WO2015049721A1 - 部品装着装置及び部品装着方法 - Google Patents
部品装着装置及び部品装着方法 Download PDFInfo
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- WO2015049721A1 WO2015049721A1 PCT/JP2013/076712 JP2013076712W WO2015049721A1 WO 2015049721 A1 WO2015049721 A1 WO 2015049721A1 JP 2013076712 W JP2013076712 W JP 2013076712W WO 2015049721 A1 WO2015049721 A1 WO 2015049721A1
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- Prior art keywords
- head
- calibration data
- holding
- component mounting
- cpu
- Prior art date
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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
- H05K13/08—Monitoring manufacture of assemblages
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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
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
-
- 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
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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
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/089—Calibration, teaching or correction of mechanical systems, e.g. of the mounting head
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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
- H05K13/04—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
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- 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.
- Y10T29/4913—Assembling to base an electrical component, e.g., capacitor, etc.
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- 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
- Y10T29/53—Means to assemble or disassemble
- Y10T29/5313—Means to assemble electrical device
- Y10T29/53174—Means to fasten electrical component to wiring board, base, or substrate
Definitions
- the present invention relates to a component mounting apparatus and a component mounting method.
- a component mounting apparatus that sucks a component to the tip of a nozzle provided in a head and mounts the sucked component at a predetermined position on a substrate.
- a component mounting device there is known a device capable of exchanging the head and preparing for using the head when a new head is mounted (Patent Document 1).
- the component mounting apparatus recognizes the newly mounted head, determines whether or not the head is suitable for use, and if it is determined to be appropriate, selects a driver suitable for the head, and then Perform calibration.
- the calibration is a process for adjusting and confirming the position of the head in the operation operation in order to deal with a head mounting error or the like. In executing the calibration, the position of the head or a member attached to the head is measured, and the rotating member measures the center of rotation.
- the present invention has been made to solve such a problem, and has as its main object to shorten the time required for calibration in the component mounting apparatus.
- the component mounting apparatus of the present invention is A head holding means for holding a head including a component holder capable of holding and releasing the component; Control means for controlling the operation of the head holding means; Storage means for storing data; With The control means includes Determining whether it is necessary to create calibration data for the head when the head holding means holds a predetermined head; When it is necessary to create the calibration data of the head, the position of the reference portion of the head and the calibration of the head are measured, the calibration data of the head is stored in the storage means, and the head Based on the calibration data and the position of the reference portion, the operation of the head holding means holding the head is controlled, When it is not necessary to create the calibration data of the head, the position of the reference portion is measured, and based on the measured position of the reference portion and the calibration data of the head stored in the storage means, Controlling the operation of the head holding means holding the head; Is.
- the control means when it is necessary to create the calibration data of a predetermined head, measures the position of the reference portion of the head and the calibration data of the head, and then calibrates the head. Data is stored in the storage means. The control means controls the operation of the head holding means holding the head based on the calibration data of the head and the position of the reference portion. On the other hand, when it is not necessary to create the calibration data of the predetermined head, the control means measures the position of the reference portion, and the measured position of the reference portion and the calibration data of the head stored in the storage means Based on the above, the operation of the head holding means holding the head is controlled. That is, when it is not necessary to create the calibration data for a predetermined head, it is sufficient to measure the position of the reference portion. For this reason, the time for measuring the calibration data of the head is reduced, and consequently the time required for calibration of the component mounting apparatus is shortened. Therefore, production efficiency is improved.
- “Carib data” is an abbreviation for calibration data. Moreover, as the calibration data of the head, for example, data on the rotation center of the component holder provided in the head can be cited.
- the control means when it is necessary to create the calibration data of the head, performs measurement of the position of the reference portion of the head and measurement of the calibration data of the head.
- the position of the reference portion and the calibration data of the head are stored in the storage means, and the operation of the head holding means that holds the head is controlled based on the calibration data of the head and the position of the reference portion.
- the position of the reference portion is measured, the measured position of the reference portion, the position of the reference portion stored in the storage means, and the storage means
- the head holding means holding the head may be controlled based on the head calibration data stored in the head.
- the target position where the component is to be mounted and the actual component are There may be a deviation from the installed position.
- Such a correction value has a correlation with the position of the reference portion when the correction value is measured.
- the correlation between the position of the reference portion when the correction value is measured and the correction value is used.
- a correction value corresponding to the position of the reference portion of the head can be obtained.
- the control means creates the calibra data of the head holding means in advance and stores it in the storage means before determining whether it is necessary to create the calibra data of the head.
- the operation of the head holding means holding the head may be controlled using the calibration data of the head holding means stored in the storage means. Since the calibration data of the head holding means can be used regardless of the type of the head held by the head holding means, it is not necessary to create the calibration data every time the head calibration data is created.
- the calibration data of the head holding means is stored in the storage means, and when the head holding means is controlled, it is read out from the storage means and used. Therefore, even when the head holding means is deviated from the design value, the component mounting apparatus can be calibrated in consideration of the deviation.
- the calibration data of the head holding means includes data relating to the position of the head holding means itself, and data relating to the rotation center of the rotation axis when the head holding means is provided with a rotation axis for rotating the head. It is done.
- the control unit determines whether or not the head calib data needs to be created by determining whether or not the head calib data is stored in the storage unit. You may judge. In this way, it is relatively easy to determine whether or not it is necessary to create head calibration data.
- the control unit associates the identification data given to the head, the calibration data of the head, and the reference portion of the reference portion when associating the calibration data of the head with the position of the reference portion. You may make it match
- the identification code may be stored using, for example, a bar code or a two-dimensional code attached to a predetermined head, or may be stored in an IC tag or the like.
- the component mounting apparatus of the present invention may have a function of automatically replacing the head held by the head holding means with the predetermined head. In this way, not only the production efficiency is improved by shortening the time required for calibration, but also the production efficiency is improved by automation of head replacement.
- the component mounting method of the present invention includes: Holding a predetermined head on the head holding means; Measuring the position of the reference portion of the head and measuring the calibration data of the head to create the calibration data of the head, and storing the calibration data of the head in the storage unit; Temporarily removing the head from the head holding means and holding it again on the head holding means; Measuring the position of the reference portion again after holding the head again on the head holding means; Controlling the operation of the head holding means holding the head based on the position of the reference portion measured again and the calibration data of the head stored in the storage means; Is included.
- this component mounting method when a predetermined head is once removed from the head holding means and then held on the head holding means again, the position of the reference portion of the head is measured again, and the position of the reference portion measured again is measured. And the operation of the head holding means holding the head based on the calibration data of the head stored in the storage means. That is, when the predetermined head is once removed from the head holding means and then held by the head holding means, it is sufficient to measure the position of the reference portion of the head. For this reason, the time for measuring the calibration data of the head is reduced, and consequently the time required for calibration of the component mounting apparatus is shortened. Therefore, production efficiency is improved.
- FIG. 1 is an explanatory diagram showing the overall configuration of a component mounting system 1.
- FIG. FIG. 3 is a perspective view of a head unit 110. The perspective view when the head holding body 21 is seen diagonally upward from below.
- FIG. 3 is a perspective view when the first head 120 is viewed obliquely downward from above. Sectional drawing of the peripheral part of the 1st and 2nd lever clamping parts 51 and 71.
- FIG. The perspective view of the 2nd head 220.
- FIG. FIG. 6 is a perspective view of a third head 320.
- the flowchart of a head holding body calib data creation process. Explanatory drawing of the periphery of the parts camera 132 at the time of position correction of the mark camera 130.
- FIG. 3 is an explanatory diagram of a bottom surface 120a of the first head 120. Explanatory drawing of the data used for a calibration. The flowchart of a component mounting process routine. The flowchart of another calibration. Explanatory drawing of 1st-3rd head unit HU1-HU3.
- FIG. 1 is an explanatory diagram showing the overall configuration of the component mounting system 1.
- the left-right direction (X-axis), the front-rear direction (Y-axis), and the up-down direction (Z-axis) are as shown in FIG.
- the component mounting system 1 includes a component mounting apparatus 100 and a management computer 200.
- the component mounting apparatus 100 includes a substrate transfer device 104 mounted on a base 102, a head unit 110 that can move on an XY plane, and a first head that is detachably attached to the head unit 110.
- a mark camera 130 for photographing the substrate 101 from above a parts camera 132 for photographing the component sucked by the suction nozzle 13 from below
- a head storage area 140 for storing various heads a substrate 101
- a component supply device 150 that supplies components to be performed and a controller 160 that executes various controls are provided.
- the substrate transport device 104 transports the substrate 101 from left to right by conveyor belts 108 and 108 (only one is shown in FIG. 1) attached to a pair of front and rear support plates 106 and 106, respectively.
- the head unit 110 is attached to the X-axis slider 112, and moves in the left-right direction as the X-axis slider 112 moves in the left-right direction along the guide rails 114, 114, and the Y-axis slider 116 moves in the guide rail 118, It moves in the front-rear direction as it moves in the front-rear direction along 118. For this reason, the head unit 110 is movable on the XY plane.
- Each slider 112, 116 is driven by a servo motor (not shown).
- the first head 120 is detachably attached to the head unit 110.
- the suction nozzle 13 uses pressure to suck the component at the nozzle tip or release the component sucked at the nozzle tip. Twelve suction nozzles 13 are attached to the first head 120, but four are attached to the second head 220 and one is attached to the third head 320.
- the mark camera 130 is attached to the lower surface of the X-axis slider 112.
- the mark camera 130 is a camera that reads a mark attached to the substrate 101 at a lower part of the imaging region. This mark indicates the reference position on the substrate 101. This reference position is used when the component sucked by the suction nozzle 13 is mounted at a desired position on the substrate 101.
- the mark camera 130 also has a barcode reader function for reading a two-dimensional barcode attached to various heads.
- the parts camera 132 is disposed on the front side of the substrate transfer apparatus 104.
- the suction nozzle 13 that sucks a part passes above the parts camera 132, the parts camera 132 captures the state of the part sucked by the suction nozzle 13.
- the image photographed by the parts camera 132 is used to determine whether or not the part is normally sucked by the suction nozzle 13.
- the head storage area 140 is provided on the right side of the upper surface of the base 102 and has a plurality of storage locations 142 for storing the first to third heads 120, 220, and 320.
- the front three storage locations 142 store the second head 220, the third head 320, and the first head 120, respectively, but the rearmost storage location 142 is empty.
- the component supply device 150 is attached in front of the component mounting device 100.
- the component supply device 150 has a plurality of slots, and a feeder 152 can be inserted into each slot.
- a reel 154 around which a tape is wound is attached to the feeder 152.
- On the surface of the tape parts are held in a state of being aligned along the longitudinal direction of the tape. These parts are protected by a film covering the surface of the tape.
- Such a tape is fed backward by a sprocket mechanism (not shown), and is disposed at a predetermined position in a state where the film is peeled off and the parts are exposed.
- the predetermined position is a position where the suction nozzle 13 can suck the component.
- the suction nozzle 13 that sucks a component at the predetermined position can mount the component at a predetermined position on the substrate 101.
- the component mounting apparatus 100 includes a nozzle stocker 134 and the like.
- the nozzle stocker 134 is a box that stocks a plurality of types of suction nozzles 13, and is arranged next to the parts camera 132.
- the suction nozzle 13 is replaced with one suitable for the type of substrate on which the component is mounted and the type of component.
- the controller 160 includes a CPU 162 that executes various controls, a ROM 164 that stores control programs, a RAM 166 that is used as a work area, and an HDD 168 that stores a large amount of data, which are connected by a bus (not shown).
- the controller 160 is connected to the substrate transfer apparatus 104, the X-axis slider 112, the Y-axis slider 116, and the head unit 110 so as to exchange signals.
- the management computer 200 is a computer that manages a production job of the substrate 101, and stores production job data created by an operator. In the production job data, in the component mounting apparatus 100, what components are mounted from which slot position feeders in what order on which substrate board 101, how many substrates 101 are mounted in that order, etc. Is stipulated.
- the management computer 200 is connected to the controller 160 of the component mounting apparatus 100 so as to be capable of bidirectional communication.
- FIG. 2 is a perspective view of the head unit 110 with the cover removed. Specifically, FIG. 2 is a perspective view of the state in which the first head 120 is lowered with respect to the R axis 22 of the head holder 21.
- FIG. 3 is a perspective view when the head holding body 21 is seen obliquely upward from below, and FIG. 4 is a perspective view when the first head 120 is seen obliquely downward from above.
- the head unit 110 includes a head holder 21 and a first head 120.
- the head holder 21 is attached to the X-axis slider 112 (see FIG. 1) so as to be lifted and lowered by a lifting mechanism (not shown).
- the head holder 21 has two ring-shaped gears, an R-axis gear 24 and a Q-axis gear 27 in the upper part, and a cylindrical R-axis 22 in the lower part.
- the R-axis gear 24 and the Q-axis gear 27 are attached so as to rotate independently of each other.
- the R-axis gear 24 is rotationally driven by the R-axis motor 25 and rotates integrally with the R-axis 22.
- the Q-axis gear 27 is rotationally driven by the Q-axis motor 28 and rotates integrally with the ring-shaped clutch member 61 (see FIG. 3).
- the R shaft 22 has a plurality (four in this case) of engaging members 31 having hooks at the lower end.
- the directions of the hooks are aligned so as to be the same as the direction in which the R axis 22 rotates forward.
- These engaging members 31 are arranged at equal intervals on the same circumference of the lower surface of the R shaft 22 (the center of this circle coincides with the central axis of the R shaft 22).
- Each engagement member 31 can be moved up and down by an air cylinder (not shown).
- the head holding body 21 further includes first and second lever clamping portions 51 and 71 shown in FIG. 5, which will be described later.
- the first head 120 is a member having a substantially columnar appearance, and has a plurality (here, 12) of suction nozzles 13 below.
- the suction nozzle 13 is integrated with a nozzle holder 12 extending in the vertical direction.
- the nozzle holder 12 has a nozzle operation lever 39 in the vicinity of the upper end, and is urged upward by a spring 40 to be positioned at a predetermined fixed position (upper position).
- the nozzle operation lever 39 exists from the first nozzle operation lever 39 (A) to the last (12th) nozzle operation lever 39 (L) in the order in which the suction nozzle 13 is operated. This order is counted from the first to the last counterclockwise when viewed from above in FIG.
- a two-dimensional barcode 42 is attached to the first nozzle operation lever 39 (A).
- This two-dimensional bar code 42 includes an identification code, and this identification code is set to be different for each head. For example, when there are a plurality of first heads 120 having twelve suction nozzles 13, different identification codes are assigned to them.
- the nozzle operation lever 39 is pressed, the nozzle holder 12 and the suction nozzle 13 descend against the elastic force of the spring 40, and when the nozzle operation lever 39 is released, the nozzle holder 12 and the suction nozzle 13 are The spring 40 returns to a fixed position by the elastic force.
- the nozzle holder 12 is meshed with a small gear 34 disposed so as to be coaxial with the nozzle holder 12.
- the small gears 34 are arranged at equal intervals on the same circumference (the center of this circle coincides with the central axis of the R axis 22).
- the cylindrical gear 33 is disposed on the inner side of the circumference where the small gears 34 are arranged, has a gear on a side surface, and meshes with the small gears 34. Further, the cylindrical gear 33 is designed to have such a dimension that the R shaft 22 can be inserted.
- a clutch member 62 that fits with the clutch member 61 (see FIG. 3) of the head holder 21 is provided.
- the first head 120 has a pressure operation lever 35 that switches between supplying a negative pressure to the nozzle tip and supplying an atmospheric pressure for each suction nozzle 13.
- the pressure operation lever 35 is a switch that does not have a return function, and supplies a negative pressure to the nozzle tip when positioned upward, and supplies an atmospheric pressure to the nozzle tip when positioned downward.
- the pressure operation lever 35 also exists from the first pressure operation lever 35 (A) to the last pressure operation lever 35 (L) in the order in which the suction nozzle 13 is operated.
- the first head 120 has a disk-shaped base 36 (see FIG. 4) inside the cylindrical gear 33.
- the base 36 is integrated with a support member that supports the nozzle holder 12 and the small gear 34, but is not integrated with the cylindrical gear 33. For this reason, the cylindrical gear 33 is rotatable independently of the base 36.
- An arcuate engagement hole 37 is formed in the base 36 so as to be engageable with the hook of the engagement member 31 of the R shaft 22.
- the first head 120 is held by the head holder 21 in the following procedure.
- the engagement member 31 is lowered from the R shaft 22 by an air cylinder (not shown) and inserted into the engagement hole 37 of the base 36.
- the R shaft 22 is forwardly rotated by the R shaft motor 25 so that the hook of the engagement member 31 is engaged with the periphery of the engagement hole 37.
- the engaging member 31 is raised by an air cylinder (not shown) so that the clutch member 62 of the cylindrical gear 33 is fitted into the clutch member 61 of the head holding body 21.
- the first head 120 is held by the head holder 21.
- FIG. 5 is a cross-sectional view of the peripheral portion of the first and second lever holding portions 51 and 71.
- the lever holding portion 51 of the head holder 21 is attached to a first Z-axis slider 56 that can move in the vertical direction along a first Z-axis guide rail 55 provided on the head holder 21. ing.
- the first Z-axis slider 56 is driven by a servo motor (not shown).
- the first lever sandwiching portion 51 sandwiches the nozzle operation lever 39 from above and below by a horizontal portion 52 of the L-shaped member and a roller 54 attached to the upper side of the horizontal portion 52.
- the roller 54 is rotatably supported on the horizontal shaft 53.
- the gap between the first and last nozzle operating levers 39 (A) and 39 (L) is large enough to allow the first lever clamping portion 51 to pass in the vertical direction.
- the clearance of the operation lever 39 is sized so that the first lever clamping portion 51 cannot pass in the vertical direction (see FIG. 4). Therefore, when the first head 120 is raised relative to the R-axis 22 from the state shown in FIG. 2 to hold the first head 120 on the head holding body 21, the first lever holding portion 51 is connected to the nozzle. In order not to collide with the operation lever 39, the first lever holding portion 51 of the head holding body 21 needs to be disposed immediately above the gap between the first and last nozzle operation levers 39 (A) and 39 (L).
- the head holding body 21 has a second lever clamping portion 71.
- the second lever sandwiching portion 71 is located radially outside the first lever sandwiching portion 51 because the pressure operation lever 35 is located radially outside the nozzle operation lever 39. Similar to the first lever clamping portion 51, the second lever clamping portion 71 is attached to a second Z-axis slider 76 that can move in the vertical direction along the second Z-axis guide rail 75 provided on the head holder 21. .
- the second Z-axis slider 76 is driven by a servo motor (not shown).
- the second lever clamping portion 71 sandwiches the pressure operation lever 35 from above and below by a horizontal portion 72 of the L-shaped member and a roller 74 attached to the upper side of the horizontal portion 72.
- the gap between adjacent pressure operation levers 35 is large enough to allow the second lever clamping portion 71 to pass in the vertical direction.
- the first lever of the head holding body 21 is clamped as described above. If the portion 51 is disposed immediately above the gap between the first and last nozzle operation levers 39 (A) and 39 (L), the second lever clamping portion 71 also has the first and last pressure operation levers 35 (A). , (L).
- FIG. 6 is a perspective view of the second head 220
- FIG. 7 is a perspective view of the third head 320.
- the second head 220 shown in FIG. 6 is stored in the head storage area 140 (see FIG. 1).
- the second head 220 includes four suction nozzles 13, and the heights of the nozzle operation lever 39, the pressure operation lever 35, and the base 36 when stored in the head storage area 140 are different from those of the first head 120.
- the configuration is the same as that of the first head 120 except that the interval between the adjacent nozzle operation levers 39 is wide.
- a two-dimensional barcode 42 is attached to the first nozzle operation lever 39 (A).
- FIG. 1 is a perspective view of the second head 220
- FIG. 7 is a perspective view of the third head 320.
- the second head 220 shown in FIG. 6 is stored in the head storage area 140 (see FIG. 1).
- the second head 220 includes four suction nozzles 13, and the heights of the nozzle operation lever 39, the pressure operation
- the third head 320 is also stored in the head storage area 140 (see FIG. 1).
- the third head 320 includes only one suction nozzle 13 and does not have the nozzle operation lever 39 or the pressure operation lever 35. For this reason, the two-dimensional barcode 42 is attached to the upper surface of the base 36.
- the third head 320 differs from the other first heads 120 and 220 in the height position of the base 36 when stored in the storage place 142.
- FIG. 8 is a flowchart of the head holder calib data creation process.
- This processing program is stored in the ROM 164 of the controller 160.
- the CPU 162 of the controller 160 executes this processing program when the operator gives an instruction to create the calib data of the head holder 21.
- the operator deforms the head holding body 21 over time due to heat or the like when the calibration data of the head holding body 21 has never been created or compared with the previous time when the calibration data of the head holding body 21 was created.
- a command for creating the calibration data of the head holder 21 is instructed.
- This processing program is executed in a state where the head holder 21 does not hold any head.
- FIG. 9 is an explanatory diagram of the periphery of the parts camera 132 when the position of the mark camera 130 is corrected.
- a reference mark 138 is provided at a predetermined position of the glass plate 136 that covers the lens of the parts camera 132.
- the HDD 168 also has a number of pulses output from linear encoders attached to the X-axis and Y-axis sliders 112 and 116 when the mark camera 130 manufactured as designed stops at a predetermined fixed position ( Design value) is stored. The number of pulses is counted starting from an unillustrated origin defined on the component mounting apparatus 100.
- the CPU 162 stops the actual mark camera 130 after moving it by the number of pulses of the design value, and causes the mark camera 130 to photograph the reference mark 138 at that position.
- the mark camera 130 normally stops at a position deviated from the fixed position due to manufacturing errors or deformation due to heat. Therefore, the position of the reference mark 138 in the image photographed by the mark camera 130 is shifted from the initial position (the position of the reference mark 138 in the image photographed by the fixed position mark camera 130).
- the CPU 162 moves the head unit 110 including the mark camera 130 by the X-axis and Y-axis sliders 112 and 116 until the position of the reference mark 138 in the image captured by the mark camera 130 coincides with the initial position.
- the number of pulses (measured value) at that time is measured.
- the CPU 162 corrects the position of the mark camera 130 based on the actually measured value and the design value of the number of pulses obtained in this way.
- FIG. 10 is an explanatory diagram of the periphery of the parts camera 132 when the position of the head holder 21 is corrected.
- the head holder 21 is positioned so that the center of rotation of the R-axis 22 of the head holder 21 coincides with the center of the parts camera 132.
- the number of pulses (design value) output from the linear encoder attached to the X-axis and Y-axis sliders 112, 116 at this time is stored in the HDD 168.
- the CPU 162 stops the actual head holder 21 after moving it by the number of pulses of the design value, and obtains the rotation center of the R axis 22 of the head holder 21 at that position.
- a reference point 23 (see FIG. 3) is provided on the bottom surface of the R axis 22 of the head holder 21. Then, the position of the reference point 23 when the R axis 22 is not rotated, that is, when the rotation angle is 0 °, and the position of the reference point 23 when the R axis 22 is rotated 180 ° are obtained from the images taken by the parts camera 132, The midpoint of the line segment connecting the two positions is the center of rotation.
- the center of rotation of the head holder 21 is usually shifted from the center of the parts camera 132 due to manufacturing errors or deformation due to heat. Stop.
- the CPU 162 moves the head holding body 21 with the X-axis and Y-axis sliders 112 and 116 until the rotation center of the R-axis 22 coincides with the center of the parts camera 132 using the image taken by the parts camera 132.
- the number of pulses (measured value) at that time is measured.
- the CPU 162 corrects the rotational center position of the R axis 22 of the head holder 21 based on the actually measured value and the design value of the number of pulses obtained in this way.
- the CPU 162 creates calib data of the head holder 21 and stores it in the HDD 168 (step S130), and ends this routine. That is, the CPU 21 obtains the rotation center position (XY coordinate) of the R axis 22 with respect to the optical axis of the mark camera 130 from the number of pulses of the linear encoder, and stores it in the HDD 168 as one of the calibration data of the head holder 21. . Also, the position of the R axis 22 (XY coordinates), that is, the part camera image capture position when the rotation center of the R axis 22 coincides with the optical axis of the parts camera 132 is obtained from the number of pulses of the linear encoder, and this is held by the head. The data is stored in the HDD 168 as one of the calib data of the body 21. An example of the calib data of the head holder 21 stored in the HDD 168 is shown in Table 1.
- FIG. 11 is a flowchart of an automatic head replacement routine.
- the program for the automatic head replacement routine is stored in the ROM 164 of the controller 160.
- the CPU 162 of the controller 160 determines whether it is time to automatically replace the head based on the production job data received from the management computer 200. If it is time to automatically replace the head, the head automatic replacement routine is started. . Note that the above-described calibration data of the head holder 21 is stored in the HDD 168 before the timing for automatic head replacement.
- the CPU 162 recognizes the head stored in the head storage area 140 (step S210). Specifically, the CPU 162 reads the two-dimensional barcode of the head stored in each storage location 142 of the head storage area 140, and which head is stored in which storage location based on the identification code represented by the two-dimensional barcode. Recognize When a plurality of heads of the same type are stored, different identification codes are assigned to the heads even if they are of the same type.
- the HDD 168 stores the correspondence between the identification code and the head type in a table.
- the identification code “001” is associated with the first head 120 having 12 suction nozzles
- the identification code “002” is associated with another first head 120
- the identification code Two heads 220 having four suction nozzles are associated with “003”.
- the CPU 162 recognizes the head by referring to the obtained head identification code.
- the CPU 162 releases the currently held head (step S220). For example, if the currently held head is the first head 120 with the identification code “001”, the CPU 162 first controls the X-axis slider 112 and the Y-axis slider 116 to remove the head unit 110 from the head storage area 140. It moves right above the storage location 142. Subsequently, the CPU 162 rotates the first head 120 so that the first lever clamping portion 51 is positioned in the gap between the first and last nozzle operation levers 39 (A) and 39 (L). Subsequently, the CPU 162 lowers the head holding body 21 and stores the first head 120 in the storage location 142.
- the CPU 162 lowers the hook of the engaging member 31 below the engaging hole 37 and then rotates the R shaft 22 to remove the hook of the engaging member 31 from the engaging hole 37 of the first head 120. . Further, the CPU 162 ends the release of the first head 120 by raising the engagement member 31.
- the CPU 162 holds the replacement target head (step S230).
- the head to be exchanged is the first head 120 having an identification code “002” different from the first head 120 held so far.
- the direction of the first head 120 stored in the storage place 142 is such that the first lever holding portion 51 is positioned between the first and last nozzle operation levers 39 (A) and 39 (L). Is predetermined.
- the CPU 162 controls the X-axis slider 112 and the Y-axis slider 116 to move the head unit 110 directly above the storage location 142 in which the first head 120 is stored.
- the CPU 162 lowers the head holding body 21 and lowers each engaging member 31 while inserting the R shaft 22 into the cylindrical gear 33, thereby hooking each engaging member 31 to the base of the first head 120. It is inserted into an engagement hole 37 provided in 36. Thereafter, the CPU 162 rotates the R shaft 22 to engage the hook of the engagement member 31 with the peripheral edge of the engagement hole 37. Subsequently, the CPU 162 raises the engaging member 31, holds the base 36 between the hook of the engaging member 31 and the back surface of the R shaft 22, and moves the clutch member 62 of the first head 120 to the head holding body. 21 and the clutch member 61.
- the CPU 162 controls the first and second Z-axis sliders 56 and 76 to lower the first lever holding portion 51 to the height of the nozzle operating lever 39 of the first head 120 and to move the second lever holding portion 71 to the second position. 1
- the head 120 is lowered to the height of the pressure control lever 35.
- the first lever clamping portion 51 is positioned in the gap between the first and final nozzle operation levers 39 (A) and (L)
- the second lever clamping portion 71 is the first and final pressure operation lever 35. It is located in the gap between (A) and (L).
- the CPU 162 rotates the first head 120 by rotating the R-axis 22 forward, the first lever holding portion 51 pinches the first nozzle operating levers 39 (A) and (L), and the second The lever clamping portion 71 is configured to sandwich the first pressure operation lever 35.
- Step S240 the CPU 162 executes calibration (step S240) and ends this routine.
- Calibration is a process of creating calibration data.
- a component mounting program for mounting a component at a target position is created after assuming that each member is manufactured or mounted in advance according to a design value.
- each member is rarely manufactured or attached according to the design value, and actually deviates from the design value. Therefore, the component mounting apparatus 100 is calibrated to calibrate the deviation.
- the CPU 162 reflects the result of the current calibration.
- step S310 the CPU 162 first determines whether or not it is necessary to measure the calibration data of the replaced head. For example, if the replaced head is the first head 120 with the identification code “002” as described above, the CPU 162 determines whether or not the calibration data associated with the identification code “002” is stored in the HDD 168. If it is not stored, it is determined that the calibration data of the first head 120 needs to be measured. If the calibration data associated with the identification code “002” is stored in the HDD 168, the calibration data can be used, so the CPU 162 determines that the calibration of the calibration data of the first head 120 is unnecessary. .
- step S320 the CPU 162 measures the reference point of the replaced head and stores the measurement result in the HDD 168 (step S320). For example, if the replaced head is the first head 120 with the identification code [002], the CPU 162 uses the calibration data of the head holding body 21 so that the rotation center of the R axis 22 coincides with the center of the parts camera 132. Position the unit 110.
- FIG. 13 is an explanatory diagram of the bottom surface 120 a of the first head 120.
- a reference point 123 is provided at a predetermined position (here, the center position) of the bottom surface 120 a of the first head 120.
- the CPU 162 causes the parts camera 132 to photograph the bottom surface of the first head 120 held by the head holder 21.
- the CPU 162 measures the position (XY coordinate) of the reference point 123 of the first head 120 with respect to the R-axis rotation center, and associates the position with the identification code “002” of the first head 120 as the reference point position.
- the position of the reference point 123 is measured when the rotation angle of the first head 120 is 0 °, that is, when the first head 120 is not rotated.
- the CPU 162 measures the calibration data of the replaced head, stores the measurement results in the HDD 168 (step S330), and ends this routine.
- the replaced head is the first head 120 with the identification code [002]
- the CPU 162 positions the respective rotation centers (XY coordinates) of the nozzle holder 12 of the 12 suction nozzles 13 provided in the first head 120. Measure.
- the position of each rotation center is a position with respect to the reference point 123. In a state where the rotation center of the R axis 22 is positioned so as to coincide with the center of the parts camera 132, all the suction nozzles 13 provided in the first head 120 are within the field of view of the parts camera 132.
- the CPU 162 causes the parts camera 132 to take the image, and then drives the Q-axis motor 28 to rotate all the nozzle holders 12 by 180 ° via the cylindrical gear 33 and the small gear 34. Let the camera shoot.
- the CPU 162 does not rotate the nozzle holder 12, that is, the position of the hole of the suction nozzle 13 when the rotation angle is 0 °, and the position of the hole of the suction nozzle 13 when the nozzle holder 12 is rotated 180 °, that is, when the rotation angle is 180 °.
- the position is obtained from the image captured by the parts camera 132, and the midpoint of the line segment connecting the two positions is set as the rotation center of each nozzle holder 12.
- the rotation angle of the 1st head 120 shall be 0 degree.
- the CPU 162 obtains the position of the rotation center of each nozzle holder 12 with respect to the reference point 123 (see FIG. 14), and uses it as the nozzle holder rotation center position, which is one of the calibration data of the head, to identify the identification code “002” of the first head 120. And stored in the HDD 168. It takes a relatively long time to measure the calibration data of the replaced head.
- Table 2 shows an example of a table in which the identification code “002” of the first head 120, the calibration data of the head, and the reference point position (here, (xa, ya)) are associated with each other.
- step S310 the CPU 162 measures the reference point position of the replaced head with respect to the rotation center of the R axis 22 (see FIG. 14, XY coordinates), and uses the measurement result as the reference point position.
- Step S360 For example, if the replaced head is the first head 120 with the identification code [002], the current reference point position (here, (xb, yb)) is stored in the HDD 168 in association with the identification code “002”.
- the negative determination in step S310 means that the calibrated data associated with the identification code “002” as shown in Table 2 has already been stored in the HDD 168.
- the calibration data of the first head 120 with the identification code “002” may be read from the HDD 168 and need not be measured again.
- the first head 120 with the identification code “002” is held by the head holder 21 not the first time but the second time, that is, once removed and then held again.
- the head holding body 21 holds the first head 120
- the base 36 of the first head 120 is sandwiched between the hook of the engaging member 31 and the bottom surface of the R shaft 22.
- the positional relationship between 120 and the head holder 21 is slightly different. Therefore, the reference point position is measured again.
- the reference point position (xb, yb) after re-holding is a value different from the initial reference point position (xa, ya).
- the CPU 162 ends this routine after step S350.
- the replaced head is the first head 120 with the identification code [002]
- the calibration data associated with the identification code “002” as shown in Table 2 is already stored in the HDD 168.
- FIG. 14 schematically shows the R-axis rotation center position of the head holder 21, the reference point position of the first head 120, and the rotation center position of the nozzle holder 12 of the first head 120.
- FIG. 15 is a flowchart of the component mounting process routine.
- a program for the component mounting process routine is stored in the ROM 164 of the controller 160.
- the CPU 162 of the controller 160 starts this component placement processing routine as appropriate.
- the CPU 162 causes the suction nozzle 13 to suck the component (step S410). For example, when the first head 120 is held by the head holder 21, the CPU 162 sequentially sucks the components supplied from the feeder 152 to the plurality of suction nozzles 13 of the head unit 110.
- the first lever holding portion 51 is previously positioned in the gap between the first and last nozzle operation levers 39 (A) and 39 (L) and the height thereof coincides with the nozzle operation lever 39. It is assumed that the two-lever clamping portion 71 is located in the gap between the first and last pressure operation levers 35 and 35 and the height thereof coincides with the pressure operation lever 35.
- the CPU 162 rotates the first head 120 by the R-axis motor 25 so that the first nozzle operation lever 39 (A) is held by the first lever holding portion 51 and the second lever holding portion 71
- the pressure operation lever 35 of the first suction nozzle 13 is clamped.
- the cylindrical gear 33 is rotated so as to be in phase with the first head 120.
- the suction nozzle 13 does not rotate when the first head 120 rotates.
- the cylindrical gear 33 is rotated independently of the first head 120.
- the CPU 162 controls the X-axis slider 112 and the Y-axis slider 116 to place the first suction nozzle 13 directly above the desired component. Thereafter, the CPU 162 controls the first Z-axis slider 56 and lowers the first suction nozzle 13 by the first lever holding part 51, and controls the second Z-axis slider 76 and 1 by the second lever holding part 71.
- the pressure operation lever 35 is switched so that a negative pressure is supplied to the second suction nozzle 13. As a result, a desired part is sucked by the first suction nozzle 13.
- the CPU 162 rotates the first head 120 by a predetermined angle by the R-axis motor 25.
- the CPU 162 controls the first Z-axis slider 56 to raise the first lever clamping portion 51 so that the first suction nozzle 13 returns to the fixed position, and further the second The nozzle operation lever 39 is held by the first lever holding portion 51.
- the CPU 162 waits for the first pressure operating lever 35 to pass through the second lever holding portion 71 and controls the second Z-axis slider 76 to return the second lever holding portion 71 to the original position.
- the second pressure operation lever 35 is held by the second lever holding portion 71. For this reason, the first suction nozzle 13 remains supplied with negative pressure and continues to suck the components.
- the CPU 162 controls the X-axis slider 112 and the Y-axis slider 116 to place the second suction nozzle 13 directly above the desired component. Thereafter, the CPU 162 controls the first Z-axis slider 56 and lowers the second suction nozzle 13 by the first lever holding unit 51, and controls the second Z-axis slider 76 and controls the second Z-axis slider 76 to 2 by the second lever holding unit 71.
- the pressure operation lever 35 is switched so that a negative pressure is supplied to the second suction nozzle 13. As a result, the desired part is sucked by the second suction nozzle 13.
- the same operation is repeated for the third and subsequent suction nozzles 13. As a result, the components can be adsorbed by all of the first to final suction nozzles 13.
- the CPU 162 controls the sliders 112 and 114 and the head unit 110 so that the component is mounted at the target position of the substrate 101 (step S420), and this routine is finished.
- the CPU 162 determines the latest reference point position corresponding to the identification code “002” of the first head 120 currently held and the first head.
- the 120 calib data and the calib data of the head holder 21 are read out.
- the CPU 162 controls the X-axis slider 112, the Y-axis slider 114, and the head holding body 21 so that each component is mounted at the target position while performing position correction based on them.
- the CPU 162 controls the X-axis slider 112 and the Y-axis slider 116 to move the head unit 110 so that the first suction nozzle 13 is directly above the target position of the first component.
- the head holder 21 is retracted upward so that the components sucked by the suction nozzles 13 do not interfere with the structure on the component mounting apparatus 100 or the components already mounted on the substrate 101.
- the first head 120 is rotated so that the first nozzle operation lever 39 (A) is disposed between the first lever holding portions 51.
- the CPU 162 controls the first Z-axis slider 56 to lower the first suction nozzle 13 by the first lever clamping portion 51, and then controls the second Z-axis slider 76.
- the pressure control lever 35 is switched so that the atmospheric pressure is supplied to the first suction nozzle 13 by the second lever clamping portion 71.
- the part sucked by the first suction nozzle 13 is mounted at the target position of the first part.
- Components that have been sucked by the second and subsequent suction nozzles 13 are also mounted on the substrate 101 in the same manner.
- a component mounting program for mounting a component at a target position is created after assuming that each member is manufactured or mounted according to a design value in advance.
- each member is rarely manufactured or attached according to the design value, and actually deviates from the design value. Therefore, as described above, the CPU 162 performs position correction based on the reference point position of the head currently held by the head holding body 21, the calibration data of the head, and the calibration data of the head holding body 21. The component is mounted at the target position.
- the suction nozzle 13 of this embodiment corresponds to a component holder of the present invention
- the head holder 21 corresponds to a head holding unit
- the CPU 162 corresponds to a control unit
- the HDD 168 corresponds to a storage unit.
- an example of the component mounting method of the present invention is also clarified by describing the operation of the component mounting apparatus 100.
- the calibration data of the head holder 21 is stored in the HDD 168 in advance, and when the head holder 21 is controlled to perform a component mounting operation, it is read from the HDD 168 and used. Therefore, even when the head holder 21 is deviated from the design value, the component mounting apparatus 100 can be calibrated in consideration of the deviation.
- the CPU 162 determines whether or not it is necessary to create the calibrated data of the replaced head by determining whether or not the calibrated data of the replaced head is stored in the HDD 168. It can be determined relatively easily whether or not it is necessary to create the calibration data.
- the component mounting apparatus 100 has an automatic head replacement function, not only the production efficiency is improved by reducing the time required for calibration, but also the production efficiency is improved by automating the head replacement.
- step S240 flowchart of FIG. 12
- step S240 flowchart of FIG. 12
- the same calibration is performed when the head is manually replaced. May be executed. Also in this case, the time required for calibration can be shortened.
- the CPU 162 performs the calibration of FIG. 12, but instead, the calibration of FIG. 16 may be performed.
- the processing in the case where the determination in step S310 is affirmative is different from that in FIG.
- the CPU 162 after the above-described steps S320 and S330, the calibration data of the head holding body 21, the reference point position of the currently held head, and the calibration of the head.
- processing similar to the above-described component mounting processing routine is executed, and at the same time, feedback (F / B) control of the component mounting position is executed (step S340).
- feedback (F / B) control of the component mounting position is executed (step S340).
- the target position where the component is to be mounted and the position where the component is actually mounted may deviate.
- the deviation amount between the target position and the actual mounting position is measured, and the F / B control is executed.
- the CPU 162 stores the obtained F / B correction value in the HDD 168 in association with the reference point position of the head when the F / B control is executed as one of the currently held head calibration data. (Step S350).
- the F / B correction value has a correlation with the reference point position when the F / B control is executed.
- the F / B correction value is used as one of the calibration data of the head in step S420 of the component mounting process routine to be executed thereafter.
- the accuracy of position correction is further improved compared to the above-described embodiment.
- the CPU 162 uses the F / B correction value in step S420, it is currently held from the correlation between the F / B correction value stored in the HDD 168 and the reference point position when the F / B control is executed. The F / B correction value corresponding to the reference point position of the head being found is obtained.
- the head holding body 21 corresponds to the head holding means of the present invention
- the first to third heads 120, 220, and 320 correspond to the head of the present invention
- the X-axis slider 112 may correspond to the head holding means of the present invention
- the first to third head units HU1 to HU3 that are detachably attached to the X-axis slider 112 may correspond to the head of the present invention.
- the first head unit HU1 is a head unit including the head holding body 21 and the first head 120
- the second head unit HU2 is a head unit including the head holding body 21 and the second head 220.
- the head unit HU3 is a head unit including the head holding body 21 and the third head 320.
- the X-axis slider 112 is a head holding means that does not have a rotating shaft, and the first to third head units HU 1 to HU 3 are automatically exchanged for the X-axis slider 112.
- the inclination of the R axis 22 and the inclination of the nozzle holder 12 may be taken into consideration. In this way, the accuracy of control is further increased.
- the reference point 23 is provided on the bottom surface of the R axis 22, but it is not necessary to actively provide the reference point 23, for example, a member that already exists on the bottom surface of the R axis 22 (for example, a screw). May be used instead of the reference point 23. The same applies to the reference point 123 on the back surface 120a of the first head 120.
- the midpoint of the line segment connecting the position of the reference point when the rotation angle is 0 ° and the position of the reference point when the rotation angle is 180 ° is the R-axis rotation center.
- the present invention is not particularly limited to this.
- the R-axis rotation center may be obtained based on the positions of four reference points at rotation angles of 0 °, 90 °, 180 °, and 270 °. The same applies to the center of rotation of the nozzle holder.
- the reference point position is the position with respect to the R-axis rotation center position
- the nozzle holder rotation center position is the position with respect to the reference point position.
- both the reference point position and the nozzle holder rotation center position are the light of the mark camera 132. It is good also as a position to an axis.
- the component supply device 150 supplies reel components, but may supply tray components or bulk components.
- the suction nozzle of the head held by the head holder 21 may be automatically exchanged with the suction nozzle stored in the nozzle stocker 134.
- the present invention can be used for a control device using a board on which a component is mounted.
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Abstract
Description
部品の保持及び保持解除が可能な部品保持具を備えたヘッドを保持するヘッド保持手段と、
前記ヘッド保持手段の動作を制御する制御手段と、
データを記憶する記憶手段と、
を備え、
前記制御手段は、
前記ヘッド保持手段が所定のヘッドを保持したときに前記ヘッドのキャリブデータを作成する必要があるか否かを判定し、
前記ヘッドのキャリブデータを作成する必要がある場合には、前記ヘッドの基準部の位置の測定及び前記ヘッドのキャリブデータの測定を行い、前記ヘッドのキャリブデータを前記記憶手段に記憶し、前記ヘッドのキャリブデータと前記基準部の位置とに基づいて、前記ヘッドが保持された前記ヘッド保持手段の動作を制御し、
前記ヘッドのキャリブデータを作成する必要がない場合には、前記基準部の位置を測定し、該測定した前記基準部の位置と前記記憶手段に記憶された前記ヘッドのキャリブデータとに基づいて、前記ヘッドが保持された前記ヘッド保持手段の動作を制御する、
ものである。
ヘッド保持手段に所定のヘッドを保持する工程と、
前記ヘッドの基準部の位置の測定及び前記ヘッドのキャリブデータの測定を行って前記ヘッドのキャリブデータを作成し、前記ヘッドのキャリブデータを前記記憶手段に記憶する工程と、
前記ヘッドを前記ヘッド保持手段から一旦取り外し、再度前記ヘッド保持手段に保持する工程と、
前記ヘッドを再度前記ヘッド保持手段に保持した後、前記基準部の位置を再度測定する工程と、
前記再度測定した前記基準部の位置と前記記憶手段に記憶された前記ヘッドのキャリブデータとに基づいて、前記ヘッドが保持された前記ヘッド保持手段の動作を制御する工程と、
を含むものである。
部品装着システム1は、部品装着装置100と、管理コンピュータ200とを備えている。
次に、部品装着装置100のコントローラ160のCPU162が、ヘッド保持体21のキャリブデータを作成する処理について説明する。図8は、ヘッド保持体キャリブデータ作成処理のフローチャートである。この処理プログラムは、コントローラ160のROM164に記憶されている。コントローラ160のCPU162は、オペレータによってヘッド保持体21のキャリブデータの作成指令が指示されたとき、この処理プログラムを実行する。オペレータは、ヘッド保持体21のキャリブデータが今までに一度も作成されていない場合や、前回ヘッド保持体21のキャリブデータを作成したときと比べてヘッド保持体21が熱などにより経時的に変形したと推定される場合に、ヘッド保持体21のキャリブデータの作成指令を指示する。なお、この処理プログラムは、ヘッド保持体21がいずれのヘッドも保持していない状態で実行される。
次に、部品装着装置100のコントローラ160のCPU162が、管理コンピュータ200から受信した生産ジョブデータに基づいてヘッドを自動的に交換する動作について説明する。図11は、ヘッド自動交換ルーチンのフローチャートである。ヘッド自動交換ルーチンのプログラムは、コントローラ160のROM164に記憶されている。コントローラ160のCPU162は、管理コンピュータ200から受信した生産ジョブデータに基づいて、ヘッドを自動交換するタイミングか否かを判定し、ヘッドを自動交換するタイミングだったならば、ヘッド自動交換ルーチンを開始する。なお、ヘッドを自動交換するタイミングになる前に、上述したヘッド保持体21のキャリブデータがHDD168に記憶されている。
次に、部品装着装置100のコントローラ160のCPU162が、管理コンピュータ200から受信した生産ジョブデータに基づいてヘッドユニット110を利用して基板101へ部品を装着する動作について説明する。図15は、部品装着処理ルーチンのフローチャートである。部品装着処理ルーチンのプログラムは、コントローラ160のROM164に記憶されている。コントローラ160のCPU162は、管理コンピュータ200から受信した生産ジョブデータに基づいて、適時この部品装着処理ルーチンを開始する。
ここで、本実施形態の構成要素と本発明の構成要素との対応関係を明らかにする。本実施形態の吸着ノズル13が本発明の部品保持具に相当し、ヘッド保持体21がヘッド保持手段に相当し、CPU162が制御手段に相当し、HDD168が記憶手段に相当する。なお、本実施形態では、部品装着装置100の動作を説明することにより本発明の部品装着方法の一例も明らかにしている。
以上説明した本実施形態の部品装着装置100によれば、交換したヘッドのキャリブデータを作成する必要がない場合には、交換したヘッドの基準点の位置の測定を行えば足りる。そのため、交換したヘッドのキャリブデータの測定を行う時間が削減され、ひいては部品装着装置100のキャリブレーションに要する時間が短縮化される。したがって、生産効率が向上する。
なお、本発明は上述した実施形態に何ら限定されることはなく、本発明の技術的範囲に属する限り種々の態様で実施し得ることはいうまでもない。
Claims (6)
- 部品の保持及び保持解除が可能な部品保持具を備えたヘッドを保持するヘッド保持手段と、
前記ヘッド保持手段の動作を制御する制御手段と、
データを記憶する記憶手段と、
を備え、
前記制御手段は、
前記ヘッド保持手段が所定のヘッドを保持したときに前記ヘッドのキャリブデータを作成する必要があるか否かを判定し、
前記ヘッドのキャリブデータを作成する必要がある場合には、前記ヘッドの基準部の位置の測定及び前記ヘッドのキャリブデータの測定を行い、前記ヘッドのキャリブデータを前記記憶手段に記憶し、前記ヘッドのキャリブデータと前記基準部の位置とに基づいて、前記ヘッドが保持された前記ヘッド保持手段の動作を制御し、
前記ヘッドのキャリブデータを作成する必要がない場合には、前記基準部の位置を測定し、該測定した前記基準部の位置と前記記憶手段に記憶された前記ヘッドのキャリブデータとに基づいて、前記ヘッドが保持された前記ヘッド保持手段の動作を制御する、
部品装着装置。 - 前記制御手段は、
前記ヘッドのキャリブデータを作成する必要がある場合には、前記ヘッドの基準部の位置の測定及び前記ヘッドのキャリブデータの測定を行い、前記ヘッドの基準部の位置及び前記ヘッドのキャリブデータを前記記憶手段に記憶し、前記ヘッドのキャリブデータと前記基準部の位置とに基づいて、前記ヘッドが保持された前記ヘッド保持手段の動作を制御し、
前記ヘッドのキャリブデータを作成する必要がない場合には、前記基準部の位置を測定し、該測定した前記基準部の位置と前記記憶手段に記憶された前記基準部の位置と前記記憶手段に記憶された前記ヘッドのキャリブデータとに基づいて、前記ヘッドが保持された前記ヘッド保持手段の動作を制御する、
請求項1に記載の部品装着装置。 - 前記制御手段は、前記ヘッドのキャリブデータを作成する必要があるか否かを判定する前に予め前記ヘッド保持手段のキャリブデータを作成して前記記憶手段に記憶しておき、前記ヘッドが保持された前記ヘッド保持手段の動作を制御するにあたっては前記記憶手段に記憶された前記ヘッド保持手段のキャリブデータも利用して制御する、
請求項1又は2に記載の部品装着装置。 - 前記制御手段は、前記ヘッドのキャリブデータが前記記憶手段に記憶されているか否かを判定することによって、前記ヘッドのキャリブデータを作成する必要があるか否かを判定する、
請求項1~3のいずれか1項に記載の部品装着装置。 - 前記部品装着装置は、前記ヘッド保持手段に保持されているヘッドを前記所定のヘッドに自動交換する機能を備えている、
請求項1~4のいずれか1項に記載の部品装着装置。 - ヘッド保持手段に所定のヘッドを保持する工程と、
前記ヘッドの基準部の位置の測定及び前記ヘッドのキャリブデータの測定を行って前記ヘッドのキャリブデータを作成し、前記ヘッドのキャリブデータを前記記憶手段に記憶する工程と、
前記ヘッドを前記ヘッド保持手段から一旦取り外し、再度前記ヘッド保持手段に保持する工程と、
前記ヘッドを再度前記ヘッド保持手段に保持した後、前記基準部の位置を再度測定する工程と、
前記再度測定した前記基準部の位置と前記記憶手段に記憶された前記ヘッドのキャリブデータとに基づいて、前記ヘッドが保持された前記ヘッド保持手段の動作を制御する工程と、
を含む部品装着方法。
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