WO2015068297A1 - 対基板作業装置及び吐出ヘッド - Google Patents
対基板作業装置及び吐出ヘッド Download PDFInfo
- Publication number
- WO2015068297A1 WO2015068297A1 PCT/JP2013/080392 JP2013080392W WO2015068297A1 WO 2015068297 A1 WO2015068297 A1 WO 2015068297A1 JP 2013080392 W JP2013080392 W JP 2013080392W WO 2015068297 A1 WO2015068297 A1 WO 2015068297A1
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- WIPO (PCT)
- Prior art keywords
- head
- viscous fluid
- state
- unit
- discharge
- 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
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/046—Surface mounting
- H05K13/0469—Surface mounting by applying a glue or viscous material
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
Definitions
- the present invention relates to a substrate working apparatus and a discharge head.
- Patent Document 1 includes a dispenser head (ejection head) that ejects viscous fluid, a nozzle head that sucks and holds components, and a head holder that selectively holds the dispenser head and the nozzle head.
- An electronic component holding device is described.
- a passage is formed inside the head holder. The passage communicates with the fluid storage portion and the discharge nozzle of the dispenser head when the head holding body holds the dispenser head.
- a switching device is connected to the passage inside the head holder. The switching device alternatively supplies positive pressure and negative pressure to the passage.
- the switching device supplies a positive pressure to the passage while the head holder holds the dispenser head, whereby a positive pressure is supplied to the liquid storage portion of the dispenser head via the passage, and the viscous fluid is discharged from the discharge nozzle. Is discharged.
- Patent Document 1 the pressure from the switching device is supplied to the ejection head via the passage inside the head holder. Therefore, when the pressure supplied to the ejection head is switched, such as when the switching device is operated, the pressure response on the ejection head side may be slow.
- the present invention has been made in view of such a problem, and a main object thereof is to further improve the responsiveness of the ejection head to pressure switching.
- the substrate working apparatus of the present invention is A substrate working apparatus for applying a viscous fluid on a substrate, A viscous fluid storage chamber for storing the viscous fluid; a viscous fluid discharge port communicating with the viscous fluid storage chamber; and a first fluid that presses and discharges the viscous fluid from the viscous fluid discharge port via the viscous fluid storage chamber.
- a valve mechanism capable of switching between a state and a second state in which the viscous fluid is not discharged, an operation input unit for inputting an external operation, and a switching unit for switching the valve mechanism based on an operation input by the operation input unit
- an ejection head comprising: Head holding means capable of holding the ejection head; It is equipped with.
- This substrate-to-substrate working apparatus of the present invention includes an ejection head and a head holding means capable of holding the ejection head.
- the discharge head includes a valve mechanism capable of switching between a first state in which the viscous fluid at the viscous fluid discharge port is pressed and discharged through the viscous fluid storage chamber and a second state in which the viscous fluid is not discharged.
- the switching unit switches the valve mechanism based on the input operation.
- the discharge head of the present invention can switch whether or not the viscous fluid is discharged by the valve mechanism included in the discharge head, that is, the pressure.
- the distance from the point where the pressure changes due to the switching of the valve mechanism to the viscous fluid discharge port becomes smaller than when the valve mechanism exists on the side of the head holding means that holds the discharge head.
- operation from the outside includes mechanical operation and electrical operation.
- Vicous fluid includes adhesive, solder, brazing material, and the like. “Do not discharge viscous fluid” means that no pressure is applied to the viscous fluid discharge port via the viscous fluid storage chamber (open to the atmosphere) and negative pressure is applied to the viscous fluid discharge port via the viscous fluid storage chamber Including.
- the head holding means is a means for holding the discharge head and a mounting head capable of holding and releasing the components in an exchangeable manner, and operates the holding mounting head.
- the operation input unit may be capable of inputting an operation from the operation unit in a state where the ejection head is held by the head holding unit.
- the head holding means can switch the valve mechanism of the ejection head using the operation unit used for operating the mounting head. That is, the operation part of the head holding means can be shared for the operation of the mounting head and the operation of the ejection head.
- the head holding means can have a simpler configuration than the case where the head holding means includes an operation unit for an ejection head that is not used for operating the mounting head.
- the head holding means that is configured to hold the mounting head in a replaceable manner can also be used to hold the ejection head without providing a new operation unit.
- the head holding unit may be capable of holding the mounting head, and the substrate working apparatus in this case may not include the mounting head or may include the mounting head.
- the operation unit of the head holding unit is a mechanism that the mounting head has in the state where the mounting unit holds the mounting head, and a plurality of components that can hold and release the components.
- a shaft rotation mechanism that rotates one or more of the holders can be operated, and the operation input unit can be operated in a state where the head holding unit holds the ejection head.
- the head holding means can operate the ejection head using the operation unit that operates the shaft rotation mechanism of the mounting head.
- the operation input unit may be exposed on a connection surface with the head holding means when the ejection head is held by the head holding means. Since the operation input unit is exposed on the connection surface, the operation input unit comes into contact with the head holding unit when the ejection head is held by the head holding unit, so that the operation input unit can be easily operated from the head holding unit side.
- the discharge head includes a first opening through which positive pressure is supplied via the head holding unit in a state where the discharge head is held by the head holding unit, and the head holding unit. And a second opening to which negative pressure is supplied via the head holding means in a state where the discharge head is held, and the head holding means holds the discharge head by the head holding means.
- the valve mechanism includes: the first state in which the viscous fluid discharge port communicates with the first opening through the viscous fluid storage chamber and does not communicate with the second opening;
- the viscous fluid outlet is the viscous flow Accommodating chamber may be switched and the second state does not communicate with and the first opening communicating with the second opening through the. If it carries out like this, pressure switching can be performed by switching which of a 1st opening and a 2nd opening is connected to a viscous fluid storage chamber.
- the valve mechanism switches between the first state, the second state, and a third state in which the viscous fluid discharge port communicates with the atmosphere via the viscous fluid storage chamber. It may be possible.
- the discharge head of the present invention is A discharge head capable of being held by a head holding means provided in a substrate working apparatus for applying a viscous fluid on a substrate and capable of discharging the viscous fluid, A viscous fluid storage chamber for storing the viscous fluid; A viscous fluid discharge port communicating with the viscous fluid storage chamber; A valve mechanism capable of switching between a first state in which the viscous fluid at the viscous fluid discharge port is pressed and discharged through the viscous fluid storage chamber and a second state in which the viscous fluid is not discharged; An operation input unit for inputting an external operation; A switching unit that switches the valve mechanism based on an operation input by the operation input unit; It is equipped with.
- the discharge head of the present invention can perform switching of whether or not viscous fluid is discharged by a valve mechanism provided in the discharge head, that is, switching of pressure. Therefore, for example, the distance from the point where the pressure changes due to the switching of the valve mechanism to the viscous fluid discharge port becomes smaller than when the valve mechanism exists on the side of the head holding means that holds the discharge head. Thereby, the responsiveness of the ejection head with respect to pressure switching can be further increased.
- 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. The perspective view when the suction head 120 is seen obliquely downward from above. Sectional drawing of the peripheral part of the 1st and 2nd lever clamping parts 41 and 51.
- FIG. FIG. The perspective view of the valve mechanism 90 of the discharge head 220.
- FIG. 1 is an explanatory diagram showing the overall configuration of the component mounting system 1.
- the component mounting system 1 includes a component mounting apparatus 100 and a management computer 200.
- the component mounting apparatus 100 includes a board transfer device 104 mounted on a base 102, a head unit 110 that can move on an XY plane, and a suction head 120 that is detachably attached to the head unit 110.
- a source 158 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 suction 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 suction head 120.
- 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 suction head 120 and the discharge head 220.
- the ejection head 220 is stored in the front storage location, but the rear storage location 142 is empty.
- the discharge head 220 is detachable from the head unit 110.
- One discharge nozzle 14 is attached to the discharge head 220.
- the discharge nozzle 14 discharges an adhesive for bonding components to the substrate 101 from a discharge port at the tip of the nozzle.
- 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 positive pressure source 156 and the negative pressure source 158 are configured as, for example, a pressure pump or a vacuum pump, and are connected to the head unit 110 by piping.
- the positive pressure supplied by the positive source 156 is used, for example, as pressure for pressing and discharging the adhesive of the discharge nozzle 14.
- the negative pressure supplied by the negative pressure source 158 is used, for example, as a pressure for adsorbing components to the adsorption nozzle 13.
- the negative pressure supplied from the negative pressure source 158 is also used as a pressure for stopping the discharge of the adhesive from the discharge nozzle 14.
- 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 a plurality of types of discharge nozzles 14, and is disposed next to the component supply device 150.
- 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 discharge nozzle 14 is replaced with one having a diameter suitable for the amount of adhesive to be discharged (diameter of the adhesive applied on the substrate 101).
- 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.
- the production job data in the component mounting apparatus 100, which component is mounted on which substrate 101 in which order from which slot position feeder, and how many substrates 101 are mounted in that order. Etc. are defined.
- the production job data also defines what amount of adhesive is to be applied in what order on which position on the substrate 101 in order to adhere each component to be mounted to the substrate 101.
- 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 suction head 120 is lowered with respect to the R axis 22 of the head holder 21. 3 is a perspective view when the head holding body 21 is viewed obliquely upward from below, and FIG. 4 is a perspective view when the suction head 120 is viewed obliquely downward from above.
- the head unit 110 includes a head holder 21 and a suction 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 R shaft 22 has one positive pressure supply port 32a and four (only three are shown in FIG. 3) negative pressure supply ports 32b at the lower end. The positive pressure supply port 32 a is formed at a position that coincides with the central axis of the R axis 22.
- the negative pressure supply ports 32b are arranged inside the circumference where the engaging members 31 are arranged, and are arranged at equal intervals on the same circumference of the lower surface of the R shaft 22 so as to surround the positive pressure supply port 32a. .
- the positive pressure supply port 32 a and the negative pressure supply port 32 b are connected to a positive pressure source 156 and a negative pressure source 158 via a pressure supply passage inside the head holding body 21, respectively.
- the head holding body 21 further includes first and second lever holding portions 41 and 51 shown in FIG. 5, which will be described later.
- the suction head 120 is a member having a substantially columnar appearance, and has a plurality (here, twelve) 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.
- 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 suction head 120 has a pressure operation lever 35 for switching whether to supply a negative pressure or an atmospheric pressure to the nozzle tip 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 suction 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.
- FIG. 5 is a cross-sectional view of the peripheral portion of the first and second lever clamping portions 41 and 51.
- the lever holding portion 41 of the head holding body 21 is attached to a first Z-axis slider 46 that can move in the vertical direction along a first Z-axis guide rail 45 provided on the head holding body 21. ing.
- the first Z-axis slider 46 is driven by a servo motor (not shown).
- the first lever sandwiching portion 41 sandwiches the nozzle operation lever 39 from above and below by a horizontal portion 42 of the L-shaped member and a roller 44 attached to the upper side of the horizontal portion 42.
- the roller 44 is rotatably supported on the horizontal shaft 43.
- the head holding body 21 has a second lever clamping portion 51.
- the second lever sandwiching portion 51 is located radially outside the first lever sandwiching portion 41 because the pressure manipulation lever 35 is located radially outside the nozzle manipulation lever 39. Similar to the first lever clamping portion 41, the second lever clamping portion 51 is attached to a second Z-axis slider 56 that can move in the vertical direction along the second Z-axis guide rail 55 provided on the head holder 21. .
- the second Z-axis slider 56 is driven by a servo motor (not shown).
- the second lever sandwiching portion 51 sandwiches the pressure operating lever 35 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.
- FIG. 6 is a perspective view of the ejection head 220.
- FIG. 7 is a perspective view of the valve mechanism 90 of the ejection head 220. 6 shows the state when the ejection head 220 is viewed from above, and shows the switching unit 73 in a transparent state. 6 is a perspective view of the first switching unit 74a. FIG. 7 illustrates the valve mechanism 90 in a state where the inside of the base 80 is transmitted.
- the discharge head 220 is a member having a substantially cylindrical shape in appearance, and a valve mechanism 90 including a main body portion 70 provided therein with a storage chamber 71 for storing an adhesive, and a base 80 attached to the upper side of the main body portion 70.
- the main body 70 has a shape in which a disk-shaped member and a cylindrical member having a smaller diameter than the disk-shaped member are connected coaxially, and includes one discharge nozzle 14 at the lower portion of the cylindrical member. Yes.
- a lower main body opening 70 a communicating with the storage chamber 71 is formed at the lower portion of the main body 70.
- the discharge nozzle 14 includes a discharge port 14a at the tip, and is attached to the main body 70 so that the main body lower opening 70a and the discharge port 14a communicate with each other.
- the cylindrical gear 72 is a member similar to the cylindrical gear 33 of the suction head 120.
- the cylindrical gear 72 is designed to have such a dimension that the R shaft 22 can be inserted.
- a clutch member 63 is provided which can be engaged with the clutch member 61 (see FIG. 3) of the head holding body 21 and input an operation (rotation) from the clutch member 61.
- the clutch member 63 is exposed on the connection surface (upper surface in FIG. 6) with the head holding body 21 when the ejection head 220 is held by the head holding body 21.
- the cylindrical gear 72 is not integrated with the base 80 and can rotate independently of the base 80.
- the switching unit 73 is a mechanism that switches the valve mechanism 90 as the cylindrical gear 72 rotates. As shown in the upper right of FIG. 6, the switching unit 73 includes a first switching unit 74a and a second switching unit 74b. The first and second switching units 74a and 74b move the first and second valve bodies 91 and 95 (see FIG. 7) of the valve mechanism 90 back and forth to switch between the first to third switching states. Mechanism.
- the first switching state is a state in which a positive pressure can be supplied to the discharge nozzle 14 via the storage chamber 71
- the second switching state is a state in which a negative pressure can be supplied to the discharge nozzle 14 via the storage chamber 71.
- the storage chamber 71 and the discharge nozzle 14 can be opened to the atmosphere.
- the first switching unit 74 a is connected to the first connection member 75 via a first connection member 75 fixed to the outer peripheral surface of the cylindrical gear 72 and a pin 79 a fixed to the first connection member 75.
- the 2nd connection member 76 is provided with the plate-shaped part 76a connected and fixed to the 1st valve body 91 (refer FIG. 7) with the volt
- the second switching unit 74 b is connected to the third connection member 77 via a third connection member 77 fixed to the outer peripheral surface of the cylindrical gear 72 and a pin 79 b fixed to the third connection member 77.
- the fourth connecting member 78 includes a plate-like portion 78a connected and fixed to the second valve 92 (see FIG. 7) by a bolt 96d.
- the switching unit 73 when the cylindrical gear 72 rotates, the first connecting member 75 and the third connecting member 77 move in the circumferential direction of the cylindrical gear 72 (see the white arrow in FIG. 6).
- the second connecting member 76 and the fourth connecting member 78 are linearly moved in a predetermined direction (the front-rear direction in the present embodiment) accordingly (the solid arrows in FIG. 6).
- the first valve body 91 and the second valve body 95 linearly move in the front-rear direction.
- the switching unit 73 is a mechanism that converts the rotational motion of the cylindrical gear 72 into a linear motion and transmits the linear motion to the valve mechanism 90.
- the holes into which the pins 79a and 79b are inserted have a shape that is longer in the radial direction than the circumferential direction (for example, a rounded rectangle whose long side is the radial direction) ).
- the valve mechanism 90 includes a base 80 in which a plurality of holes are formed, a first valve body 91 that can move back and forth within the base 80, and a second valve that can move back and forth within the base 80. And a valve body 95.
- the base 80 is a substantially disk-shaped member, and as shown in FIG. 6, a plurality (four in the present embodiment) of engagement holes 80a and first to fifth upper openings 81a to 81e are formed. Yes.
- the engagement hole 80a has the same shape as the engagement hole 37 (see FIG. 4) of the suction head 120, and is formed so as to be engageable with the hook of the engagement member 31 of the R shaft 22.
- the first upper opening 81a is formed to be able to communicate with the positive pressure supply port 32a (see FIG.
- a first step portion 83a is formed on the front right side of the base 80, and a second step portion 83b is formed on the front left side.
- the base 80 includes a ring-shaped passage 84 communicating with a vertical hole formed downward from each of the second to fifth upper openings 81b to 81e, and a first step portion 83a to the base 80.
- a first through hole 85a that penetrates to the rear side surface in the front-rear direction and a second through hole 85b that penetrates from the second step portion 83b to the rear side surface of the base 80 in the front-rear direction are formed.
- the base 80 communicates with the first lateral hole 86a communicating with the first upper opening 81a, the second lateral hole 86b communicating with the first lateral hole 86a and the first through hole 85a, and the first through hole 85a.
- a first vertical hole 88a that communicates with the third horizontal hole 86c and opens on the lower surface of the base 80.
- the base 80 communicates with the ring-shaped passage 84 and the second through hole 85b, the fourth lateral hole 86d, the fifth lateral hole 86e communicated with the second through hole 85b, and the fifth lateral hole 86e.
- a second vertical hole 88 b is formed in the lower surface of the base 80.
- a vertical hole is formed vertically from the first upper opening 81a to the first horizontal hole 86a so as to penetrate the center of the ring-shaped passage 84, and the first horizontal hole 86a and the ring-shaped passage 84 communicate with each other. Absent.
- the first and second vertical holes 88 a and 88 b communicate with the upper portion of the storage chamber 71 through vertical holes (not shown) formed in the main body 70.
- the openings formed on the side surfaces of the base 80 of the first to fifth lateral holes 86a to 86e are respectively sealed with a sealing material.
- the first valve body 91 is a member that moves back and forth in the first through hole 85a and switches the presence / absence of communication between the second lateral hole 86b and the third lateral hole 86c.
- the first valve body 91 is formed in a cylindrical rod-like body, and includes a first cylindrical portion 92a, a second cylindrical portion 92b, and a small-diameter cylindrical portion 92c formed narrower than these.
- the front end of the first cylindrical portion 92a protrudes from the opening on the first stepped portion 83a side of the first through hole 85a, and the first cylindrical portion 92a and the second connecting member 76 are inserted by a bolt 92d inserted at the tip thereof.
- the plate-like portion 76a is connected and fixed (see FIG.
- the second cylindrical portion 92b has an air communication hole 94 formed by connecting a hole formed in the axial direction from the rear end and a hole formed from the side surface toward the central axis ( (See FIG. 8 described later).
- the air communication hole 94 communicates the space on the outer periphery of the second cylindrical portion 92 b in the first through hole 85 a with the opening on the rear side of the base 80.
- Each of the first cylindrical portion 92a and the second cylindrical portion 92b includes one or more O-rings (one in the first cylindrical portion 92a and three in the second cylindrical portion 92b in this embodiment), and the first valve A gap between the outer peripheral surface of the body 91 and the first through hole 85a is sealed.
- the second valve body 95 is a member that moves back and forth in the second through hole 85b and switches the presence / absence of communication between the fourth lateral hole 86d and the fifth lateral hole 86e.
- the second valve body 95 is formed in a cylindrical rod-like body, and includes a first cylindrical portion 96a, a second cylindrical portion 96b, and a small-diameter cylindrical portion 96c formed narrower than these.
- the front end of the first cylindrical portion 96a protrudes from the opening on the second stepped portion 83b side of the second through hole 85b, and the first cylindrical portion 96a and the fourth connecting member 78 are inserted by a bolt 96d inserted at the tip thereof.
- the plate-like portion 78a is connected and fixed (see FIG. 8 described later).
- the second cylindrical portion 96b has an air communication hole 98 formed by connecting a hole formed in the axial direction from the rear end and a hole formed from the side surface toward the central axis ( (See FIG. 8 described later).
- the air communication hole 98 communicates the space on the outer periphery of the second cylindrical portion 96 b in the first through hole 85 b with the opening on the rear side of the base 80.
- Each of the first cylindrical part 96a and the second cylindrical part 96b includes one or more O-rings (one in the first cylindrical part 96a and three in the second cylindrical part 96b in the present embodiment), and the second valve The gap between the outer peripheral surface of the body 95 and the second through hole 85b is sealed.
- FIGS. 8 to 10 are explanatory diagrams showing the states of the first switching state, the second switching state, and the third switching state, respectively.
- 8 to 11 show the valve mechanism 90 viewed from above in the upper part, and the conceptual diagram showing the pressure supply state is shown in the lower part.
- the first switching state is when the cylindrical gear 72 is rotated counterclockwise as viewed from above until the plate-like portion 76a of the second connecting member 76 contacts the first stepped portion 83a. It is a state.
- the small-diameter cylindrical portion 92c of the first valve body 91 is positioned so as to straddle between the second lateral hole 86b and the third lateral hole 86c as viewed from above. Thereby, the 2nd horizontal hole 86b and the 3rd horizontal hole 86c are connected via the 1st through-hole 85a.
- the first upper opening 81a, the first horizontal hole 86a, the second horizontal hole 86b, the first through hole 85a, the third horizontal hole 86c, and the first vertical hole 88a are communicated in this order. Accordingly, as shown in the lower part of FIG. 8, in a state where the discharge head 220 is held by the head holder 21, positive pressure can be supplied from the positive pressure source 156 to the storage chamber 71 and the discharge nozzle 14.
- the second valve element 95 prevents the fourth horizontal hole 86d and the fifth horizontal hole 86e from communicating with each other through the second through hole 85b by the second cylindrical portion 96b. The pressure is not supplied to the fifth horizontal hole 86e (and the storage chamber 71 and the discharge nozzle 14 ahead).
- the second switching state is when the cylindrical gear 72 is rotated clockwise as viewed from above until the plate-like portion 78a of the fourth connecting member 78 contacts the second stepped portion 83b. It is a state.
- the small-diameter cylindrical portion 96c of the second valve element 95 is positioned so as to straddle between the fourth lateral hole 86d and the fifth lateral hole 86e as viewed from above. Thereby, the fourth lateral hole 86d and the fifth lateral hole 86e communicate with each other through the second through hole 85b.
- the second to fifth upper openings 81b to 81e, the ring passage 84, the fourth horizontal hole 86d, the second through hole 85b, the fifth horizontal hole 86e, and the second vertical hole 88b are communicated in this order.
- negative pressure can be supplied from the negative pressure source 158 to the storage chamber 71 and the discharge nozzle 14.
- the first valve body 91 prevents the communication between the second horizontal hole 86b and the third horizontal hole 86c via the first through hole 85a by the second cylindrical portion 92b. The pressure is not supplied to the third horizontal hole 86c (and the storage chamber 71 and the discharge nozzle 14 ahead).
- the rotational position of the cylindrical gear 72 is intermediate between the first switching state and the second switching state, and the plate-like shape of the second and fourth connecting members 76 and 78 is obtained.
- This is a state when the portions 76a and 78a are separated from the first and second step portions 83a and 83b, respectively.
- the opening formed in the outer peripheral surface of the air communication hole 94 of the first valve body 91 is located in the portion of the first through hole 85a that communicates with the third horizontal hole 86c.
- the third horizontal hole 86c communicates with the opening on the rear side of the first through hole 85a via the atmosphere communication hole 94, and is in an atmosphere open state.
- the fifth horizontal hole 86e communicates with the opening on the rear side of the second through hole 85b through the atmosphere communication hole 98 of the second valve body 95, and is in an atmosphere open state.
- the storage chamber 71 and the discharge nozzle 14 communicating with the third horizontal hole 86c and the fifth horizontal hole 86e are opened to the atmosphere.
- the O-rings of the first valve body 91 and the second valve body 95 leak gas (pressure) from the first and second through holes 85a and 85b to the outside. Is preventing.
- the CPU 162 of the controller 160 of the component mounting apparatus 100 performs mounting processing using the head unit 110 based on the production job data received from the management computer 200.
- the CPU 162 performs a plurality of adhesive application processes for applying a predetermined amount of adhesive on a predetermined position on the substrate 101 and a plurality of component mounting processes for mounting a component on the position where the adhesive on the substrate 101 is applied. Run once. Further, the CPU 162 performs automatic head replacement processing when the head holding body 21 does not hold a head suitable for processing at the start of the adhesive application processing or component mounting processing.
- adhesive application processing, component mounting processing, and automatic head replacement processing will be described.
- the CPU 162 first moves the head unit 110 to a predetermined position on the substrate 101 based on the production job data received from the management computer 200 with the head holder 21 holding the ejection head 220. .
- the CPU 162 adjusts the rotational position of the cylindrical gear 72 during the movement of the ejection head 220 to place the valve mechanism 90 in the third switching state, and brings the storage chamber 71 and the ejection nozzle 14 into the atmosphere open state.
- the CPU 162 rotates the cylindrical gear 72 by rotating the Q-axis gear 27 and the clutch member 61 by the Q-axis motor 28.
- the viscosity of the adhesive stored in the storage chamber 71 is adjusted in advance so as not to be discharged from the discharge port 14a in the open state.
- the CPU 162 rotates the cylindrical gear 72 counterclockwise by the Q-axis motor 28 to switch the valve mechanism 90 from the third switching state to the first switching state.
- a positive pressure is supplied to the discharge nozzle 14, and the adhesive is discharged from the discharge port 14 a and applied onto the substrate 101.
- the CPU 162 maintains the first switching state until a predetermined time determined based on the amount of adhesive applied, and then rotates the cylindrical gear 72 clockwise by the Q-axis motor 28 to bring the valve mechanism 90 into the second switching state. Switch.
- a negative pressure is supplied to the discharge nozzle 14 and the discharge of the adhesive from the discharge port 14a is stopped.
- the CPU 162 returns the valve mechanism 90 to the third switching state.
- the CPU 162 rotates the cylindrical gear 72 by rotating the clutch member 61, thereby operating the valve mechanism 90 included in the discharge head 220 to switch the pressure. Note that the CPU 162 appropriately moves the ejection head 220 onto the nozzle stocker 134 at the start of the adhesive coating process so that the ejection head 220 attaches an appropriate type of ejection nozzle 14 based on the production job data, and the ejection nozzle 220 14 replacements are made.
- the CPU 162 first causes the suction nozzle 13 of the suction head 120 to suck the component. Specifically, first, the CPU 162 moves the head unit 110 to move the first suction nozzle 13 to a predetermined position where the components of the component supply device 150 are sucked. Subsequently, the CPU 162 performs a process of sucking one or more parts. Specifically, the CPU 162 depresses the nozzle operation lever 39 by the first lever clamping portion 41 to lower the suction nozzle 13.
- the CPU 162 positions the pressure operation lever 35 upward by the second lever clamping unit 51, supplies negative pressure from the negative pressure source 158 to the tip of the suction nozzle 13, and sucks the components. Thereafter, the pressing of the nozzle operation lever 39 is released and the suction nozzle 13 is raised. When the number of parts to be picked up is two or more, the same operation is repeated, and the parts are picked up by the plurality of suction nozzles 13. When the suction of the component is completed, the CPU 162 moves the suction nozzle 13 that sucks the component to be mounted to the position above the mounting position.
- the CPU 162 depresses the nozzle operation lever 39 to lower the suction nozzle 13, releases the negative pressure of the suction nozzle 13, and mounts the component on the substrate 101. Thereafter, the suction nozzle 13 is raised.
- the CPU 162 repeatedly performs the operation of mounting one component on the substrate 101 in this way, and sequentially picks up the components sucked by the suction nozzle 13 of the suction head 120. Install on top. When all the components sucked by the suction nozzle 13 are mounted on the substrate 101, the component mounting process is terminated.
- the CPU 162 appropriately corrects the orientation (angle) of the component sucked by the suction nozzle 13 when mounting the component sucked by the suction nozzle 13. Specifically, the CPU 162 rotates the Q-axis gear 27 to rotate the clutch member 61, the clutch member 62, the small gear 34, and the nozzle holder 12, and rotates the suction nozzle 13. Further, the CPU 162 appropriately moves the suction head 120 onto the nozzle stocker 134 at the start of the component mounting process so that the suction head 120 mounts an appropriate type of suction nozzle 13 based on the production job data. Replace. The CPU 162 depresses the nozzle operation lever 39 to lower the suction nozzle 13 one by one, and replaces the suction nozzle 13.
- the CPU 162 first moves the head unit 110 to a position immediately above the empty storage location 142 of the head storage area 140, lowers the head holder 21, and is currently held by the head holder 21. The head is stored in an empty storage location 142. Subsequently, the CPU 162 lifts the head holding body 21 after removing it from the engagement hole (engagement hole 37 or engagement hole 80a) of the head holding the hook of the engagement member 31. Next, the CPU 162 moves the head unit 110 directly above the storage location 142 for the head to be replaced.
- the CPU 162 lowers the head holding body 21 to engage the engagement member 31 with the engagement hole (engagement hole 37 or engagement hole 80a) of the head to be replaced, and completes the automatic head replacement process. . Thereby, the head to be replaced is held by the head holder 21. In this way, the CPU 162 replaces the head held by the head holder 21 from one of the suction head 120 and the ejection head 220 to the other.
- the component mounting apparatus 100 corresponds to the substrate working apparatus according to the present invention
- the storage chamber 71 corresponds to the viscous fluid storage chamber
- the discharge port 14a corresponds to the viscous fluid discharge port
- the first switching state is the first. 1 state
- the second switching state corresponds to the second state
- the valve mechanism 90 corresponds to the valve mechanism
- the cylindrical gear 72 corresponds to the operation input unit
- the switching unit 73 corresponds to the switching unit
- the head 220 corresponds to an ejection head
- the head holder 21 corresponds to a head holding unit.
- the suction head 120 corresponds to the mounting head
- the clutch member 61 corresponds to the operation unit
- the suction nozzle 13 corresponds to the component holder
- the clutch member 62, the small gear 34, and the nozzle holder 12 correspond to the shaft rotation mechanism.
- the first upper opening 81a corresponds to the first opening
- the second to fifth upper openings 81b to 81e correspond to the second opening
- the positive pressure supply port 32a corresponds to the first supply port
- the port 32b corresponds to the second supply port
- the third switching state corresponds to the third state.
- the main body lower opening 70a corresponds to a viscous fluid discharge port.
- the switching unit 73 switches the valve mechanism 90 based on the input operation.
- the ejection head 220 can perform switching of whether or not to discharge the adhesive by the valve mechanism 90 included in the ejection head 220, that is, switching of pressure.
- the valve mechanism 90 exists on the side of the head holding body 21 that holds the discharge head 220, the distance from the point where the pressure changes due to the switching of the valve mechanism 90 to the discharge port 14a is reduced. Thereby, the responsiveness of the ejection head 220 with respect to pressure switching can be further increased.
- the head holder 21 holds the ejection head 220 and the suction head 120 in an exchangeable manner, and has a clutch member 61 that operates the held suction head 120.
- the cylindrical gear 72 can input an operation from the clutch member 61. Therefore, the clutch member 61 of the head holder 21 can be shared for the operation of the suction head 120 and the operation of the ejection head 220.
- the head holder 21 can have a simpler configuration than the case where the head holder 21 includes an operation unit for the ejection head 220 that is not used for the operation of the suction head 120.
- the head holder 21 that is configured to hold the discharge head 220 in an exchangeable manner can be used to hold the discharge head 220 without providing a new operation unit.
- the clutch member 61 of the head holding body 21 can operate the clutch member 62 that rotates the suction nozzle 13 of the suction head 120, the small gear 34, and the nozzle holder 12, and the cylindrical gear 72 of the discharge head 220. Is possible. In the ejection head 220, it is not necessary to rotate the suction nozzle 13 about the axis, so that it is meaningful to enable the cylindrical gear 72 of the ejection head 220 to be operated by the clutch member 61, which is an operation unit for rotating the suction nozzle 13 of the suction head 120. high.
- the cylindrical gear 72 is exposed on the connection surface with the head holder 21 when the discharge head 220 is held by the head holder 21. Therefore, since the cylindrical gear 72 comes into contact with the head holding body 21 when the ejection head 220 is held by the head holding body 21, the cylindrical gear 72 can be easily operated from the head holding body 21 side.
- the valve mechanism 90 has a first switching state in which the discharge port 14a communicates with the first upper opening 81a through the storage chamber 71 and does not communicate with the second to fifth upper openings 81b to 81e, and the discharge port 14a. Can be switched between the second switching state, which communicates with the second to fifth upper openings 81b to 81e through the storage chamber 71 and does not communicate with the first upper opening 81a. Therefore, the pressure can be switched by switching which of the first upper opening 81a and the second to fifth upper openings 81b to 81e communicates with the storage chamber 71.
- valve mechanism 90 can be switched to the third switching state in which the discharge port 14a communicates with the atmosphere via the storage chamber 71, the discharge port 14a can be opened to the atmosphere.
- the valve mechanism 90 remains in the second switching state during a period in which ejection is not performed, such as during movement of the ejection head 220, the adhesive inside the ejection nozzle 14 returns too much to the storage chamber 71 side.
- the time from the switching to the first switching state until the adhesive is discharged increases.
- the CPU 162 can further suppress such an increase in time until ejection.
- valve mechanism 90 is switched using the clutch member 61 that rotates the suction nozzle 13, but the present invention is not limited thereto.
- the valve mechanism 90 may be switched using the first lever clamping portion 41 or the second lever clamping portion 51.
- a lever such as the pressure operation lever 75 or the nozzle operation lever 39 may be provided on the outer peripheral surface of the ejection head 220, and this lever may be switched by the lever holding portion.
- the valve mechanism 90 includes the first valve body 91 and the second valve body 95.
- the pressure may be switched by any mechanism.
- the pressure may be switched not only by a mechanically operated mechanism but also by a valve mechanism that involves an electrical operation such as an electromagnetic valve.
- the valve mechanism 90 only needs to be switchable between at least two states: a first state in which the adhesive at the discharge port 14a is pressed and discharged, and a second state in which the adhesive is not discharged.
- the valve mechanism 90 may be switched to two states of a first switching state and a second switching state without switching to the third switching state.
- valve mechanism 90 may be switchable between two states of the first switching state and the third switching state without switching to the second switching state.
- the third switching state (the state in which the discharge port 14a communicates with the atmosphere via the storage chamber 71) corresponds to the “second state in which the adhesive is not discharged”.
- valve mechanism 90 is switched by operating the cylindrical gear 72 by the rotation of the clutch member 61 by the head holding body 21.
- the mechanical mechanism is not limited to the rotation of the clutch member 61.
- the valve mechanism 90 may be switched.
- the valve mechanism 90 may be switched by any operation such as switching the valve mechanism 90 by inputting an electrical operation from the head holding body 21 to the ejection head 220 without being limited to a mechanical operation.
- the pressure applied to the discharge port 14a is switched by switching between supplying positive pressure to the storage chamber 71, supplying negative pressure, or opening the storage chamber 71 to the atmosphere.
- the pressure applied to the discharge nozzle 14 by switching the presence or absence of communication of the adhesive passage between the storage chamber 71 and the discharge port 14a, such as between the storage chamber 71 and the main body lower opening 70a, by opening or closing a valve or the like. May be switched.
- the suction nozzle 13 of the suction head 120 and the discharge nozzle 14 of the discharge head 220 are detachable, but at least one of the suction nozzle 13 and the discharge nozzle 14 is detachably attached to the head. Also good.
- the ejection head 220 ejects an adhesive, but it is not limited to an adhesive and may be any one that ejects a viscous fluid such as solder or brazing material.
- the suction nozzle 13 of the suction head 120 is configured to suck the component, the suction head 120 is not limited to the one that sucks the component if the suction head 120 holds the component.
- the suction head 120 may be configured to hook and hold a component on the grip portion.
- the component mounting apparatus 100 includes one suction head 120 and one ejection head 220.
- the component mounting apparatus 100 should just be provided with the discharge head 220, and does not need to be provided with the adsorption head 120.
- the head holding body 21 may be capable of holding the ejection head 220, and the head holding body 21 may not be able to hold the suction head 120.
- the head holder 21 can hold only one of the suction head 120 and the discharge head 220, and the head holder that holds the other head. May be provided separately in the component mounting apparatus 100.
- the present invention can be used in the technical field of a substrate working apparatus for applying a viscous fluid to a substrate or mounting components.
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- Manufacturing & Machinery (AREA)
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Abstract
Description
基板上に粘性流体を塗布する対基板作業装置であって、
前記粘性流体を収容する粘性流体収容室と、前記粘性流体収容室と連通する粘性流体吐出口と、前記粘性流体収容室を介して前記粘性流体吐出口の粘性流体を押圧して吐出させる第1状態と前記粘性流体を吐出させない第2状態とを切り替え可能なバルブ機構と、外部からの操作を入力する操作入力部と、前記操作入力部が入力した操作に基づいて前記バルブ機構を切り替える切替部と、を備えた吐出ヘッドと、
前記吐出ヘッドを保持可能なヘッド保持手段と、
を備えたものである。
基板上に粘性流体を塗布する対基板作業装置が備えるヘッド保持手段により保持可能であり、前記粘性流体を吐出可能な吐出ヘッドであって、
前記粘性流体を収容する粘性流体収容室と、
前記粘性流体収容室と連通する粘性流体吐出口と、
前記粘性流体収容室を介して前記粘性流体吐出口の粘性流体を押圧して吐出させる第1状態と前記粘性流体を吐出させない第2状態とを切り替え可能なバルブ機構と、
外部からの操作を入力する操作入力部と、
前記操作入力部が入力した操作に基づいて前記バルブ機構を切り替える切替部と、
を備えたものである。
Claims (7)
- 基板上に粘性流体を塗布する対基板作業装置あって、
前記粘性流体を収容する粘性流体収容室と、前記粘性流体収容室と連通する粘性流体吐出口と、前記粘性流体収容室を介して前記粘性流体吐出口の粘性流体を押圧して吐出させる第1状態と前記粘性流体を吐出させない第2状態とを切り替え可能なバルブ機構と、外部からの操作を入力する操作入力部と、前記操作入力部が入力した操作に基づいて前記バルブ機構を切り替える切替部と、を備えた吐出ヘッドと、
前記吐出ヘッドを保持可能なヘッド保持手段と、
を備えた対基板作業装置。 - 前記ヘッド保持手段は、前記吐出ヘッドと部品の保持及び保持解除が可能な実装ヘッドとを交換可能に保持する手段であり、保持している前記実装ヘッドを操作する操作部を有し、
前記操作入力部は、前記吐出ヘッドが前記ヘッド保持手段に保持された状態で前記操作部からの操作を入力可能である、
請求項1に記載の対基板作業装置。 - 前記ヘッド保持手段の前記操作部は、前記ヘッド保持手段が前記実装ヘッドを保持した状態では、前記実装ヘッドが有する機構であって前記部品の保持及び保持解除が可能な複数の部品保持具のうち1以上を軸回転させる軸回転機構を操作可能であり、前記ヘッド保持手段が前記吐出ヘッドを保持した状態では、前記操作入力部を操作可能である、
請求項2に記載の対基板作業装置。 - 前記操作入力部は、前記吐出ヘッドが前記ヘッド保持手段に保持されるときの該ヘッド保持手段との接続面に露出している、
請求項1~3のいずれか1項に記載の対基板作業装置。 - 前記吐出ヘッドは、前記ヘッド保持手段に前記吐出ヘッドが保持された状態で該ヘッド保持手段を介して正圧が供給される第1開口と、前記ヘッド保持手段に前記吐出ヘッドが保持された状態で該ヘッド保持手段を介して負圧が供給される第2開口と、を備えており、
前記ヘッド保持手段は、該ヘッド保持手段が前記吐出ヘッドを保持した状態で前記第1開口に連通して正圧を供給する第1供給口と、該ヘッド保持手段が前記吐出ヘッドを保持した状態で前記第2開口に連通して負圧を供給する第2供給口と、を備えており、
前記バルブ機構は、前記粘性流体吐出口が前記粘性流体収容室を介して前記第1開口に連通し且つ前記第2開口とは連通しない前記第1状態と、前記粘性流体吐出口が前記粘性流体収容室を介して前記第2開口に連通し且つ前記第1開口とは連通しない前記第2状態とを切り替え可能である、
請求項1~4のいずれか1項に記載の対基板作業装置。 - 前記バルブ機構は、前記第1状態と、前記第2状態と、前記粘性流体吐出口が前記粘性流体収容室を介して大気に連通する第3状態とを切り替え可能である、
請求項1~5のいずれか1項に記載の対基板作業装置。 - 基板上に粘性流体を塗布する対基板作業装置が備えるヘッド保持手段により保持可能であり、前記粘性流体を吐出可能な吐出ヘッドであって、
前記粘性流体を収容する粘性流体収容室と、
前記粘性流体収容室と連通する粘性流体吐出口と、
前記粘性流体収容室を介して前記粘性流体吐出口の粘性流体を押圧して吐出させる第1状態と前記粘性流体を吐出させない第2状態とを切り替え可能なバルブ機構と、
外部からの操作を入力する操作入力部と、
前記操作入力部が入力した操作に基づいて前記バルブ機構を切り替える切替部と、
を備えた吐出ヘッド。
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PCT/JP2013/080392 WO2015068297A1 (ja) | 2013-11-11 | 2013-11-11 | 対基板作業装置及び吐出ヘッド |
CN201380080836.0A CN105706544B (zh) | 2013-11-11 | 2013-11-11 | 对基板作业装置及喷出头 |
EP13897023.1A EP3071006B1 (en) | 2013-11-11 | 2013-11-11 | Substrate processing device and dispensing head |
JP2015546259A JP6356142B2 (ja) | 2013-11-11 | 2013-11-11 | 対基板作業装置及び吐出ヘッド |
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CN108966626B (zh) * | 2018-07-05 | 2019-04-30 | 四川中光防雷科技股份有限公司 | 一种基于工装的电子元件组装工艺 |
CN110124947B (zh) * | 2019-06-25 | 2021-08-06 | 芜湖市祥和包装有限公司 | 一种高分子不干胶标签用点胶装置 |
CN111054591A (zh) * | 2019-12-31 | 2020-04-24 | 江苏匠准精密组件有限公司 | 一种点胶铆合机及其控制方法 |
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CN105706544A (zh) | 2016-06-22 |
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CN105706544B (zh) | 2019-04-09 |
JPWO2015068297A1 (ja) | 2017-03-09 |
EP3071006A4 (en) | 2016-11-02 |
JP6356142B2 (ja) | 2018-07-11 |
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