WO2014118820A1 - Dispositif de convoyage, dispositif de montage de composant et pince - Google Patents

Dispositif de convoyage, dispositif de montage de composant et pince Download PDF

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Publication number
WO2014118820A1
WO2014118820A1 PCT/JP2013/000509 JP2013000509W WO2014118820A1 WO 2014118820 A1 WO2014118820 A1 WO 2014118820A1 JP 2013000509 W JP2013000509 W JP 2013000509W WO 2014118820 A1 WO2014118820 A1 WO 2014118820A1
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WO
WIPO (PCT)
Prior art keywords
gripping
cylinder
pressure
passage
gripper
Prior art date
Application number
PCT/JP2013/000509
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English (en)
Japanese (ja)
Inventor
裕昭 片井
智仁 内海
Original Assignee
ヤマハ発動機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to CN201380061811.6A priority Critical patent/CN104838739B/zh
Priority to KR1020157013796A priority patent/KR101682036B1/ko
Priority to JP2014559351A priority patent/JP5902836B2/ja
Priority to PCT/JP2013/000509 priority patent/WO2014118820A1/fr
Publication of WO2014118820A1 publication Critical patent/WO2014118820A1/fr

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Classifications

    • 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
    • H05K13/0408—Incorporating a pick-up tool

Definitions

  • the present invention relates to a transport device that transports an object to be transported such as an electronic component, a component mounting device including the transport device, and a gripper suitable for the transport device.
  • a component mounting apparatus that takes out a component (conveyed object) from a component supply unit by a component mounting head and mounts it on a mounting position on a substrate.
  • the head includes a head main body and a component holding member attached to the head main body.
  • the component holding member includes a nozzle that sucks the component and a mechanical chuck (gripping tool) that grips the component, and the nozzle and the mechanical chuck are selectively used according to the type of the component. For example, a small electronic component such as an IC is sucked by a nozzle, and a large component such as a connector is gripped by a mechanical chuck and conveyed.
  • Patent Document 1 discloses an example of a component mounting apparatus including the nozzle and the mechanical chuck as described above.
  • a nozzle and a mechanical chuck are selectively mounted on the head body.
  • negative pressure operating pressure
  • the mechanical chuck is configured to open and close a pair of clamp claws as the piston moves up and down. That is, when a mechanical chuck is mounted on the head body and a negative pressure is supplied to the mechanical chuck through the passage in the head, the piston is sucked and raised, thereby closing the clamp pawl. On the other hand, when air blow (positive pressure) is supplied to the mechanical chuck through the passage in the head, the piston is lowered and the clamp pawl is opened. Therefore, the mechanical chuck grips the component by closing the clamp claw.
  • the component taken out by the head is moved together with the head onto a fixed camera and imaged, and the presence / absence and holding state of the component are confirmed in advance. Mounting on a substrate is performed.
  • a large camera is required, which increases the size and cost of the component mounting apparatus.
  • the large component is held in an incomplete state, for example, the large component is dragged on the substrate while moving to the fixed camera, and the mounted component is displaced. It can also occur.
  • the present invention is a technology capable of detecting a gripping state of a transported object without moving it to a specific position such as a fixed camera when the transported object is gripped and transported by a gripping tool such as a mechanical chuck.
  • the purpose is to provide.
  • the conveying device includes a movable head main body, a first gripping claw and a second gripping that are relatively close to and away from a gripping tool main body attached to the head main body.
  • a gripping tool that includes a claw and operates by receiving a supply of operating pressure, and a pressure supply mechanism that includes a pressure passage connected to the gripping tool and supplies the operating pressure to the gripping tool,
  • the gripping tool main body includes a cylinder that communicates with the pressure passage and extends in the specific direction, and a leak passage for opening the inside of the cylinder to the atmosphere, and the first gripping claw is accommodated in the cylinder.
  • the maximum displacement amount of the first gripping claw is set so that it can be displaced to a state where the second spacing is narrower than one interval. In the piston portion, the distance between both gripping claws becomes the second spacing. Only in the state, the leak passage and the cylinder are communicated with each other, and a passage opening / closing portion that leaks the pressure in the cylinder to the atmospheric pressure is provided.
  • FIG. 1 is a longitudinal sectional view (sectional view taken along line VI (a) -VI (a) in FIG. 4) showing the gripping tool in an open state (a state in which the gripping claws are open), and (b) is an open state.
  • FIG. 1 is a longitudinal sectional view (sectional view taken along line VI (a) -VI (a) in FIG. 4) showing the gripping tool in an open state (a state in which the gripping claws are open), and (b) is an open state.
  • FIG. 5 is a horizontal sectional view (sectional view taken along line VI (b) -VI (b) in FIG. 4) showing the gripping tool (in a state where the gripping claws are opened).
  • (A) is a longitudinal cross-sectional view of the holding
  • (b) is a horizontal sectional view of (a).
  • FIG. 7 is a cross-sectional view taken along line VII-VII in FIG. It is a side view which shows the holding tool which hold
  • FIG. 1 and 2 schematically show a component mounting apparatus M according to the present invention (a component mounting apparatus including a transport apparatus according to the present invention).
  • FIG. 1 is a plan view
  • FIG. 2 is a front view, each schematically showing a component mounting apparatus M.
  • XYZ rectangular coordinate axes are shown to clarify the directional relationship.
  • the component mounting apparatus M positions the base 1, the board transport mechanism 2 that is disposed on the base 1 and transports a board P such as a printed wiring board (PWB) in the X direction, and the board P.
  • a board P such as a printed wiring board (PWB) in the X direction
  • the board P For recognizing the components held by the backup device 3, the component supply units 4, 5, the component mounting head unit 6, the head unit driving mechanism for driving the head unit 6, and the head unit 6.
  • Component imaging unit (not shown) and the like.
  • the substrate transport mechanism 2 includes a pair of conveyors 2 a and 2 a that transport the substrate P on the base 1.
  • the conveyors 2a and 2a receive the board P from the right side of the figure and transport it to a predetermined mounting work position (position shown in the figure), and after the mounting work, carry out the board P to the left side of the figure.
  • the backup device 3 positions the board P at the mounting work position by lifting the board P from the conveyors 2a and 2b at the mounting work position.
  • the backup device 3 is a working member used for component mounting work, and includes a backup pin 21 that supports the substrate P, and a backup plate on which the backup pin 21 is detachably mounted. 22 and a lifting device 23 for lifting and lowering the backup plate 22.
  • the backup pin 21 can be inserted into and removed from the backup plate 22 in the vertical direction, and the arrangement can be changed according to the type of the substrate P.
  • the component supply units 4 and 5 are disposed on both sides (both sides in the Y direction) of the substrate transport mechanism 2.
  • the component supply unit 4 on the rear side of the apparatus (upper side in FIG. 1; hereinafter simply referred to as the rear side) has a plurality of tape feeders 4 a arranged in the X direction along the substrate transport mechanism 2. Is arranged.
  • These tape feeders 4a are provided with reels around which small chip components such as ICs, transistors, capacitors, etc. are stored and wound.
  • the tape feeders 4a are provided in the vicinity of the substrate transport mechanism 2 while intermittently delivering the tapes from the reels. A part is supplied to a predetermined part supply position.
  • trays 5a and 5b are set at a predetermined interval in the X direction in the component supply unit 5 on the front side of the apparatus (lower side in FIG. 1; hereinafter simply referred to as the front side).
  • Package-type parts such as QFP (Quad Flat Package) and BGA (Ball Grid Array) are arranged and placed on each tray 5a, 5b so that they can be taken out by the head unit 6 described later. ing.
  • a pin station 7 is provided on the base 1 at a position between the component supply unit 5 and the backup device 3.
  • the pin station 7 is a place where spare backup pins 21 that are not arranged on the backup plate 22 are stored.
  • the backup pin 21 is stored so that it can be inserted into and removed from the pin station 7 in the vertical direction.
  • the head unit 6 takes out components from the component supply units 4 and 5 and mounts them on the substrate P, and changes the arrangement of the backup pins 21 on the backup plate 22.
  • the head unit 6 is disposed above the substrate transport mechanism 2 and the component supply units 4 and 5.
  • the head unit 6 is movable in the X direction and the Y direction within a certain area by the head unit driving mechanism.
  • the head unit driving mechanism is fixed to a pair of elevated frames 10 provided on the base 1 and extends in parallel to each other in the Y direction, and is supported by these fixed rails 11 and extends in the X direction.
  • a unit support member 12 and a ball screw shaft 13 that is screwed into and inserted into the unit support member 12 and driven by a Y-axis servo motor 14 are included.
  • the head unit driving mechanism is fixed to the unit support member 12 and supports the head unit 6 so as to be movable in the X direction, and is screwed into the head unit 6 and inserted into the X axis servo motor 17.
  • the head unit driving mechanism drives the head unit 6 in the X direction by the X-axis servomotor 17 via the ball screw shaft 16 and moves the unit support member 12 by the Y-axis servomotor 14 via the ball screw shaft 13.
  • the head unit 6 is moved in the X direction and the Y direction within a certain region.
  • the head unit 6 includes a plurality of heads 25 for holding components such as ICs and backup pins 21, and raising and lowering (moving in the Z direction) and rotating these heads 25 relative to the head unit 6 (R in FIG. 2). And a head drive mechanism using a servo motor or the like as a drive source.
  • the total number of the heads 25 is six, and these heads 25 are distributed in two front and rear rows (see FIG. 1), and each row is arranged in a row at a predetermined pitch in the X direction.
  • the front heads 25 and the rear heads 25 are offset in the X direction.
  • the six heads 25 are arranged in a substantially staggered pattern as a whole.
  • the head 25 includes a hollow shaft-like head body 26 that is supported so as to be movable up and down with respect to the head unit 6, and nozzles that are respectively attached to the tip (lower end) of the head body 26. 27a or a gripper 27b.
  • the nozzle 27a is configured to hold the component such that it can be conveyed by sucking the component such as an IC.
  • the gripper 27b holds the backup pin 21 so as to be transportable by gripping the backup pin 21.
  • the nozzle 27 a and the gripping tool 27 b can be attached to and detached from any head body 26 of the head unit 6.
  • a gripper 27 a is attached to the head main body 26 of each of the first and fifth heads 25 from the right side, and a nozzle 27 a is attached to the head main body 26 of the other head 25.
  • the nozzle 27a and the gripper 27b are connected to a negative / positive pressure supply circuit 30 through an internal passage of the head body 26, and selectively receive negative and positive pressures. That is, the nozzle 27a sucks a component by supplying a negative pressure to the tip thereof, and then releases the suction state of the component by supplying a positive pressure.
  • the gripper 27b grips the backup pin 21 when the negative pressure is supplied as the operating pressure, and then releases the gripping state of the backup pin 21 when the supply of the negative pressure is stopped.
  • the configuration of the gripper 27b will be described in detail later.
  • the negative pressure / positive pressure supply circuit 30 includes an air supply source 31 composed of a compressor, a connection passage 32 that connects the air supply source 31 and each head body 26, and an intermediate portion of each connection passage 32. And a negative pressure / positive pressure switch 33 provided.
  • the air supply source 31 is installed on a base 1 or a base (not shown) provided outside the component mounting apparatus M, and each negative pressure / positive pressure switch 33 is mounted on the head unit 6. Yes.
  • the negative pressure / positive pressure switch 33 generates negative pressure using the air from the air supply source 31, and supplies the negative pressure to the head 25 and the air ( The air supply state in which the positive pressure) is supplied to the head 25 as it is and the stop state in which the supply of negative pressure and air (positive pressure) is stopped can be switched.
  • the negative pressure / positive pressure switch 33 includes a first flow path 34a for guiding the air from the air supply source 31 to the head 25, and the first flow path 34a.
  • the first opening / closing valve 35 provided and the upstream side of the first opening / closing valve 35 (upstream side with respect to the air supply direction) branches off from the first flow path 34a and is opened to the outside via the silencer 37.
  • the second opening / closing valve 36 interposed in the second passage 34b at a position upstream of the silencer 37.
  • a diffusion chamber 38 interposed in the second flow path 34 b and a suction flow path 34 c that connects the first flow path 34 a and the diffusion chamber 38 at a position downstream of the first opening / closing valve 35 are provided. That is, in the negative pressure / positive pressure switch 33, when the first opening / closing valve 35 is closed and the second opening / closing valve 36 is opened, air is exhausted through the second flow path 34b. Accordingly, the inside of the first flow path 34 a is sucked through the suction flow path 34 c by the principle of an aspirator, and a negative pressure is supplied to the head 25.
  • the negative pressure / positive pressure switch 33 further includes a flow rate sensor 39 (corresponding to the detection unit of the present invention).
  • the flow rate sensor 39 is provided in the first flow path 34a on the downstream side of the branch position of the suction flow path 34c, detects the flow rate of the air in the first flow path 34a, and outputs the data signal. Output to the controller 70.
  • the negative pressure / positive pressure supply circuit 30 and the internal passages of the head main bodies 26 correspond to the pressure supply mechanism of the present invention that supplies operating pressure to the gripper 27b, and the connection
  • the passage 32, the first flow path 34a of each negative pressure / positive pressure switch 33, and the internal passage of each head body 26 correspond to the pressure passage of the present invention.
  • the gripper 27b can be brought into and out of contact with the gripper body 40 attached to the head body 26 in the X direction (corresponding to a specific direction of the present invention).
  • the first gripping claws 60A and the second gripping claws 60B that are respectively supported by the gripping tool body 40 are included.
  • the gripping tool main body 40 includes a cylindrical connecting portion 42 having an internal passage at an upper portion thereof, and the gripping tool 27b is configured such that the connecting portion 42 and the head main body 26 allow the internal passages to communicate with each other.
  • the head body 26 is mounted by being connected in a state where the head body is connected.
  • the connecting portion 42 has a bulging portion that bulges radially outward on its outer peripheral surface, and a leaf spring-like shape provided on the head main body 26 at the bulging portion. By engaging the pair of locking pieces, the mounting state to the head main body 26 is maintained. The same applies to the nozzle 27a.
  • the first gripping claw 60 ⁇ / b> A includes an arm part 62 extending in the vertical direction (Z direction), a piston part 66 fixed to the upper end part of the arm part 62, and a pair of upper and lower claw parts fixed to the side surface of the arm part 62. 64.
  • the piston portion 66 has a columnar shape extending in the Y direction, and is fixed to the arm portion 62 with a bolt 67 in a state of being inserted into a lateral hole formed in the upper end portion of the arm portion 62.
  • the basic structure of the second gripping claw 60B is the same as that of the first gripping claw 60A, and includes an arm part 62, a piston part 66, and a claw part 64.
  • the arm portion 62 of the second gripping claw 60B is shorter than the arm portion 62 of the first gripping claw 60A, and the claw portion 64 is fixed only to the lower end portion of the arm portion 62.
  • the grip claws 60A and 60B are supported by the gripper main body 40 in a state where the arm portions 62 are offset in the X direction as shown in FIG.
  • the claw portions 64 of the gripping claws 60A and 60B are fixed to the inner side surfaces (inner side surfaces in FIG. 4) of both arm portions 62. Accordingly, the claw portions 64 of the gripping claws 60A and 60B are arranged in a line in the vertical direction when the nozzle 27a is viewed from the Y direction (see FIG. 4).
  • the claw portions 64 of the first grip claw 60A are arranged on both upper and lower sides of the claw portion 64 of the second grip claw 60B.
  • the front side surface (left side surface in FIG.
  • the gripping claws 60A and 60B can grip the backup pin 21 by the claw portions 64 from both sides in the Y direction by approaching each other in the Y direction (see FIG. 9).
  • the gripper body 40 includes a first cylinder 46A having a circular cross section that is aligned in the X direction and extends in parallel to each other in the Y direction.
  • Two cylinders 46B, a first guide hole 48A extending through the first cylinder 46A and extending in the vertical direction, and a second guide hole 48B extending through the second cylinder 46B and extending in the vertical direction are formed.
  • the first gripping claw 60A is supported by the gripper body 40 in a state where the upper end portion of the arm portion 62 is inserted into the first guide hole 48A and the piston portion 66 is accommodated in the first cylinder 46A. ing.
  • the second gripping claw 60B is supported by the gripper body 40 in a state where the upper end portion of the arm portion 62 is inserted into the second guide hole 48B and the piston portion 66 is accommodated in the second cylinder 46B.
  • Each guide hole 48A, 48B has a cross-sectional shape that can be displaced by a predetermined stroke in the Y direction while restraining the arm portion 62 in the X direction. That is, due to the displacement of the arm portion 62 in the Y direction, the gripping claws 60A and 60B move away from each other as shown in FIGS. 6A and 6B, and FIGS. As shown in FIG. 4, the position can be displaced between positions close to each other.
  • a spring accommodating recess 66a is formed at the tip surface of each piston portion 66, and a coil spring 68 (corresponding to the biasing member of the present invention) is accommodated in a compressed state in the spring accommodating recess 66a.
  • the coil spring 68 is housed in the spring housing recess 66a in a compressed state between the inner bottom portion of the spring housing recess 66a and the end surfaces of the cylinders 46A and 46B.
  • the gripping claws 60 ⁇ / b> A and 60 ⁇ / b> B are biased in directions away from each other by the resilient force (biasing force) of the coil spring 68.
  • the cylinders 46A and 46B communicate with the internal passage of the head body 26, and the negative pressure generated by the negative pressure / positive pressure switch 33 can be supplied to the cylinders 46A and 46B.
  • the gripper main body 40 includes a longitudinal passage 43 including an internal passage of the connecting portion 42, and extends in the Y direction connected to the longitudinal passage 43.
  • a lateral passage 44 communicating with the first cylinder 46A is formed at a position near the tip.
  • An opening 66b is formed.
  • the negative pressure generated by the negative pressure / positive pressure switch 33 passes through the internal passage of the head main body 26, the vertical passage 43, the horizontal passage 44, and the first opening 66b in the first cylinder 46A.
  • the size of the first opening 66b is set so that the first opening 66b can communicate with the lateral passage 44 regardless of the position of the piston 66.
  • Reference numeral 45 in FIG. 8 denotes a plug member that closes the lateral passage 44 from the outside.
  • the gripper body 40 further includes a lateral passage 44 that is connected to the longitudinal passage 43 and extends in the Y direction and communicates with the second cylinder 46B at a position near the tip of the second cylinder 46B. Is formed. Further, the piston portion 66 of the second gripping claw 60B is formed with a first opening 66b that communicates the lateral passage 44 and the spring accommodating recess 66a. Therefore, as with the first cylinder 46A, negative pressure is also supplied to the second cylinder 46B through the internal passage, the longitudinal passage 43, the transverse passage 44, and the first opening 66b of the head body 26.
  • the backup pin 21 is a shaft-like member provided with a flange portion 21a in the vicinity of the lower end portion, and a portion below the flange portion 21a is inserted into the hole portion of the backup plate 22 or the pin station 7. Is attached to the backup plate 22 or the like.
  • the backup pin 21 has a truncated cone-shaped tip portion 21b (upper end portion).
  • a truncated cone-shaped positioning hole 52 is formed on the lower surface of the gripping tool body 40 of the gripping tool 27b as shown in FIG. That is, when the backup pin 21 is gripped by the gripper 27b, the tip 21b of the backup pin 21 is inserted into the positioning hole 52, whereby the backup pin 21 is centered with respect to both gripping claws 60A and 60B (see FIG. 9).
  • the gripper body 40 is further formed with a leak passage 50 for opening the inside of each cylinder 46 ⁇ / b> A, 46 ⁇ / b> B to the outside (atmosphere).
  • the leak passage 50 is formed below the lateral passage 44 in the gripping tool body 40 and at a position facing the outer peripheral surface of each piston portion 66 when the gripping tool 27b is in the open state. Yes.
  • the inside of the spring accommodating recess 66a that is, the inside of each cylinder 46A, 46B
  • a second opening 66c (corresponding to the passage opening / closing portion of the present invention) for communicating with the air outlet 50 is formed.
  • each piston portion 66 is positioned so as to overlap with the leak passage 50 only when the gripping claws 60A and 60B are closest to each other without gripping the backup pin 21, that is, inside the spring housing recess 66a ( The inside of each cylinder 46A, 46B) and the leak passage 50 are formed at positions where they communicate. Therefore, each leak passage 50 is blocked by the outer peripheral surface of each piston portion 66 except when it overlaps with the second opening 66c, so that each cylinder 46A, 46B and the outside (atmosphere) are not in communication with each other. Kept.
  • the second opening 66c and the leak passage 50 are used to determine whether or not the gripper 27b is gripping the backup pin 21 using the flow rate sensor 39. That is, in this gripper 27b, the distance between the gripping claws 60A and 60B is the distance at which the backup pin 21 is gripped (the one-dot chain line (symbol P1) in FIG. 6A) and the distance shown in FIG. Each gripping claw 60A so as to be displaceable to a state that is narrower than (interval) (a broken line (symbol P2) in FIG. 6A and an interval shown in FIG. 7A / second interval of the present invention) A maximum displacement amount of 60B is set.
  • the gripper 27b uses the positions of the gripping claws 60A and 60B in the opened state as the reference position, and the displacement amounts of the gripping claws 60A and 60B from the reference position to the position where the backup pin 21 is gripped.
  • the maximum displacement amount of each gripping claw 60A, 60B is set so as to be smaller than the displacement amount (maximum displacement amount) from the reference position to the position where each gripping claw 60A, 60B comes closest.
  • the gripping tool 27b grips the backup pin 21, the gripping claws 60A and 60B are not displaced to the closest position, and the second opening 66c and the leak passage 50 are not in communication with each other. It becomes. As a result, after the negative pressure / positive pressure switch 33 starts supplying negative pressure to the head 25, the detection value of the flow sensor 39 decreases with time. On the other hand, when the gripper 27b is not gripping the backup pin 21, the gripping claws 60A and 60B are displaced to the closest position.
  • the second opening 66c and the leak passage 50 are partially overlapped to communicate with each other, the inside of each cylinder 46A, 46B communicates with the outside (atmosphere), and the detection value of the flow sensor 39 is at a constant level. Will rise to. Accordingly, whether or not the gripper 27b is gripping the backup pin 21 by examining the detection value of the flow sensor 39 in a state where negative pressure is supplied from the negative pressure / positive pressure switch 33 to the gripper 27b. Can be discriminated. In the component mounting apparatus M, such a determination is performed by a control device 70 (shown in FIG. 3) described later.
  • the component mounting apparatus M comprehensively controls the operation of the component mounting apparatus M via the head unit driving mechanism, the head driving mechanism, the negative pressure / positive pressure switch 33, and the like, and various determination processes relating to the operation. Is to do.
  • the control device 70 is a control device based on a well-known microcomputer, and includes a central processing unit (CPU) that executes a program, a memory that stores a program and various data, such as a ROM and a RAM, and an electric And an input / output (I / O) bus for inputting and outputting signals.
  • CPU central processing unit
  • I / O input / output
  • the head 25 (gripping tool 27b), the negative pressure / positive pressure supply circuit 30, the control device 70, and the like correspond to the transport device of the present invention, and among them, the control device 70 serves as the determination unit of the present invention. Equivalent to.
  • Such transport operation control is executed, for example, when the arrangement of the backup pins 21 on the backup plate 22 is changed in accordance with the change in the type of the substrate P.
  • control device 70 specifies the backup pin 21 that needs to be changed among the backup pins 21 on the backup plate 22, and among the plurality of heads 25 of the head unit 6, the control device 70 includes the gripper 27 b.
  • the head unit 6 is moved so as to be positioned above the backup pin 21 (step S1). At this time, the control device 70 keeps the gripping tool 27b open.
  • control device 70 lowers the head 25 to a predetermined height position and controls the open / close valves 35 and 36 of the negative pressure / positive pressure switch 33 to close the gripper 27b from the open state.
  • the head 25 is raised to a predetermined height position (steps S2 to S7).
  • the backup pin 21 is pulled out from the backup plate 22 while being gripped by the gripper 27b.
  • the control device 70 determines on the spot whether or not the backup pin 21 is gripped (step S9). Specifically, the input data (detected flow Q) from the flow rate sensor 39 is compared with the threshold value Q 0 which is stored in advance in ROM or the like, it determines whether the detected flow Q exceeds the threshold value Q 0 To do.
  • This threshold value Q 0 is set to a value equal to or slightly higher than the air flow rate based on the air flow rate of the first flow path 34a of the negative pressure / positive pressure switch 33 in a state where the gripper 27b holds the backup pin 21. Has been.
  • each cylinder 46A, 46B are connected to the second opening 66c of each piston 66 and the leak passage 50.
  • the detection value of the flow sensor 39 increases. Therefore, by comparing the detected flow Q by the flow sensor 39 and the threshold value Q 0, the gripper 27b is possible judged whether or not gripping the backup pins 21.
  • control device 70 determines that the backup pin 21 is not gripped (YES in step S9), the control device 70 returns to step S1 and performs the gripping operation of the backup pin 21 again.
  • the control device 70 assumes that an error has occurred in the gripping operation of the backup pin 21.
  • An alarm device (not shown) is operated to notify the operator.
  • the control device 70 attaches the backup pin 21 to the hole on the backup plate 22 according to the reverse procedure to the above. Specifically, the control device 70 moves the head unit 6 so that the backup pin 21 is located above the target hole, lowers the head 25, and switches the gripper 27b from the closed state to the open state. After that, the head 25 is raised (steps S11 to S17).
  • the control device 70 When the head 25 is raised, the control device 70 again switches the gripping tool 27b from the open state to the closed state, and then determines on the spot whether or not the gripping tool 27b is gripping the backup pin 21 (step S19). , S21). Specifically, as in step S9, the controller 70 compares the detected flow Q by the flow sensor 39 and the threshold value Q 0, it is determined whether the detected flow Q exceeds the threshold value Q 0 .
  • step S21 if it is determined that the backup pin 21 is gripped (NO in step S21), the control device 70 operates the notifying device (not shown) on the assumption that an error in mounting the backup pin 21 has occurred. The operator is notified (step S23). On the other hand, when it is determined that the backup pin 21 is not gripped (YES in step S21), a series of conveyance operation control of the backup pin 21 is ended.
  • the gripper 27b has the following configuration so that the control apparatus 70 can more accurately determine whether or not the backup pin 21 is gripped (the processes in steps S9 and S21).
  • the negative pressure (vacuum pressure) supplied to the cylinders 46A and 46B is “P”
  • the cross-sectional areas of the cylinders 46A and 46B are “A”
  • the spring constant of the coil spring 68 is “K”
  • the displacement amount of the coil spring 68 When the (compression amount) is “x”, the negative pressure / positive pressure switch 33 is always in a state where negative pressure is supplied to the head 25 (gripping tool 27b) (that is, the backup pin 21 is gripped).
  • the second opening 66c of each piston 66, the leak passage 50, and the like are formed so that the relationship of PA> Kx is established regardless of whether or not.
  • the area (opening area) of the overlapping portion between the second opening 66c and the leak passage 50 when the gripping claws 60A and 60B are closest to each other is set so that the relationship PA> Kx is established. .
  • the gripper 27b increases as the grip claws 60A and 60B approach each other, that is, the leak area, which is the area of the overlapping portion between the leak passage 50 and the second opening 66c, increases.
  • the leak passage 50 and the second opening 66c are formed so that the pressure in the cylinders 46A and 46 continuously changes (rises) in a quadratic curve.
  • the leak passage 50 is a long hole having an oblong cross section that is elongated in the vertical direction
  • the second opening 66 c is a hole having a circular cross section.
  • the detection value of the flow sensor 39 is also remarkable.
  • the reliability of the above determination (the processes in steps S9 and S21) by the control device 70 is improved.
  • the tip 21b of the backup pin 21 is inserted into the positioning hole 52 of the gripper body 40, and the backup pin 21 Is centered with respect to both gripping claws 60A and 60B. Therefore, when the backup pin 21 is gripped in a state where one of the gripping claws 60A and 60B is biased to the other side, the above determination by the control device 70 (the processing of steps S9 and S21) becomes inaccurate. It is avoided. Therefore, also in this respect, the reliability of the above determination by the control device 70 (steps S9 and S21) is improved.
  • the backup pin 21 is gripped and transported by the gripper 27b as described above.
  • the control device 70 determines whether or not the gripper 27b is gripping the backup pin 21. Therefore, the pulling position of the backup pin 21 or the backup pin 21 without moving the gripping state of the backup pin 21 by the gripper 27b (presence / absence of the backup pin 21) to a specific position on the base 1 such as a fixed camera. Can be performed immediately at the mounting position.
  • the backup pin 21 is as much as the movement is unnecessary. Can be efficiently performed.
  • the leak passage 50 is formed in the gripper 27b so that the inside and the outside (atmosphere) of the cylinders 46A and 46B communicate with each other only when the gripping claws 60A and 60B are closest to each other.
  • a flow rate sensor 39 detects the air flow rate in the negative pressure supply passage (the first flow path 34a of the negative pressure / positive pressure switch 33). Can do. Therefore, it is possible to efficiently change the arrangement of the backup pins 21 without increasing the size of the component mounting apparatus M or significantly increasing the cost.
  • the component mounting apparatus M described above is an example of a preferred embodiment of the component mounting apparatus according to the present invention, and the overall configuration of the component mounting apparatus M and the gripping tool 27b applied to the component mounting apparatus M are described.
  • the specific configuration can be changed as appropriate without departing from the gist of the present invention. For example, it is possible to adopt the following configuration.
  • the gripping tool (27b) and the transport device of the present invention are applied as means for transporting the backup pin 21, but of course, the gripping tool and the transport apparatus of the present invention as means for transporting parts. Can also be used. In particular, it is difficult to stably suck and hold large parts such as connectors by the nozzle 27a, and it is preferable to hold such large parts using a gripping tool. In that case, what changed the number of the gripping claws of the gripping tool 27b, the shape of the arm part and the claw part, etc. according to the target part may be used as the gripping tool.
  • the gripping tool and the conveying device of the present invention are not limited to the component mounting device M as described above, and so-called a performance test of the component by conveying the component from a predetermined component supply position to a test socket.
  • the present invention can also be applied as a component gripping tool or conveying device in a component testing apparatus or the like.
  • the gripping tool 27b of the above embodiment opens and closes the gripping tool 27b by equally displacing both gripping claws 60A and 60B.
  • the two grip claws 60B may be fixed, and only the first grip claws 60A may be displaced with respect to the second grip claws 60B.
  • a configuration in which only the second gripping claw 60B is displaced with respect to the first gripping claw 60A may be employed.
  • the gripping tool 27b of the above embodiment is a so-called single-acting gripping tool that is held in an open state by the biasing force of the coil spring 68 and switched to a closed state by supplying negative pressure (working pressure).
  • the gripper 27b may be used as a so-called double-acting gripper. That is, the gripping tool may be held in a closed state by supplying negative pressure, and the gripping tool may be held in an open state by supplying positive pressure (air blow).
  • the gripping tool 27b of the above-described embodiment operates when a negative pressure is supplied as the operating pressure (switched from the open state to the closed state), but a positive pressure (air blow) is supplied as the operating pressure. It may operate by being done. That is, when the positive pressure supply from the negative pressure / positive pressure switching device 33 is stopped, the gripping claws 60A, 60B are kept in an open state separated from each other by the biasing force of the coil spring, while the negative pressure / positive pressure is maintained. When positive pressure (air blow) is supplied from the pressure switch 33 to the cylinders 46A and 46B, the gripping claws 60A and 60B are kept in a closed state against each other against the biasing force of the coil spring. May be.
  • each gripping claw 60A, 60B when each gripping claw 60A, 60B is displaced to the closest position, the inside of each cylinder 46A, 46B communicates with the outside (atmosphere), and the detection value of the flow sensor 39 decreases to a certain level.
  • the second opening 66c of the piston 66 and the leak passage 50 may be provided.
  • the flow rate sensor 39 is applied as the detection unit of the present invention, and whether or not the backup pin 21 is gripped is determined by the negative pressure / positive pressure switch 33.
  • the detection is performed based on the detection of the air flow rate of the first flow path 34a.
  • a pressure sensor is applied as the detection unit of the present invention, and the above determination is performed based on the pressure detection of the first flow path 34a. Also good.
  • the detection position of the air flow rate and pressure by the detection unit is not necessarily the first flow path 34a, and may be other positions such as an internal passage of the head main body 26.
  • a transport device includes a movable head main body, a first gripping claw and a second gripping that are relatively close to and away from a gripping tool main body attached to the head main body.
  • a gripping tool that includes a claw and operates by receiving a supply of operating pressure, and a pressure supply mechanism that includes a pressure passage connected to the gripping tool and supplies the operating pressure to the gripping tool,
  • the gripping tool main body includes a cylinder that communicates with the pressure passage and extends in the specific direction, and a leak passage for opening the inside of the cylinder to the atmosphere, and the first gripping claw is accommodated in the cylinder.
  • the maximum displacement amount of the first gripping claw is set so that the second gripping claw can be displaced to a state where the second spacing is narrower than the first spacing.
  • the distance between both gripping claws is the second spacing. In this state, the leak passage and the cylinder are communicated with each other, and a passage opening / closing portion is provided for leaking the pressure in the cylinder.
  • the first gripping claw approaches the second gripping claw by supplying an operating pressure (pressure for gripping claw operation) into the cylinder, whereby the object to be transported is gripped by both gripping claws.
  • an operating pressure pressure for gripping claw operation
  • the distance between the both gripping claws becomes the first distance, so that the cylinder and the leak passage are shut off.
  • the distance between both gripping claws is narrower than the first spacing, and the cylinder and the leak passage communicate with each other via the passage opening / closing portion.
  • the communication state between the cylinder and the leak passage is switched depending on whether or not the gripper is holding the object to be transferred.
  • Such a change in the communication state between the cylinder and the leak passage also changes the pressure in the pressure passage and the air flow rate. Therefore, if the pressure in the pressure passage or the air flow rate is detected while the operating pressure is supplied by the pressure supply mechanism, the gripping state of the object to be conveyed by the gripping tool, that is, the gripping tool is based on the detection data. It is possible to determine whether or not the object to be conveyed is gripped. Therefore, according to this transport apparatus, it is possible to determine whether or not the gripping tool is gripping the object to be transported without moving the gripping part onto the fixed camera and taking an image.
  • the gripper main body further includes a biasing member that biases the piston in a second direction opposite to the first direction.
  • the gripping tool when the gripping tool is not operated, that is, when the operating pressure is not supplied from the pressure supply mechanism to the gripping tool, the first gripping claw is applied to the second gripping claw by the biasing force of the biasing member. It is kept in a separated state.
  • the first gripping claw approaches the second gripping claw against the biasing force. Therefore, the gripping claws can be reliably opened and closed as the operating pressure is supplied and switched.
  • a force that displaces the first gripping claw in the first direction, and an operating force of the first gripping claw that is generated when the piston portion receives the operating pressure is a force between the leak passage and the cylinder. It is preferable that it is larger than the urging force of the urging member regardless of the communication state.
  • the cylinder and the leak passage are in communication with each other as described above, and the inside of the cylinder is at atmospheric pressure or a pressure close thereto.
  • the operating force of the first gripping claw is equal to or less than the biasing force
  • the first gripping claw is pushed back by the biasing force of the biasing member (displaced in the second direction) and the cylinder and the leak passage.
  • the operation force of the first gripping claw exceeds the biasing force by the supply of the operating pressure, and the first gripping claw is displaced in the first direction.
  • the passage opening / closing portion communicates the leak passage and the cylinder so that the pressure in the cylinder continuously changes as the distance between the gripping claws becomes narrower than the first distance. It is preferable that the
  • the pressure in the pressure passage and the change in the air flow rate change significantly in a short time, so the above determination as to whether or not the gripper is gripping the object to be transported can be made easier. And it becomes possible to carry out accurately.
  • each said conveying apparatus is based on the detection part which detects the pressure in the said pressure passage, or the air flow rate, the detection data by this detection part, and the supply state of the said operating pressure by the said pressure supply mechanism, The said holding
  • the pressure or air flow rate in the pressure passage is detected by the detection unit, and based on the data and the pressure supply state by the pressure supply mechanism, the gripping state of the object to be conveyed by the gripping tool, That is, the determination unit determines whether the gripping tool is gripping the object to be transported. Accordingly, it is possible to automate the determination of whether or not the gripper is gripping the object to be transported.
  • a component mounting apparatus includes any one of the above-described transport devices that transports the component or a working member used for mounting the component as a transported object.
  • this component mounting apparatus it is possible to determine whether or not the gripping tool is gripping an object to be transported (component or work member) without moving the gripping part onto the fixed camera and taking an image. It becomes possible. For this reason, it is possible to efficiently perform the transporting operation of the transported object including the determination of whether or not the transported object is gripped.
  • the component mounting apparatus includes a backup device that is the working member and supports the substrate, and a backup plate on which the backup pin is detachably mounted.
  • the transport device may transport the backup pins for changing the arrangement of the backup pins.
  • the transport device is configured such that the nozzle that holds the component by sucking the component and the gripper are selectively attached to the head main body, and the pressure supply mechanism includes: It is preferable that a negative pressure for component suction is supplied to the nozzle and the negative pressure is supplied to the gripper as the operating pressure.
  • a gripping tool is a gripping tool that is attached to a movable head main body provided in a transport device and operates by receiving a supply of operating pressure through a predetermined pressure passage.
  • a gripping tool main body mounted on the head body, and a first gripping claw and a second gripping claw that can be moved toward and away from each other in a specific direction, the gripping tool main body communicating with the pressure passage and the specific A cylinder extending in the direction and a leak passage for opening the inside of the cylinder to the atmosphere, wherein the first gripping claw includes a piston portion accommodated in the cylinder, and the operation supplied to the cylinder Displacement in the direction of approaching the second gripping claw along the cylinder by receiving the pressure, and displacement to a state where the distance between the gripping claws becomes a second interval narrower than the first interval for gripping the object to be conveyed
  • the maximum displacement amount of the first gripping claw is set so that the piston portion can be connected between the leak passage and the cylinder in
  • Such a gripping tool is useful as a gripping tool for the above-described transport device, and contributes to more efficiently transporting an object to be gripped by the transport device by being applied to the transport device. It becomes.
  • the transport device and the component mounting device of the present invention move the gripping state of the transported object to a specific position such as a fixed camera when gripping and transporting the transported object such as a component. This is particularly useful for increasing the manufacturing efficiency of the component mounting board.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de convoyage comprenant : un corps de tête ; une pince comprenant une première mâchoire de préhension et une deuxième mâchoire de préhension, la première mâchoire de préhension et la deuxième mâchoire de préhension pouvant être rattachées à un corps de pince monté sur le corps de tête et en être détachées, la pince fonctionnant à une pression de fonctionnement qui lui est délivrée ; et un mécanisme d'alimentation en pression pour fournir la pression de service à la pince. Le corps de pince est muni d'un cylindre relié à un manomètre, et d'un passage de fuite pour relier l'intérieur du cylindre avec l'atmosphère. La première mâchoire de préhension comprend une section de piston accueillie dans le cylindre et elle est configurée de telle sorte que lorsqu'elle est soumise à la pression de service délivrée au cylindre, la première mâchoire de préhension est déplacée dans la direction dans laquelle la première mâchoire de préhension s'approche de la deuxième mâchoire de préhension. L'amplitude de mouvement maximale de la première mâchoire de préhension est réglée de telle sorte que la première mâchoire de préhension peut se déplacer dans un état dans lequel la distance entre les deux mâchoires de préhension est une deuxième distance inférieure à une première distance à laquelle les mâchoires de préhension saisissent un objet à transporter. La section de piston est munie d'une section d'ouverture/fermeture de passage qui, uniquement lorsque la distance entre les deux mâchoires de préhension est égale à la deuxième distance, relie le passage de fuite et le cylindre et permet à la pression à l'intérieur du cylindre de s'échapper dans l'atmosphère.
PCT/JP2013/000509 2013-01-30 2013-01-30 Dispositif de convoyage, dispositif de montage de composant et pince WO2014118820A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201380061811.6A CN104838739B (zh) 2013-01-30 2013-01-30 搬送装置、元件安装装置及抓持件
KR1020157013796A KR101682036B1 (ko) 2013-01-30 2013-01-30 반송 장치, 부품 실장 장치 및 파지구
JP2014559351A JP5902836B2 (ja) 2013-01-30 2013-01-30 搬送装置、部品実装装置および把持具
PCT/JP2013/000509 WO2014118820A1 (fr) 2013-01-30 2013-01-30 Dispositif de convoyage, dispositif de montage de composant et pince

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2013/000509 WO2014118820A1 (fr) 2013-01-30 2013-01-30 Dispositif de convoyage, dispositif de montage de composant et pince

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WO2014118820A1 true WO2014118820A1 (fr) 2014-08-07

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KR (1) KR101682036B1 (fr)
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JP2017092188A (ja) * 2015-11-06 2017-05-25 ヤマハ発動機株式会社 実装ヘッド、表面実装機および吸着ノズルの吸引状態の検出方法
JP2017198466A (ja) * 2016-04-25 2017-11-02 三菱電機株式会社 測定装置、半導体素子の測定方法
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CN109879045A (zh) * 2019-03-15 2019-06-14 广东鑫信智能装备有限公司 机器人上下料机及其上料夹取机构

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WO2019175980A1 (fr) * 2018-03-13 2019-09-19 株式会社Ｆｕｊｉ Outil de préhension et dispositif de montage
CN109434866B (zh) * 2018-12-14 2024-05-10 苏州迪天机器人自动化有限公司 柔性手指压力测试装置

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TWI595958B (zh) * 2014-09-30 2017-08-21 佳能股份有限公司 自動化組裝設備、自動化組裝系統及自動化組裝方法
EP3006167A1 (fr) * 2014-09-30 2016-04-13 Canon Kabushiki Kaisha Appareil, système et procédé d'assemblage automatisé
US10780536B2 (en) 2014-09-30 2020-09-22 Canon Kabushiki Kaisha Automated assembly system and automated assembly method
CN105458646A (zh) * 2014-09-30 2016-04-06 佳能株式会社 自动组装设备、自动组装系统和自动组装方法
EP3395509A1 (fr) * 2015-03-31 2018-10-31 Canon Kabushiki Kaisha Procédé et appareil d'assemblage automatisé
US10213884B2 (en) 2015-03-31 2019-02-26 Canon Kabushiki Kaisha Automated assembly method and automated assembly apparatus
EP3075495A3 (fr) * 2015-03-31 2016-10-26 Canon Kabushiki Kaisha Procédé et appareil d'assemblage automatisé
US11192213B2 (en) 2015-03-31 2021-12-07 Canon Kabushiki Kaisha Automated assembly method and automated assembly apparatus
US10076815B2 (en) 2015-04-07 2018-09-18 Canon Kabushiki Kaisha Parts supply apparatus, parts supply method and robot system
CN106041517A (zh) * 2015-04-07 2016-10-26 佳能株式会社 部件供应设备、部件供应方法和机器人系统
CN106041517B (zh) * 2015-04-07 2019-11-12 佳能株式会社 部件供应设备、部件供应方法和机器人系统
US11020835B2 (en) 2015-04-07 2021-06-01 Canon Kabushiki Kaisha Parts supply apparatus, parts supply method and robot system
JP2017092188A (ja) * 2015-11-06 2017-05-25 ヤマハ発動機株式会社 実装ヘッド、表面実装機および吸着ノズルの吸引状態の検出方法
JP2017198466A (ja) * 2016-04-25 2017-11-02 三菱電機株式会社 測定装置、半導体素子の測定方法
CN109879045A (zh) * 2019-03-15 2019-06-14 广东鑫信智能装备有限公司 机器人上下料机及其上料夹取机构
CN109879045B (zh) * 2019-03-15 2023-11-10 广东鑫信智能装备有限公司 机器人上下料机及其上料夹取机构

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KR20150079821A (ko) 2015-07-08
KR101682036B1 (ko) 2016-12-02
JP5902836B2 (ja) 2016-04-13
CN104838739A (zh) 2015-08-12
JPWO2014118820A1 (ja) 2017-01-26
CN104838739B (zh) 2017-07-07

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