting, and the component supply is performed continuously. That is, the actual production capacity can be improved.
- other components of the component mounting apparatus such as the component supply units and the automatic replacement apparatus are modularized, the component mounting apparatus can be replaced as needed in accordance with future improvements in the mounting apparatus.
- the above component mounting apparatus can be evolved simply by replacing each component module with the basic elements as a base. Further, if the components are modularized as described above, even when the type of the board or component is changed, it is possible to cope with the type switching of the board or component simply by appropriately changing the module of each component.
- the productivity per installation area that is, the area productivity, can also be improved.
- the component mounting work area 200 of the mounting apparatus is divided into two parts along the component transport direction, a first mounting area 201 and a second mounting area 202, but is equally divided into two. Not limited to this, but may be divided into two at an arbitrary ratio.
- the mounting operation is performed independently in the non-interference area, and one of the mounting operations is waited in the interference area.
- the control may be performed by the control device 100 0 0.
- the component mounting position is not limited to the origin position of one of the support rails 21 near the recognition cameras 9 and 19 and the component supply units 8A and 18A, and can be set to any position.
- the position for positioning the substrate 2 is not limited to either one end, and the position may be determined using the substrate stopper 32 at the center portion. Good.
- the substrate 2 is positioned at the left end in the first substrate transfer and holding device 3, while the substrate 2 is positioned at the right end in the second substrate transfer and holding device 13. If necessary, the substrate 2 may be positioned at the right end in the first substrate transfer and holding device 3, while the substrate 2 may be positioned at the left end in the second substrate transfer and holding device 13.
- the positioning position of the board 2 on the support rails 21 and 22 is determined by the size of the board 2, the position of the component mounting portion on the board 2, the recognition cameras 9 and 19, and the component supply section. 8 A, 8 B, 18 A, 18 B, etc., the position of the parts supply part that takes out the parts most frequently among the parts supply parts 8 A, 8 B, 18 A, 18 B Based on this, the optimal position can be determined.
- each of the board transfer and holding devices 3 and 13 two ball screw shafts for moving the support rail portions 21 and 22 in parallel are arranged.
- one ball screw shaft is arranged at the center and guide members are provided on both sides. By arranging it, a simpler structure can be achieved.
- the substrate is fixed in the vicinity of the component supply section 8C of the first substrate transfer and holding device 3 and performs only substrate transfer and cannot move in the ⁇ -axis direction.
- the transfer device 3A is arranged, and is fixed in the vicinity of the component supply portion 18C of the second substrate transfer and holding device 13 and only the substrate is transferred, and cannot be moved in the Y-axis direction. 3 A may be arranged. In this way, if the mounting operation in the first substrate transfer and holding device 3 is completed, even if the mounting operation in the second substrate transfer and holding device 13 is not completed, as shown in FIG.
- the substrate 2-1 held by the first substrate transfer and holding device 3 is unloaded to the substrate transfer device 3A and unloaded.
- the new substrate 2-0 can be carried into the first substrate carrying and holding device 3 from the loader 11 while being further carried out to the loader 11. Further, if the mounting operation in the second substrate transfer and holding device 13 is completed, even if the mounting operation in the first substrate transfer and holding device 3 is not completed, as shown in FIG.
- the substrate transfer and holding device 13 is adjacent to the substrate transfer and holding device 13A, the substrate 2-2 held by the second substrate transfer and holding device 13 is unloaded to the unloader 11 and the loader 1 A new substrate 2-0 can be carried into the second substrate carrying / holding device 13 via the substrate carrying device 13A. It is preferable that the loader 1 and the unloader 11 move between the positions indicated by the dotted line and the solid line in the Y-axis direction, respectively.
- the support rails 1 2 1—1, 1 2 2—1, 1 2 1—2, 1 of the first substrate transfer / holding device 3 and the second substrate transfer / holding device 13 are provided. If 22 1 and 2 are configured to have a length equal to or greater than the width of the component mounting work area 200 along the board transfer direction, the other board transfer and holding device can be used in the same manner as the modified examples in FIGS. 29 to 32.
- the substrate loading / unloading operation can be performed independently of the mounting operation of the substrate.
- the selection port mechanism 70 is not limited to being disposed on one of the support rail portions 21, and is also disposed on the other support rail portion 22 as shown in FIG.
- Both support rails 21 and 22 may be lock-side support rails.
- the support rail portion 211 on the front side is fixed with reference to the origin position on the front side, and then the support rail portion 211 on the back side. It is not limited to the one that moves 1 to adjust the board width. After fixing the back support rail 2 2-1 based on the back home position, the front support rail 2 1-1 The board width can be adjusted by moving it.
- the reference positions of the support rails 21 and 22 can be easily and reliably changed from the near-side reference based on the near-side origin position to the back-side reference based on the back-side origin position. Can be changed.
- the selective lock mechanism 70 is not limited to the gear mechanism such as the rack gear and the gear described above, but may be a clutch mechanism or the like.
- FIG. 36 shows a component mounting apparatus according to still another embodiment of the present invention.
- this component mounting apparatus in the state where the first and second substrate transfer and holding devices 3 and 13 are adjacent to each other, a long substrate 2G extending over the first and second substrate transfer and hold devices 3 and 13 is used. (Indicated by the hatched portion in the figure).
- the first and second substrate transfer and holding devices 3 and 13 are synchronized and the first mounting area 201 or the second mounting area 200 is synchronized.
- the component is mounted by moving it in parallel to either of the two.
- the first and second substrate transfer and holding devices 3 and 13 are synchronously moved in parallel into the first mounting area 201, and the first and second substrate transfer and holding devices 3 and 13 are moved.
- This is an example in which components are held and mounted by the head 4 from the component supply units 8A and 8B on a long substrate 2G supported over the substrate.
- the first and second substrate transfer / holding devices 3 and 13 are returned to the transfer positions on the center side and carried out downstream.
- the first and second substrate transfer / holding devices 3 and 13 are synchronously moved in parallel into the second mounting area 202, and are moved across the first and second substrate transfer / holding devices 3 and 13.
- the components are held by the heads 14 from the component supply units 18A and 18B on the supported long board 2G and mounted.
- the first and second substrate transfer / holding devices 3 and 13 are returned to the transfer positions on the center side and are carried out downstream.
- 32 G is a positioning substrate stopper when a long substrate 2 G is carried into the first and second substrate transfer and holding devices 3 and 13. In this way, as shown in FIG. 2, usually, the first and second substrate transfer / holding devices 3 and 13 are separately and independently driven to drive the first mounting area 201 and the second mounting area.
- the components should be operated as described above.
- the first and second substrate transfer and holding devices 3 and The parts can be mounted by driving 13.
- the selective lock mechanism releases the engagement of the first rail-shaped holding member with the first nut and causes the relative rotation of the first nut with respect to the first rail-shaped holding member. After the allowance, by rotating the screw shaft, only the second rail-shaped holding member moves to change the position of the second rail-shaped holding member with respect to the first rail-shaped holding member. By rotating the screw shaft after the selection hook mechanism engages with the first nut of the first rail-shaped holding member, the first rail-shaped holding member and the second rail-shaped holding member are rotated.
- the holding member can be moved in parallel as a whole, the above-mentioned second rail with respect to the above-mentioned first rail-shaped holding member can be obtained simply by performing the above-mentioned opening and closing operations of the selection hook mechanism. While changing the position of the A change operation and a movement operation in which the first rail-shaped holding member and the second rail-shaped holding member physically translate in parallel can be selectively and reliably and easily performed, and the plate-shaped member is moved to the transport position. After being carried in, it can be moved to the desired work position and held, so that the desired work can be performed efficiently, and after the desired work is completed, it is moved to the transport position and then unloaded. Thus, the loading, holding and unloading of the plate-like member can be performed efficiently and quickly.
- one component mounting work area of one component mounting apparatus is divided into two parts, a first mounting area and a second mounting area, and two substrates are arranged respectively.
- Components can be mounted and moved back and forth in each mounting area so that components are supplied, recognized, and mounted on the edge of the mounting area near the component supply unit.
- the board in the first mounting area is If the board in the second mounting area is positioned at the rear edge of the mounting area at the front edge of the mounting area, the distance between the recognition unit and the electronic circuit board is independent of the size of the electronic circuit board.
- the mounting operation can be performed as close as possible to the position of the shortest distance, the distance that the member that holds and holds the component, for example, the work head, moves, i.e., between the three operation positions of component suction, recognition, and mounting The shortest distance
- the mounting tact can be reduced and the production efficiency can be increased.
- the mounting tact time can be greatly reduced by positioning the board at a position where the distance between the three operation positions of component suction, recognition, and mounting becomes short, whether the board is small or large. can do.
- each mounting area when the component supply unit is arranged at almost all the edges along the board transport direction of the component mounting work area, the recognition unit is located on the center side of the component mounting work area.
- the positioning position of the board in each board transfer and holding device is also located at the center side of the component mounting work area, so that the distance between the three operation positions of component suction, recognition, and mounting is shorter. By doing so, the mounting tact can be further improved. Further, by dividing one component mounting work area into two parts, the moving distance of the work head is reduced, and mounting tact time can be improved.
- the unit area is reduced as compared with the conventional example in which only one board is disposed.
- the mounting efficiency per hit can be improved.
- the staggered arrangement of the substrates allows the area where the substrates are not arranged to be reduced without reducing the number of the already arranged component supply units, for example, the number of cassette supply units.
- the component supply units of the tray-type component supply unit can be arranged closer to the board. Supply efficiency can be improved.
- the rail-shaped holding member on the lock side and the rail-shaped holding member on the moving side were moved away from the component mounting position and retracted from above a support plate for supporting each substrate from below. If it is moved to the position, various maintenance work of the mounting device, for example, support pins that support the electronic circuit board 2 from below ⁇ Replacement of each support plate, replacement of nozzles for holding suction of components in the nozzle station When you do, without trouble, various Maintenance work can be easily performed. In addition, the support plates can be easily and collectively replaced, and the time required to change the position of the support pins can be reduced.
- first substrate transfer and holding device and the second substrate transfer and holding device are changed, and when positioning the substrate in the second substrate transfer and holding device, the substrate is transferred and held in the substrate transfer direction. If the operation control and the sensor stopper are arranged so that the substrate is moved and positioned in the direction opposite to the substrate transfer direction after being placed in the apparatus, the first substrate transfer and holding device and the second substrate
- the transport and holding device can have exactly the same structure, and commonality can be achieved.
- the locking operation and the unlocking operation are performed by providing the above-mentioned selective locking mechanism, the Y-direction moving operation in which the lock-side rail-shaped holding member moves integrally with the moving-side rail-shaped holding member, The width adjustment operation in which the rail-shaped holding member on the rack side is fixed and only the rail-shaped holding member on the moving side moves can be selected.
- the distance between the first and second rail-shaped holding members can be selected according to the width of the board.
- the drive shaft for adjusting the width of the board and the drive shaft for transferring the board can be shared, and the number of drive axes can be reduced.
- the drive mechanism for shifting the board width and the drive for transferring the board The mechanism can be simplified.
- one motor is driven to rotate the two ball screw shafts synchronously to move the first and second rail-shaped holding members, the two ball screw shafts are driven synchronously. Therefore, the first and second rail-shaped holding members can be translated more reliably.
- the support plate having the support pins and the first and second rail-shaped holding members are configured to be driven independently of each other, the support plate and the first and second rail-shaped holding members can be separated.
- the moving mechanism is lighter and simpler than in the case of moving the unit integrally, so that the moving operation can be speeded up and the cost can be reduced.
- the board position is set at the front and rear ends in the board transfer direction. If a positioning stopper and a board arrival detection sensor are provided, the board can be positioned at any of the front and rear ends in the board transport direction.In each mounting area, the board positioning position for positioning the board is It can be arbitrarily determined based on information such as the size, the distribution state of the position where the component is to be mounted, and the distribution state of the position where the component is sucked and held from the component supply unit.
- the mounting operation can be performed more efficiently, and the mounting tact can be improved. it can.
- two plate member transfer and holding devices that is, a first plate member transfer and holding device and a second plate member transfer are provided. While loading and unloading the plate-like members to be subjected to the prescribed work with the holding device adjacent, while carrying in, the respective plate-like members are held and moved to the respective work positions to perform the prescribed work independently. It can be carried out. Therefore, the loading and unloading of the plate-like member can be performed at the above-described plate-like member transfer position, and the work on the plate-like member can be performed at the work position. Efficiency can be improved, and there is no portion that can be used only for the above-mentioned plate-like member transfer operation and cannot be used for the work operation, so that the entire work device installation area can be effectively used.
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Supply And Installment Of Electrical Components (AREA)
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2001528446A JP4523217B2 (ja) | 1999-05-21 | 2000-05-19 | 板状部材の搬送保持装置及びその方法、並びに部品実装装置 |
US09/979,221 US6988612B1 (en) | 1999-05-21 | 2000-05-19 | Device for transferring/holding sheetlike member and its method |
EP00929798A EP1185156B1 (en) | 1999-05-21 | 2000-05-19 | Device for transferring/holding sheetlike member and its method |
DE60038292T DE60038292T2 (de) | 1999-05-21 | 2000-05-19 | Vorrichtung und verfahren zum transportieren/halten von flächigen elementen |
US11/035,997 US7077262B2 (en) | 1999-05-21 | 2005-01-18 | Device and method for conveying and holding plate-like member |
US11/035,952 US7219787B2 (en) | 1999-05-21 | 2005-01-18 | Device and method for conveying and holding plate-like member |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14159799 | 1999-05-21 | ||
JP11/141597 | 1999-05-21 |
Related Child Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US09979221 A-371-Of-International | 2000-05-19 | ||
US11/035,997 Division US7077262B2 (en) | 1999-05-21 | 2005-01-18 | Device and method for conveying and holding plate-like member |
US11/035,952 Division US7219787B2 (en) | 1999-05-21 | 2005-01-18 | Device and method for conveying and holding plate-like member |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001026440A1 true WO2001026440A1 (fr) | 2001-04-12 |
Family
ID=15295719
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2000/003212 WO2001026440A1 (fr) | 1999-05-21 | 2000-05-19 | Dispositif et procede destines a transferer/maintenir des elements en forme de feuille |
Country Status (9)
Country | Link |
---|---|
US (3) | US6988612B1 (ja) |
EP (2) | EP1940215A3 (ja) |
JP (2) | JP4523217B2 (ja) |
KR (1) | KR100532015B1 (ja) |
CN (2) | CN100566537C (ja) |
DE (1) | DE60038292T2 (ja) |
SG (2) | SG102037A1 (ja) |
TW (1) | TW474122B (ja) |
WO (1) | WO2001026440A1 (ja) |
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US8925187B2 (en) | 2002-10-07 | 2015-01-06 | Fuji Machine Mfg. Co., Ltd. | System for mounting components on boards |
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Also Published As
Publication number | Publication date |
---|---|
JP4975845B2 (ja) | 2012-07-11 |
EP1940215A2 (en) | 2008-07-02 |
EP1185156B1 (en) | 2008-03-12 |
CN1351817A (zh) | 2002-05-29 |
SG111046A1 (en) | 2005-05-30 |
US20050133346A1 (en) | 2005-06-23 |
US6988612B1 (en) | 2006-01-24 |
US7077262B2 (en) | 2006-07-18 |
CN1258312C (zh) | 2006-05-31 |
JP2010157767A (ja) | 2010-07-15 |
EP1185156A1 (en) | 2002-03-06 |
CN100566537C (zh) | 2009-12-02 |
EP1185156A4 (en) | 2005-11-30 |
KR100532015B1 (ko) | 2005-11-29 |
DE60038292T2 (de) | 2009-03-12 |
US20050204553A1 (en) | 2005-09-22 |
CN1838871A (zh) | 2006-09-27 |
EP1940215A3 (en) | 2011-03-16 |
US7219787B2 (en) | 2007-05-22 |
JP4523217B2 (ja) | 2010-08-11 |
TW474122B (en) | 2002-01-21 |
KR20010113949A (ko) | 2001-12-28 |
SG102037A1 (en) | 2004-02-27 |
DE60038292D1 (de) | 2008-04-24 |
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