WO2017029704A1

WO2017029704A1 - Component mounting device

Info

Publication number: WO2017029704A1
Application number: PCT/JP2015/073087
Authority: WO
Inventors: 賢志原; 満三治
Original assignee: 富士機械製造株式会社
Priority date: 2015-08-18
Filing date: 2015-08-18
Publication date: 2017-02-23
Also published as: JP6661248B2; JPWO2017029704A1

Abstract

This component mounting device comprises a component mounting head (28) including an engaging member (152) which is to be engaged with or which is engaged with a suction attachment nozzle, and an action force detector (160) which detects an action force in a vertical direction acting on the engaging member (152), wherein, in a state in which the suction attachment nozzle (50) and the engaging member (152) are engaged with each other so that the suction attachment nozzle (50) and the engaging member (152) do not become displaced relative to each other, a nozzle holder (52) and the suction attachment nozzle (50) are displaced relative to each other, and at this time an assessment of the acceptability of a slide state between the nozzle holder (52) and the suction attachment nozzle (50) is made on the basis of the action force detected by the action force detector (160). According to the present component mounting device, the need to move the component mounting head (28) to a specific position to assess the slide state between the nozzle holder (52) and the suction attachment nozzle (50) is eliminated, thereby making it possible to decrease the time required to assess the slide state.

Description

Parts mounting machine

The present invention relates to a component mounting machine for mounting components on a substrate.

The component mounting machine described in the following patent document includes a component mounting head that can hold and detach components in order to mount components on a board. The component mounting head includes: (A) a head body; (B) a nozzle holder that is held up and down by the head body; and (C) a lifting device that raises and lowers the nozzle holder relative to the head body. And (D) a suction nozzle that is slidably fitted to the lower end portion of the nozzle holder, allows vertical displacement relative to the nozzle holder, and sucks and holds components at its lower end portion. In such a component mounting head, the nozzle holder and the suction nozzle are slidable in order to reduce the impact when holding the component or mounting the component on the substrate, A mechanism and a device for reducing the impact are provided between the suction nozzle and the suction nozzle. Therefore, if the sliding state between the nozzle holder and the suction nozzle becomes poor, specifically, if the sliding resistance between the nozzle holder and the suction nozzle increases, the impact at the time of holding or detaching the parts May not be sufficiently relaxed. Furthermore, if the nozzle holder and the suction nozzle cannot slide, the parts may be damaged.

The component mounting machine described in the following Patent Document 2 includes an inspection table, and lowers the nozzle holder by the lifting device in a state where the suction nozzle is in contact with the inspection table. Based on the relationship with the current, the quality of the sliding state between the nozzle holder and the suction nozzle is determined.

International Publication No. WO2014 / 080472A1 Pamphlet JP 2011-29253 A JP 2006-108384 A

In the component mounting machine described in Patent Document 2, it is necessary to move the component mounting head to the inspection table in order to determine the sliding state. However, in the component mounting machine, it is possible to improve the production efficiency of the component mounting machine and improve the practicality of the component mounting machine by reducing the inspection time. This invention is made | formed in view of such a situation, and makes it a subject to provide a component mounting machine with high practicality.

In order to solve the above problems, the component mounting machine of the present invention is
The component mounting head
(E) an engagement member that engages with or engages with the suction nozzle, and (F) an action force detector that detects an action force in the vertical direction that acts on the engagement member.
The control unit
The action force detected by the action force detector at the time of relative displacement of the nozzle holder and the suction nozzle in a state where the suction nozzle and the engagement member are not relatively displaced by the engagement of the suction nozzle and the engagement member. And a sliding state determination unit that determines whether the sliding state between the nozzle holder and the suction nozzle is good or bad.

The component mounting machine of the present invention relatively displaces the nozzle holder and the suction nozzle only with the components provided in the component mounting head, in a state where they are not relatively displaced by the engagement of the suction nozzle and the engagement member. It is possible. Therefore, according to the component mounting machine of the present invention, in order to determine the sliding state between the nozzle holder and the suction nozzle, it is not necessary to move the component mounting head to a specific position, and the sliding state It is possible to shorten the time for performing the determination, and as a result, it is possible to shorten the component mounting work.

1 is an overall view of a component mounting machine according to an embodiment of the present invention. It is a front view of the component mounting head shown in FIG. It is a figure which shows the adsorption nozzle periphery of the nozzle unit moved up and down by the raising / lowering apparatus shown in FIG. 2, (a) is a partial cross section front view, (b) is A view in (a). It is a graph which shows a time-dependent change at the time of component mounting | wearing of the acting force to a suction nozzle. It is a flowchart of the inspection program performed by the control apparatus shown in FIG. It is a flowchart of the sliding state inspection process subroutine performed by the inspection program shown in FIG. It is a graph which shows the relationship between the relative displacement amount and action force of a suction nozzle and a nozzle holder in some of the sliding states between a suction nozzle and a nozzle holder. It is a front view of the component mounting head with which the component mounting machine which is other embodiment of this invention is provided.

Hereinafter, an example of a manufacturing system according to an embodiment of the present invention will be described with reference to the drawings. In addition, the present invention can be implemented in a mode in which various modifications are made based on the knowledge of those skilled in the art, in addition to the following embodiments.

<Configuration of component mounting machine>
The component mounting machine 10 which is one Embodiment of this invention is shown in the perspective view of FIG. In the operation of mounting components on a substrate, a plurality of component mounting machines 10 are arranged to mount a plurality of types of components on the substrate. In FIG. 1, two of the plurality of component mounting machines 10 are shown, and one of them shows the one with the exterior panel removed. The component mounting machine 10 is attached to the base 20 in a replaceable manner on the front side of the base 20, the beam 22 overlaid on the base 20, the board conveyor device 24 disposed on the base, and the front side of the component mounting machine 10. A plurality of component feeders 26, a component mounting head 28 that holds components supplied from the plurality of component feeders 26 and separates the components for mounting on the substrate, and a component mounting head 28 disposed on the beam 22. The head moving device 30 is configured to move, and the control device 32 that controls itself is configured.

Next, the component mounting head 28 will be described with reference to FIG. The component mounting head 28 is a rotary head, and includes a revolver 40 that is rotated around a rotation axis, and a plurality of nozzle units 42 held by the revolver 40. The revolver 40 is rotatably supported by the head main body 44 of the component mounting head 28. Each of the plurality of nozzle units 42 includes a suction nozzle 50 and a nozzle holding shaft 52 as a nozzle holder that extends parallel to the rotation axis of the revolver 40 and holds the suction nozzle 50 at its lower end. . The plurality of nozzle units 42 are arranged at an equiangular pitch on a circumference around the rotation axis of the revolver 40. Each nozzle unit 42 is held so as to be movable in its own axial direction, that is, up and down, and capable of rotating. In addition, although illustration is abbreviate | omitted, in this component mounting machine 10, the revolver 40 hold | maintains the six nozzle units 42. FIG.

Each of the nozzle units 42 is urged upward by a compression coil spring 54 disposed between the lower surface of the upper end of the nozzle unit 42 and the upper surface of the revolver 40, and is normally raised. In the position.

The revolver 40 is rotated by a revolver rotating motor 60 that is an electric motor provided coaxially. A rotating body 66 in which two

gears

62 and 64 are formed is disposed so as to be rotatable coaxially with the revolver 40. One of the gears 62 is engaged with a pinion 70 fixed to the output shaft of the nozzle rotating motor 68, and the other gear 64 is formed at the upper end of each nozzle holding shaft 52. The pinion 72 is engaged. Accordingly, the pinion 70 is rotated by the nozzle rotation motor 68 to rotate the rotating body 66, and each of the plurality of nozzle units 42 is rotated around its own axis line at the same time. Note that the revolver rotation motor 60 and the nozzle rotation motor 68 are motors with an encoder, and can control the rotation angle.

As shown in FIG. 3A, the nozzle holding shaft 52 of each nozzle unit 42 has a shaft main body 82 provided with a mounting hole 80 in the lower end portion, and a cylindrical sleeve 84 that can be attached and detached thereto. Yes. The sleeve 84 is attached to and detached from the mounting hole 80 in a state where the suction nozzle 50 is held so as to be relatively movable in the axial direction and not to be relatively rotatable. That is, the suction nozzle 50 is fitted into the shaft main body 82 via the sleeve 84, and the sleeve 84 functions as a part of the nozzle holding shaft 52 after being fitted. In other words, the nozzle holding shaft 52, which is a nozzle holder, includes the shaft main body 82 and the sleeve 84, and the suction nozzle 50 and the sleeve 84 can be exchanged with respect to the shaft main body 82 integrally. Has been. Note that the suction nozzle assembly in which the suction nozzle 50 and the sleeve 84 are integrated is different from that held in the nozzle stocker 86 (see FIG. 1) according to the component to be mounted during the mounting operation of the component on the substrate. The suction nozzle assembly is automatically replaced.

The suction nozzle 50 has a shaft portion 88 and a flange portion 90, and a pair of long holes 92 penetrating in the diameter direction and extending in the up-down direction are provided in the middle portion of the shaft portion 88. On the other hand, the sleeve 84 is provided with a pair of holes 94 at positions facing the elongated holes 72. The pin 96 is fixed to the sleeve 84 so as to pass through the pair of holes 74 and the pair of long holes 92. Both ends of the pin 96 extending from the sleeve 84 are engaged with a pair of slots 98 formed at the lower end of the shaft main body 82 of the nozzle holding shaft 52.

Specifically, as shown in FIG. 3B, each of the pair of slots 98 extends upward from the lower end of the shaft main body 82, then bends at a right angle and extends in the circumferential direction, and further downwards from the tip thereof. It has a drooping shape. The pins 96 are engaged with the suspended portions of the pair of slots 98 by fitting both ends of the pins 96 along the pair of slots 98. In this state, the pin 96 passes through the shaft main body 82 of the nozzle holding shaft 52, the sleeve 84, and the shaft portion 88 of the suction nozzle 50, and prohibits relative rotation of these three members. That is, when the nozzle holding shaft 52 is rotated around the axis, the suction nozzle 50 is also rotated.

Further, the pin 96 is urged downward by a lock mechanism including the compression coil spring 100 and the locking ring 102 and is fixed to the shaft main body 82 while being engaged with the pair of slots 98. That is, the sleeve 84 cannot be moved in the vertical direction with respect to the shaft main body 82. On the other hand, the suction nozzle 50 is formed in the vertical direction with respect to the sleeve 84, that is, with respect to the nozzle holding shaft 52 by an amount corresponding to the length of the long hole 92 by the long hole 92 provided in the shaft portion 88. It is possible to move to. Further, a flange member 104 is fixed to the upper end of the shaft portion 88 of the suction nozzle 50, and a compression coil spring 106 serving as an urging member provided between the lower surface of the flange member 104 and the upper surface of the sleeve 84. The suction nozzle 50 is biased upward. In the state shown in FIG. 3, the suction nozzle 50 is positioned at the rising end in the movable range determined by the long hole 92 and the pin 96 by the spring 106.

The shaft main body 82 of the nozzle holding shaft 52 is provided with a holding shaft side passage 110 for supplying and discharging air, and communicates with the mounting hole 80. Further, the suction nozzle 50 is provided with a nozzle-side passage 112 extending along the axis and penetrating from the upper end to the lower end. That is, the nozzle side passage 112 communicates with the holding shaft side passage 110 through the mounting hole 80. Then, as a negative pressure is supplied to the nozzle side passage, as shown in FIG. 3, the component P is attracted to the tip of the suction nozzle 50, and the component P is attached to the component mounting head at the tip of the suction nozzle 50. 28.

The component mounting head 28 includes a nozzle unit lifting / lowering device 120 that lifts and lowers one of the plurality of nozzle units 42 for holding and releasing the component. The nozzle unit raising / lowering device 120 raises / lowers one of the plurality of nozzle units 42 at a set position (set position) on one circumference. The nozzle unit lifting / lowering device 120 is mainly configured by a screw mechanism 126 constituted by a screw shaft 122 and a nut 124 and a lifting / lowering motor 128 fixed to the head main body 44 and rotating the screw shaft 122. An elevating drive member 130 is fixed to the nut 124, and the elevating drive member 130 is moved up and down together with the nut 124 by the rotation of the screw shaft 122 by the elevating motor 128.

The elevating drive member 130 includes a main body part 132, an arm part 134 depending from the main body part 132, and an engaging part that protrudes laterally from an upper part of the arm part 134 and engages with the upper end of the nozzle unit 42. 136. In the nozzle unit lifting / lowering device 120, the lowering of the lifting / lowering driving member 130 by the lifting / lowering motor 128 causes the engaging portion 136 to come into contact with the upper end of the nozzle unit 42 located at the set position, and in this state, the nozzle unit lifting / lowering device Then, the nozzle unit 42 is lowered. From the above configuration, in this component mounting machine 10, the lifting device that lifts and lowers the nozzle holding shaft 52 as the nozzle holder includes the nozzle unit lifting device 120 and the compression coil spring 54.

At the lower end of the arm portion 134 of the elevating drive member 130, a component nozzle force F that is a force acting between the component P and the suction nozzle 50 when the suction nozzle 50 holds and detaches the component P is adjusted. A component nozzle force adjusting device 150 is provided. The component inter-nozzle force adjusting device 150 reduces the impact when the suction nozzle 50 and the component P come into contact with each other when the component is received from the component feeder 26, and also when the component P is mounted on the substrate. Is used to mitigate the impact when the substrate contacts the substrate. Further, the component nozzle force adjusting device 150 is used to press the component P against the substrate with a constant force when the component P is mounted on the substrate.

The component inter-nozzle force adjusting device 150 includes an engagement pin 152 as an engagement member held in a state of being positioned above the flange portion 90 of the suction nozzle 50, and the engagement pin 152 with respect to the lifting drive member 130. And a linear motor 154 as an actuator that moves in the vertical direction. The component inter-nozzle force adjusting device 150 lowers the engaging pin 152 with respect to the elevating drive member 130 to bring the engaging pin 152 into contact with the upper surface of the flange portion 90 of the suction nozzle 50. By lowering 152, the suction nozzle 50 can be lowered with respect to the nozzle holding shaft 52. Therefore, the component inter-nozzle force adjusting device 150 configured in this way controls the supply current to the linear motor 154 when holding / removing the component, so that the engagement pin 152 pushes the flange portion 90. That is, the force pressing the suction nozzle 50 against the component P can be controlled.

The engagement pin 152 is provided with a load cell 156 as an action force detector that detects an action force in the vertical direction acting on the engagement pin 152. The load cell 156 normally has an upward force applied to the suction nozzle 50 by the spring 106 depending on the biasing force, and the substrate is attached to the suction nozzle 50 via the part P or the part P when the part P is held or detached. The upward force and sum to be applied are detected as the applied force. Since the upward force acting on the suction nozzle 50 can be considered as a reaction force of the downward force that the linear motor 154 acts on the engagement pin 150, the detection result of the load cell 156 is used to detect the linear motor 154. The supply current to is controlled.

<Control of the component nozzle force adjusting device during component mounting>
Control of the component mounting machine 10 is performed by the control device 32. The control device 32 normally controls the operations of the conveyor device 24, the component feeder 26, the component mounting head 28, the head moving device 30, and the like to perform the operation of mounting the component on the board. Detailed description of the component mounting operation will be omitted, and only control of the linear motor 154 when mounting the component P held by the component mounting head 28 on the board will be described.

FIG. 4 shows a change with time of the acting force detected by the load cell 156 when the component is mounted. When the component is mounted, the nozzle unit 42 is lowered by the nozzle unit lifting / lowering device 120. The period until the component contacts the substrate is called a cruise period. During the cruise period, the spring 106 is compressed and adsorbed. A current is supplied to the linear motor 154 so that the nozzle 50 is lowered by a predetermined amount with respect to the nozzle holding shaft 52. More specifically, the current supplied to the linear motor 154 is feedback-controlled based on the detected acting force so that the acting force detected by the load cell 156 becomes the set target acting force.

The contact of the component with the substrate is detected based on a change in the acting force detected by the load cell 156, and at that time, the target acting force is pressed against the substrate with a set force (set pressing force). It is changed to a correct value. At the time of contact, a large force is applied to the component. However, in order to reduce the force applied to the component, the current supplied to the linear motor 154 is reduced by the feedback control. That is, feedback control is performed so that a set force is applied to the component when the component is mounted. As a result, the force exerted by the linear motor 154 is reduced, and a cushion-like effect is obtained.

If the feedback control response is poor, the force applied to the component at the time of contact increases as shown by the two-dot chain line in FIG. The component mounting machine 10 is capable of high-frequency control, and as soon as the contact of the component with the substrate is detected, the control device 32 applies the reaction force to the linear motor 154 so that the reaction force becomes equal to the set pressing force. Supply current is controlled. As a result, the fluctuation of the reaction force is suppressed to be small as shown by the solid line, and the contact impact at the time of contact is suppressed to a level that does not damage the component P.

The force that the linear motor 154 acts in the direction in which the suction nozzle 50 is lowered, that is, the force that the linear motor 154 generates, is the action force that acts on the suction nozzle 50 from the spring 106 or from the substrate to the suction nozzle 50 via components. It can be considered as a reaction force of the acting force that acts, and generally depends on the current actually supplied to the linear motor 154. Therefore, by monitoring the actual supply current to the linear motor 154, the force generated by the linear motor 154, that is, the acting force on the suction nozzle 50 can be monitored. By utilizing this fact, the above-described feedback control based on the actual supply current is performed so that the linear motor 154 generates a target acting force that is a target of the force that the linear motor 154 acts on the suction nozzle 50. It is also possible to execute the control. When such control is performed, the current detector that detects the actually supplied current functions as an acting force detector instead of the load cell 156.

<Sliding state pass / fail judgment>
In the component mounting machine 10, as described above, the acting force acting on the engaging member is detected by the acting force detector, and the pressing force at the time of component mounting is controlled based on the detected acting force. It is important to accurately detect the acting force. Specifically, since the suction nozzle 50 is fitted to the sleeve 84, the action force detected by the load cell 156 includes an action force due to sliding resistance between the suction nozzle 50 and the sleeve 84. Therefore, if the sliding resistance between the suction nozzle 50 and the sleeve 84 increases, the force actually generated by the linear motor 154 may not be detected properly. That is, due to the sliding resistance, the acting force detected by the acting force detector becomes a large value, and based on such acting force, appropriate control, that is, the impact received by the parts is reduced. In addition, there is a possibility that the component cannot be properly pressed against the board with an appropriate force.

Therefore, in this component mounting machine 10, the control device 32 determines whether the sliding state between the suction nozzle 50 and the nozzle holding shaft 52 is good or bad. The determination is made by relatively displacing the suction nozzle 50 and the nozzle holding shaft 52 in a state where they are not relatively displaced by the engagement between the engagement pin 152 and the suction nozzle 50, and at that time, the load cell 156 which is an action force detector. This is performed based on the detected acting force.

As described above, the component mounting machine 10 includes the nozzle stocker 86, and the suction nozzle 50 (more precisely, the above-described suction nozzle assembly) is replaced with another suction housed in the nozzle stocker 86. It is possible to replace it with a nozzle. That is, in the component mounting machine 10, the part that controls the component mounting head 28 and the head moving device 30 to replace the suction nozzle of the control device 32 constitutes a nozzle replacement control unit. Then, immediately after the component mounting machine 10 is replaced with another suction nozzle, it is confirmed whether or not the suction nozzle is securely mounted to the nozzle holding shaft 52. Whether the sliding state between the suction nozzle 50 and the nozzle holding shaft 52 is good or bad is also determined.

The above-described inspection at the time of replacement of the suction nozzle is performed by the control device 32 executing an inspection program whose flowchart is shown in FIG. Hereinafter, the inspection at the time of replacement of the suction nozzle, including the quality determination of the sliding state between the suction nozzle and the nozzle holding shaft 52, will be described with reference to the inspection program.

First, in step 1 (hereinafter, “step” is abbreviated as “S”), the control device 32 gradually increases the supply current to the linear motor 154 of the component nozzle inter-force adjusting device 150, and sets the engagement pin 152. Lower. That is, the engaging pin 152 is lowered and engaged with the suction nozzle 50, and the engaging pin 152 is further lowered to lower the suction nozzle 50 against the nozzle holding shaft 52 against the urging force of the spring 106. Let Then, while lowering the engagement pin 152, the lowering amount (stroke L) of the engagement pin 152 is acquired based on the detection value of an encoder (not shown) provided in the linear motor 154 (S 2), and the load cell 156. Based on the detected value, the acting force F is acquired (S3).

After acquiring the stroke L and the acting force F, the control device 32 first determines whether or not the suction nozzle 50 is properly attached to the nozzle holding shaft 52. Specifically, when the stroke L ₀ of the engagement pin 152 exceeds the set stroke L ₀ (S5) and the acting force F becomes larger than the set value F ₀ (S4), the nozzle holding shaft of the suction nozzle It is determined that the attachment to 52 has been performed appropriately. In other words, if the acting force F does not become larger than the set value F ₀ even though the stroke L exceeds the set stroke L ₀ , the suction nozzle is not properly mounted on the nozzle holding shaft 52. Judgment is made (S6).

Further, when the control device 32 determines that there is no defect in the attachment of the suction nozzle to the nozzle holding shaft 52, the suction nozzle 50 and the nozzle holding shaft 52 are determined depending on whether or not the acquired acting force F is abnormal. The sliding state between the two is inspected (S7). The inspection process is performed by executing a sliding state inspection process subroutine shown in the flowchart of FIG. In the sliding state inspection processing subroutine, the control device 32 first applies the acting force F when the engaging pin 152 abuts on the flange portion 90 of the suction nozzle 50 as shown by the one-dot chain line in FIG. When the set value F ₀ is exceeded, it is determined that the sliding state between the suction nozzle 50 and the nozzle holding shaft 52 is defective. Specifically, when the acting force F becomes larger than the set value F ₀ (S4), the stroke L at that time is smaller than the set stroke L ₁ (set to a value smaller than the above L ₀ ). (S11), it is determined that the sliding state is defective (S17).

Next, the control device 32 determines whether or not the increasing tendency of the acting force F is appropriate. If the increasing gradient fluctuates as shown by a broken line in FIG. It is determined that the sliding state between the nozzle 50 and the nozzle holding shaft 52 is defective. Specifically, until the stroke L exceeds L ₁ and the acting force F reaches the set value F ₀ , the increasing gradient of the acting force with respect to the stroke is acquired every time the program is executed (S12). When the difference between the maximum value and the minimum value exceeds the set value (S13), it is determined that the sliding state is defective (S17).

Further, the control device 32 determines whether or not the sliding resistance between the suction nozzle 50 and the nozzle holding shaft 52 is larger than the set level, and as shown by a two-dot chain line in FIG. When the sliding resistance increases, it is determined that the sliding state between the suction nozzle 50 and the nozzle holding shaft 52 is defective. In the component mounting machine 10, the acting force F detected by the load cell 156 when the suction nozzle 50 is lowered with respect to the nozzle holding shaft 52 is the elastic reaction force F _S of the spring 106, the suction nozzle 50 and the nozzle holding. the resistance force during sliding magnitude corresponding to the sum and F _R between the shaft 52.
F = F _S + F _R
That is, if a good sliding state between the suction nozzle 50 and the nozzle-holding shaft 52, small resistance force F _R at the time of sliding, the acting force F is substantially the same as the elastic reaction force F _S of the spring 106 It becomes size. Accordingly, the controller 32 calculates a resistance force F _R when acting force F has exceeded the set value F ₀ (S14), if the resistance exceeds a set value F _{R # 0} (S15), sliding It is determined that the moving state is bad (S17). The control device 32 stores map data of the elastic reaction force F _S (L) with respect to the stroke L of the spring 106, and calculates the resistance force according to the following equation.
F _R = F−F _S (L)

When it is determined that the suction nozzle 50 is not properly mounted on the nozzle holding shaft 52, or when it is determined that the sliding state between the suction nozzle 50 and the nozzle holding shaft 52 is defective, the control device No. 32 is configured to replace the suction nozzle 50 with another suction nozzle by the nozzle replacement control unit. And the control apparatus 32 will perform this inspection program similarly, after replacement | exchange to another adsorption nozzle is completed. However, even when the current program is executed, if it is determined that the suction nozzle 50 is not properly mounted on the nozzle holding shaft 52, or the sliding state between the suction nozzle 50 and the nozzle holding shaft 52 is changed. If it is determined to be defective, the control device 32 displays a message to that effect on the display 160 (see FIG. 1) and performs the component mounting operation currently being performed in order to have the operator or the like directly check. It comes to stop.

Therefore, in the component mounting machine 10, the part of the control device 32 that executes the inspection program constitutes a sliding state determination unit. In the component mounting machine 10, the inspection program is not limited to the time of nozzle replacement. If the suction nozzle usage time exceeds the set time, the number of times the suction nozzle is used (number of times the component is mounted, etc.) In such a case, the inspection is periodically performed, for example, when the number of substrates produced reaches the set number.

The component mounting machine 10 configured as described above includes only components provided in the component mounting head 28, and they are not relatively displaced by the engagement between the suction nozzle 50 and the engagement pin 152 as the engagement member. In this state, the nozzle holding shaft 52 and the suction nozzle 50 can be relatively displaced. Therefore, according to the component mounting machine 10, it is not necessary to move the component mounting head 28 to a specific position in order to determine whether or not the sliding state between the nozzle holding shaft 52 and the suction nozzle 50 is good. It is possible to reduce the time for determining whether or not the sliding state is good, and as a result, it is possible to shorten the component mounting work.

<Other embodiments>
FIG. 8 shows a component mounting head 200 provided in a component mounting machine according to another embodiment of the present invention. In the component mounting machine 10 of the above-described embodiment, the component device attachment head 28 includes the component nozzle force adjusting device 150, and the component nozzle force adjusting device 150 allows the engaging pin 152 that is an engaging member to be attached to the suction nozzle 50. In addition, the component mounting head 200 in the embodiment shown in FIG. 8 is configured to be displaced with respect to the nozzle holding shaft 52, but the engaging member prohibits the suction nozzle from being displaced in the vertical direction. The nozzle holding shaft is displaced. In addition, since the component mounting machine of this embodiment is a structure similar to the component mounting machine 10 of the said embodiment, suppose that the same code | symbol is used about the same component.

The component mounting head 200 includes a revolver 40, a plurality of nozzle units 202, a revolver rotating motor 60, a nozzle rotating motor 68, and a nozzle unit lifting / lowering device 204, similar to the component mounting head 28 of the above embodiment. However, in the nozzle unit elevating device 204, the elevating drive member 206 does not extend to the lower end of the nozzle unit 202, and the engaging portion 208 of the elevating drive member 206 extends to the upper end of the nozzle unit 202 and engages with the upper end thereof. It has become a thing.

The component mounting head 200, unlike the component mounting head 28 of the above embodiment, does not include a component nozzle inter-force adjusting device. Therefore, in the component mounting head 200, each nozzle unit 202 includes a compression coil spring 224 as a biasing member that biases the suction nozzle 220 downward with respect to the nozzle holding shaft 222. It is designed to mitigate the impact of holding and releasing parts.

Further, the component mounting head 200 checks whether or not the suction nozzle 220 is securely mounted to the nozzle holding shaft 222 when the suction nozzle is replaced. An inspection device 230 is provided for determining whether the sliding state is good or bad. The inspection device 230 includes an inspection table 232 that can be engaged with the lower end of the plurality of nozzle units 202 that are moved up and down by the nozzle lifting device 204, that is, the front end of the suction nozzle 220, and the inspection table 232. The motor 234 for switching between a state in which the nozzle is positioned below the nozzle unit 202 and a state in which the nozzle unit 202 is not positioned, and an action force detection that is provided on the examination table 232 and detects an acting force in the vertical direction acting on the examination table 232 And a load cell 236 as a device.

The inspection device 230 places the inspection table 232 below the nozzle unit 202 by the motor 234 so that the nozzle unit 202 lowered by the nozzle unit lifting / lowering device 204 abuts and moves the suction nozzle 220 downward. Ban. That is, the inspection table 232 functions as an engagement member. Then, when the lifting drive member 2206 is further lowered by the nozzle unit lifting device 204, the nozzle holding shaft 222 is lowered with respect to the suction nozzle 220. Note that when the nozzle holding shaft 222 is lowered with respect to the suction nozzle 220, the load cell 236 causes the downward force that the spring 224 acts on the suction nozzle 220 based on the urging force, and the suction nozzle 220 and the nozzle holding shaft 222. The sum of the downward force acting depending on the sliding resistance is detected. Therefore, also in the component mounting machine of the present embodiment, the sliding between the suction nozzle 220 and the nozzle holding shaft 222 based on the acting force detected by the load cell 236, as in the component mounting machine 10 of the above embodiment. Whether the state is good or bad can be determined, and the sliding resistance can be estimated by comparing the acting force detected by the load cell 236 with the biasing force generated by the spring 224.

Similarly to the component mounting machine 10 of the above embodiment, the component mounting machine according to the present embodiment is also configured to engage the suction nozzle 220 and the inspection table 232 as an engagement member with only the components provided in the component mounting head 220. It is possible to relatively displace the nozzle holding shaft 222 and the suction nozzle 220 in a state in which they are not relatively displaced, and in order to determine whether the sliding state between the nozzle holding shaft and the suction nozzle is good or bad, It is not necessary to move the mounting head 200 to a specific position, and it is possible to shorten the time for performing pass / fail judgment of the sliding state.

10: Component mounting machine 28: Component mounting head 32: Control device 42: Nozzle unit 44: Head body 50: Suction nozzle 52: Nozzle holding shaft [nozzle holder] 86: Nozzle stocker 106: Compression coil spring [biasing member] 120: Nozzle unit elevating device [elevating device] 150: Component nozzle force adjusting device 152: Engaging pin [engaging member] 154: Linear motor [actuator] 156: Load cell [acting force detector] 200: Component mounting head 202 : Nozzle unit 204: Nozzle unit lifting device [lifting device] 220: Adsorption nozzle 222: Nozzle holding shaft [nozzle holder] 224: Compression coil spring [biasing member] 230: Inspection device 232: Inspection table Engagement member] 236: load cell [action force detector]

Claims

(A) a head body, (B) a nozzle holder that is held by the head body so as to be movable up and down, (C) a lifting device that lifts and lowers the nozzle holder relative to the head body, and (D) the nozzle A component mounting head for mounting a component on a board, which is slidably fitted to the holder and is allowed to move in the vertical direction relative to the nozzle holder, and has a suction nozzle that sucks and holds the component at its lower end. When,
A component mounting machine including a control device that controls the holding and detachment of the component by the component mounting head,
The component mounting head further includes:
(E) an engagement member that engages with or engages with the suction nozzle, and (F) an action force detector that detects an action force in the vertical direction acting on the engagement member,
The control device is
The nozzle holder and the suction nozzle are relatively displaced in a state where the suction nozzle and the engagement member are not relatively displaced by the engagement of the suction nozzle and the engagement member. A component mounting machine having a sliding state determination unit that determines whether or not a sliding state between the nozzle holder and the suction nozzle is good based on a detected acting force.
The component mounting head includes a component nozzle force adjusting device that adjusts a force acting between a component and the suction nozzle when the component is held and detached.
The component nozzle force adjusting device
The engaging member and an actuator that applies a vertical force to the engaging member, and the actuator acts between the suction nozzle and the component by controlling the force that the actuator applies to the engaging member. To adjust the power to
The sliding state determination unit is
The engaging member is displaced with respect to the nozzle holder together with the suction nozzle engaged with the engaging member by controlling the force applied to the engaging member by the actuator of the component inter-nozzle force adjusting device. The component mounting machine according to claim 1, configured to determine whether the sliding state between the nozzle holder and the suction nozzle is good or bad.
The engaging member is
The head main body is provided so as not to move in the vertical direction, and is configured to be switched between a state in which the suction nozzle is engaged and a state in which the suction nozzle is not engaged. Is prohibited,
The sliding state determination unit is
In a state where the engagement member and the suction nozzle are engaged, the nozzle holder is displaced with respect to the suction nozzle by the lifting device, and the sliding state between the nozzle holder and the suction nozzle is changed. The component mounting machine according to claim 1, wherein the component mounting machine is configured to perform pass / fail determination.
The component mounting head is
A biasing member provided between the suction nozzle and the nozzle holder and biasing the suction nozzle upward or downward with respect to the nozzle holder;
The sliding state determination unit is
By comparing the acting force detected by the acting force detector with the urging force generated by the urging member, the quality of the sliding state between the nozzle holder and the suction nozzle is determined. The component mounting machine according to any one of claims 1 to 3, which is configured.
The component mounting head can replace the suction nozzle with respect to the nozzle holder,
The component mounting machine includes a nozzle stocker that houses a plurality of suction nozzles, each of which is the suction nozzle,
The control device is
A nozzle replacement control unit that replaces the suction nozzle held by the nozzle holder with one of the plurality of suction nozzles housed in the nozzle stocker;
The sliding state determination unit is
When the component replacement nozzle held by the nozzle holder is replaced by one of the plurality of suction nozzles by the nozzle replacement control unit, one of the plurality of suction nozzles and the nozzle holder The component mounting machine according to any one of claims 1 to 4, wherein the component mounting machine is configured to perform a pass / fail determination of a sliding state between the two.
The component mounting head can replace the suction nozzle with respect to the nozzle holder,
The component mounting machine includes a nozzle stocker that houses a plurality of suction nozzles, each of which is the suction nozzle,
The control device is
A nozzle replacement control unit that replaces the suction nozzle held by the nozzle holder with one of the plurality of suction nozzles housed in the nozzle stocker;
When the sliding state determination unit determines that the sliding state between the suction nozzle and the nozzle holder is defective, the nozzle replacement control unit changes the suction nozzle to another suction nozzle. The component mounting machine according to any one of claims 1 to 5, wherein the component mounting machine is configured to be replaced.
The control device is
When the sliding state determination unit determines that the sliding state between the suction nozzle and the nozzle holder is defective and the nozzle replacement control unit replaces the suction nozzle with another suction nozzle. When the sliding state between the replaced another suction nozzle and the nozzle holder is determined to be defective by the sliding state determination unit, the component mounting operation by the component mounting machine is stopped. The component mounting machine according to claim 6, which is configured to do so.