WO2017122282A1 - Dispositif de travail de corps de montage - Google Patents

Dispositif de travail de corps de montage Download PDF

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Publication number
WO2017122282A1
WO2017122282A1 PCT/JP2016/050741 JP2016050741W WO2017122282A1 WO 2017122282 A1 WO2017122282 A1 WO 2017122282A1 JP 2016050741 W JP2016050741 W JP 2016050741W WO 2017122282 A1 WO2017122282 A1 WO 2017122282A1
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WO
WIPO (PCT)
Prior art keywords
mounted object
unit
mounting
pair
holding
Prior art date
Application number
PCT/JP2016/050741
Other languages
English (en)
Japanese (ja)
Inventor
真一 岡嵜
Original Assignee
ヤマハ発動機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to CN201680066885.2A priority Critical patent/CN108353538B/zh
Priority to JP2017561095A priority patent/JP6720219B2/ja
Priority to DE112016004647.2T priority patent/DE112016004647T5/de
Priority to PCT/JP2016/050741 priority patent/WO2017122282A1/fr
Publication of WO2017122282A1 publication Critical patent/WO2017122282A1/fr

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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/0061—Tools for holding the circuit boards during processing; handling transport of printed circuit boards
    • H05K13/0069—Holders for printed circuit boards

Definitions

  • the present invention relates to a mounted work apparatus, and more particularly, to a mounted work apparatus including a mounted object transport unit that transports a mounted object on which components are mounted.
  • a mounted object working apparatus including a mounted object transport unit that transports a mounted object on which components are mounted is known.
  • a mounted object transport unit that transports a mounted object on which components are mounted.
  • the above-mentioned Japanese Patent No. 5721469 discloses a component mounting apparatus (mounting object working apparatus) provided with a board conveying device (mounting object conveying portion) for conveying a substrate (mounting object) on which a component is mounted in the conveying direction. ing.
  • the substrate has a non-flat component mounting surface.
  • this component mounting apparatus is provided with a substrate holding device that holds and rotates the substrate in order to mount the component on the substrate having a non-flat component mounting surface.
  • the board is transferred from the board conveying apparatus to the board holding apparatus.
  • substrate conveyance apparatus is roughly comprised by a pair of guide rail and a pair of conveyor belt.
  • the substrate transport apparatus is configured to transport a substrate in the transport direction by a pair of guide rails and a pair of conveyor belts.
  • Japanese Patent No. 5721469 only discloses that the substrate is transported in the transport direction, and the pair of conveyor portions (the pair of guide rails and the pair of conveyor belts) move in the direction orthogonal to the transport direction. Is not disclosed at all. For this reason, a pair of conveyor parts cannot be driven, and the board
  • the present invention has been made in order to solve the above-described problems, and one object of the present invention is to appropriately deliver a mounted object from the mounted object transport unit to the mounted object holding unit. It is providing the to-be-mounted work apparatus which can be performed.
  • a mounted object working apparatus includes a mounted object transport unit that transports a mounted object on which a component is mounted, and the mounted object is transferred from the mounted object transport unit at a transfer position.
  • a mounted object holding unit that holds the mounted object and tilts the held mounted object, and a working unit that performs work on the mounted object held by the mounted object holding part.
  • the unit has a pair of conveyor units that support the mounted object from both sides in a direction orthogonal to the conveying direction and convey the mounted object in the conveying direction, and the pair of conveyor units are arranged in a direction orthogonal to the conveying direction. It is configured to be able to move independently, and by moving the pair of conveyor parts in a direction orthogonal to the transport direction, the operation of delivering the mounted object from the mounted object transport part to the mounted object holding part is performed. Configured to be done.
  • the pair of conveyor sections are configured to be movable independently from each other in a direction orthogonal to the transport direction.
  • a pair of conveyor part is comprised so that the operation
  • maintenance part may be performed by moving to the direction orthogonal to a conveyance direction.
  • variety between a pair of conveyor parts can be changed according to the width
  • the mounted object can be delivered by moving the mounted object in a direction orthogonal to the conveying direction by the pair of conveyor units.
  • the mounted object working device preferably further includes a control unit, and the control unit performs the operation of delivering the mounted object from the mounted object transport unit to the mounted object holding unit.
  • the control unit After holding an object to be mounted by the mounting object holding part, it is configured to control the pair of conveyor parts to move in a direction orthogonal to the conveying direction so that the width between the pair of conveyor parts is widened. .
  • the mounting object can be mounted only by widening the width between the pair of conveyor parts while holding the mounting object by the mounting object holding part.
  • the mounted object can be delivered from the object transport unit to the mounted object holding unit. As a result, it is possible to deliver the mounted object from the mounted object transport unit to the mounted object holding unit with a simple configuration as compared with the case where a dedicated mounted object delivery device is provided separately.
  • control unit inclines the mounted object by the mounted object holding unit while causing the mounted object to work by the working unit in a state where the width between the pair of conveyor units is widened. It is configured. If comprised in this way, when carrying out an operation
  • control unit controls the movement of the pair of conveyor units in a direction orthogonal to the transport direction so that the width between the pair of conveyor units is widened
  • the control unit is preferably covered by the mounting object holding unit.
  • the width between the pair of conveyor parts is determined when an operation for receiving an object to be mounted from the object holding part by the object transporting part is performed by the object conveying part after the work is performed with the object being inclined. Control is performed to move the pair of conveyor portions in a direction orthogonal to the transport direction so as to narrow.
  • control unit controls the movement of the pair of conveyor units in a direction orthogonal to the conveyance direction so that the width between the pair of conveyor units is widened
  • the control unit is preferably configured so that the object is transferred from the workpiece conveyance unit.
  • the paired conveyor parts are moved in the transport direction by the pair of conveyor parts, and the pair of conveyor parts are maintained while maintaining the width between the pair of conveyor parts. It is configured to control the positioning of the mounted object at the delivery position by moving in a direction orthogonal to the transport direction.
  • maintenance part is arrange
  • a to-be-mounted object can be easily delivered to a delivery position by driving a pair of conveyor part. Can be positioned.
  • the mounted object is a horizontal work surface
  • An inclined work surface that is inclined with respect to the horizontal work surface, and the controller is configured to transfer the mount object from the mount object transport section to the mount object holding section or by the mount object transport section.
  • the working part holds the horizontal work surface of the mounting object held by the mounting object transport part. It is configured to perform work.
  • the mounted object is preferably conveyed by the mounted object conveyance unit while being held by the mounted object holding member, and via the mounted object holding member.
  • the mounted object holding member is configured to be held by the mounted object holding part, and the mounted object holding member has a single held part for holding the mounted object holding part. It is comprised so that the single to-be-held part of the to-be-mounted object holding member may be hold
  • the mounted object holding part As a result, compared to the case where a plurality of held parts need to be held by the mounted object holding part, it is possible to easily align the mounted object holding part and the held part.
  • the mounted object can be easily transferred from the mounted object transport unit to the mounted object holding unit.
  • FIG. 1 is a schematic front view showing an overall configuration of a mounted work apparatus according to an embodiment of the present invention.
  • 1 is a schematic plan view illustrating an overall configuration of a mounted work apparatus according to an embodiment. It is a typical side view showing the whole structure of the to-be-mounted object working device of one embodiment. It is a figure which shows the to-be-mounted object worked with the to-be-mounted object working apparatus of one Embodiment,
  • FIG. 4 (A) is a typical top view which shows a to-be-mounted object,
  • FIG.4 (B) is a to-be-mounted object.
  • FIG. 4C is a schematic side view showing an object to be mounted.
  • FIG. 7 (A) is a figure which shows the state which a pair of conveyor part is located in a conveyance position
  • FIG. 8A is a schematic side view illustrating a state in which the mounted object is loaded and moved in the transport direction, and is a diagram for explaining the operation of the mounted object working apparatus of the embodiment
  • FIG. 8B is a schematic plan view showing a state in which an object to be mounted is carried and moved in the carrying direction. It is a figure for demonstrating operation
  • FIG. 9 (A) is a typical side view which shows the state by which a to-be-mounted object is moved to the direction orthogonal to a conveyance direction.
  • FIG. 9B is a schematic plan view showing a state in which the mounted object is moved in a direction orthogonal to the transport direction.
  • FIG. 10A is a diagram for explaining the operation of the mounted object working apparatus according to the embodiment, and FIG. 10A is a schematic diagram illustrating a state in which the mounted object is delivered from the mounted object transport unit to the mounted object holding unit.
  • FIG. 10B is a schematic plan view showing a state in which the mounted object is delivered from the mounted object transport unit to the mounted object holding unit.
  • FIG. 12A is a schematic side view illustrating a state in which a pair of conveyor units are moved in a direction approaching each other
  • FIG. 12B is a schematic plan view showing a state in which the pair of conveyor portions are moved in a direction approaching each other.
  • FIG. 13 (A) is a typical side surface which shows the state which a to-be-mounted object conveyance part receives to-be-mounted object from a to-be-mounted object holding
  • FIG. 13B is a schematic plan view illustrating a state in which the mounted object transport unit receives the mounted object from the mounted object holding unit.
  • FIG. 14A is a schematic side view illustrating a state in which the mounted object is moved in the transport direction and carried out;
  • FIG. 14B is a schematic plan view showing a state in which the mounted object is moved in the transport direction and carried out. It is a flowchart for demonstrating the operation
  • the mounted object working apparatus 100 is a component mounting apparatus that mounts a component E (electronic component) such as an IC, a transistor, a capacitor, and a resistor on a mounted object P such as a printed circuit board as shown in FIGS. is there.
  • a component E electronic component
  • IC integrated circuit
  • transistor transistor
  • capacitor capacitor
  • resistor resistor
  • the mounted object P includes one horizontal work surface (horizontal mounted surface) P1 and a plurality (four) inclined with respect to the horizontal work surface P1.
  • This is a substrate having an inclined work surface (inclined mounting surface) P2.
  • the plurality of inclined work surfaces P2 include a pair of inclined work surfaces P2a and P2b provided on both sides in the Y direction of the horizontal work surface P1, and a pair of both sides in the X direction of the horizontal work surface P1.
  • the inclined work surfaces P2c and P2d are configured.
  • the inclined work surfaces P2a, P2b, P2c, and P2d are inclined so as to be lowered toward the horizontal work surface P1. That is, the workpiece P is a substrate having a shape in which the horizontal work surface P1 is recessed downward with respect to the inclined work surfaces P2a, P2b, P2c, and P2d surrounding the periphery.
  • a position recognition mark (fiducial mark) FM imaged by a substrate recognition camera 7 to be described later is attached to one horizontal work surface P1 and a plurality of inclined work surfaces P2.
  • One horizontal work surface P1 and a plurality of inclined work surfaces P2 are both flat surfaces on which the component E is mounted by the head unit 4 described later.
  • the horizontal work surface P1 is a work surface of the work piece P that is parallel to the horizontal plane (XY plane) in a transport state in the transport direction by the work transport unit 2 described later.
  • the workpiece work device 100 is a device that transports and mounts a workpiece P having a horizontal work surface P1 and an inclined work surface P2.
  • the mounted object working device 100 includes a base 1, a mounted object transport unit 2, a mounted object holding unit 3, a head unit 4, a support unit 5, a pair of rail units 6, and a component recognition camera 7. And a board recognition camera 8, a height measuring unit 9, and a control device 10 (see FIG. 6).
  • the head unit 4 is an example of the “working unit” in the claims.
  • the control device 10 is an example of a “control unit” in the claims.
  • a feeder arrangement portion 12 for arranging a plurality of tape feeders 11 is provided at the end of the base 1 on the Y2 side. Moreover, the feeder arrangement
  • the tape feeder 11 holds a reel 11a (see FIG. 3) around which a tape holding a plurality of components E at a predetermined interval is wound.
  • the tape feeder 11 is configured to supply the component E from the tip by rotating the reel 11a and sending out a tape that holds the component E.
  • Each tape feeder 11 is arranged in the feeder arrangement unit 12 in a state where it is electrically connected to the control device 10 via a connector (not shown) provided in the feeder arrangement unit 12. Thereby, each tape feeder 11 is configured to feed the tape from the reel 11 a and supply the component E based on the control signal from the control device 10. At this time, each tape feeder 11 is configured to supply the component E according to the mounting operation of the head unit 4.
  • the mounted object transport unit 2 is configured to carry in the mounted object P, transport it in the transport direction (X direction), and carry it out. In the mounted object working apparatus 100, a single transfer path is formed by the mounted object transfer unit 2.
  • the mounted object holding member 90 is a member for transporting the mounted object P having a plate shape.
  • the mounted object holding member 90 having a plate shape has a slightly sticky adhesive layer formed on the upper surface (the surface on the Z1 side).
  • the mounted object holding member 90 is configured to hold and fix the mounted object P detachably on the upper surface by bonding the mounted object P to the adhesive layer.
  • a single held portion 90 a for holding the mounted object holding portion 3 is provided on the lower surface (the Z2 side surface) of the mounted object holding member 90.
  • the held portion 90 a is formed so as to protrude downward (Z2 direction) from the lower surface of the mounted object holding member 90.
  • the mounted object P is held by the mounted object holding part 3 via the mounted object holding member 90.
  • the mounted product transport unit 2 includes an upstream transport unit 21, a central transport unit 22, and a downstream transport unit 23.
  • the upstream side conveyance unit 21 is a conveyance unit provided on the upstream side (X1 side) in the conveyance direction (X direction).
  • the upstream conveyance unit 21 is configured to carry in the unmounted P to be mounted P from a conveyance path (not shown) and to convey the loaded P to the central conveyance unit 22.
  • the upstream transport unit 21 has a pair of conveyor units 211. Both of the pair of conveyor portions 211 are formed to extend in the transport direction (X direction).
  • the pair of conveyor units 211 are arranged to face each other in a direction (Y direction) orthogonal to the transport direction with a predetermined interval therebetween. Further, the pair of conveyor units 211 is configured to be able to adjust the interval in the direction (Y direction) orthogonal to the transport direction.
  • the conveyor unit 211 on the Y1 side is configured to be movable in a direction orthogonal to the transport direction, and the conveyor unit 211 on the Y2 side is fixed.
  • variety width of a Y direction
  • Both the pair of conveyor sections 211 include a conveyor guide 211a and a conveyor belt 211b.
  • the upstream transport unit 21 is configured to support the mounting object P from both sides in the Y direction by supporting both ends of the mounting object holding member 90 in the Y direction from below with a pair of conveyor belts 211b. Yes. Then, the upstream transport unit 21 is driven (rotated) by a drive motor (not shown) while the workpiece P is supported from both sides in the Y direction by the pair of conveyor belts 211b.
  • the product P is configured to be transported in the transport direction (X direction).
  • the central transport unit 22 is a transport unit provided between the upstream transport unit 21 and the downstream transport unit 23.
  • the central transport unit 22 is configured to receive the mount P before mounting from the upstream transport unit 21 and transport the received mount P to the downstream transport unit 23.
  • the central transport unit 22 has a pair of conveyor units 221.
  • the pair of conveyor portions 221 are both formed to extend in the transport direction (X direction).
  • a pair of conveyor part 221 is arrange
  • the pair of conveyor sections 221 both include a conveyor guide 221a and a conveyor belt 221b.
  • the central conveyance unit 22 is configured to support the mounting object P from both sides in the Y direction by supporting both ends of the mounting object holding member 90 in the Y direction from below with a pair of conveyor belts 221b. .
  • the central conveyance unit 22 is driven (rotated) by a drive motor (not shown) with the conveyor belt 221b being driven (rotated) by the pair of conveyor belts 221b supporting the workpiece P from both sides in the Y direction. It is comprised so that P may be conveyed in a conveyance direction.
  • the pair of conveyor units 221 is configured to be movable independently of each other in a direction (Y direction) orthogonal to the transport direction.
  • the operation of receiving the mounted object P from the mounted object holding part 3 by the mounted object conveying part 2 by moving the pair of conveyor parts 221 in a direction orthogonal to the conveying direction Is done. Details of the delivery operation and the reception operation will be described later.
  • the Y1 side conveyor unit 221 is provided with a drive mechanism unit 224 for moving the Y1 side conveyor unit 221 in a direction (Y direction) orthogonal to the transport direction.
  • the drive mechanism unit 224 includes a ball screw shaft 224a extending in a direction orthogonal to the transport direction, and a drive motor 224b that rotates the ball screw shaft 224a.
  • the Y1 side conveyor section 221 is provided with a ball nut (not shown) to which the ball screw shaft 224a is engaged (screwed).
  • the Y1 side conveyor unit 221 rotates in a direction perpendicular to the conveying direction along the ball screw shaft 224a together with a ball nut engaged (screwed) with the ball screw shaft 224a by rotating the ball screw shaft 224a by the drive motor 224b. It is configured to be movable.
  • the Y2 side conveyor unit 221 is provided with a drive mechanism unit 225 for moving the Y2 side conveyor unit 221 in a direction (Y direction) orthogonal to the transport direction.
  • the drive mechanism unit 225 includes a ball screw shaft 225a extending in a direction orthogonal to the transport direction, and a drive motor 225b that rotates the ball screw shaft 225a.
  • the Y2 side conveyor portion 221 is provided with a ball nut (not shown) to which the ball screw shaft 225a is engaged (screwed).
  • the Y2 side conveyor unit 221 rotates in the direction perpendicular to the conveying direction along the ball screw shaft 225a together with the ball nut engaged (screwed) with the ball screw shaft 225a when the ball screw shaft 225a is rotated by the drive motor 225b. It is configured to be movable.
  • the pair of conveyor portions 221 is provided with a clamp mechanism portion 226 (see FIGS. 2 and 3).
  • the clamp mechanism unit 226 is configured to hold and fix the workpiece P in the pair of conveyor units 221 of the central transport unit 22.
  • the clamp mechanism 226 sandwiches both ends of the mounting object holding member 90 in the Y direction between the pair of conveyor guides 221a (see FIGS. 8 and 14), so that the mounting object P is paired in the pair of conveyor sections 221. It is comprised so that it may hold and fix. 2 and 3 show the clamp mechanism portion 226 in a state before the both end portions in the Y direction of the mounted object holding member 90 are sandwiched.
  • the mounting object P is fixed by the clamp mechanism 226 at the time of mounting on the horizontal work surface P1.
  • the downstream transport unit 23 is a transport unit provided on the downstream side (X2 side) in the transport direction (X direction).
  • the downstream transport unit 23 is configured to receive the mounted product P after mounting from the central transport unit 22 and carry the mounted product P after mounting to a transport path (not shown).
  • the downstream transport unit 23 has a pair of conveyor units 231. Both of the pair of conveyor sections 231 are formed to extend in the transport direction (X direction). Moreover, a pair of conveyor part 231 is arrange
  • the Y1 side conveyor unit 231 is configured to be movable in a direction orthogonal to the transport direction, and the Y2 side conveyor unit 231 is fixed. Thereby, according to the magnitude
  • the pair of conveyor sections 231 both include a conveyor guide 231a and a conveyor belt 231b.
  • the downstream transport unit 23 is configured to support the mounting object P from both sides in the Y direction by supporting both ends of the mounting object holding member 90 in the Y direction from below with a pair of conveyor belts 231b. Yes.
  • the downstream transport unit 23 is driven (rotated) by a drive motor (not shown) with the pair of conveyor belts 231b supporting the workpiece P from both sides in the Y direction. It is comprised so that the thing P may be conveyed in a conveyance direction.
  • the mounted object holding unit 3 is configured to receive the mounted object P from the mounted object transport unit 2 at the transfer position M (see FIG. 9) and hold the mounted object P. Specifically, the mounted object holding unit 3 is configured to hold the mounted object P via the mounted object holding member 90.
  • the mounted object holding portion 3 is configured to move the held mounted object P in the vertical direction (Z direction).
  • the mounted object holding unit 3 is configured to incline the held mounted object P. Further, the mounted object holding unit 3 is configured to rotate the held mounted object P.
  • maintenance part 3 is comprised so that the attitude
  • the posture of the mount P can be adjusted so that the inclined work surface P2 (see FIG. 4) of the mount P is parallel to the horizontal plane (XY plane).
  • the posture of the mounting object P can be adjusted so that the horizontal work surface P1 (see FIG. 4) of the mounting object P is parallel to the horizontal plane (XY plane).
  • the mounted object holding unit 3 includes a first shaft mechanism unit 31, a second shaft mechanism unit 32, and a third shaft mechanism unit 33, a holding unit 34, and a fixing unit. 35.
  • the mounted object holding portion 3 shown in FIG. 5 is shown in a simplified manner.
  • the first shaft mechanism unit 31 is a vertical shaft mechanism unit for moving the workpiece P held by the holding unit 34 in the vertical direction.
  • the first shaft mechanism portion 31 includes a drive motor 311, a belt pulley mechanism portion 312, a ball screw shaft 313, and an attachment portion 314.
  • the drive motor 311 is configured to generate a drive force for rotating the ball screw shaft 313.
  • the belt pulley mechanism 312 is configured to transmit a driving force (rotational force) generated by the driving motor 311 to the ball screw shaft 313.
  • the ball screw shaft 313 is configured to rotate in the vertical direction by the driving force of the driving motor 311 transmitted through the belt pulley mechanism 312.
  • the attachment portion 314 is a member for attaching the second shaft mechanism portion 32, the third shaft mechanism portion 33, and the holding portion 34 to the first shaft mechanism portion 31.
  • the second shaft mechanism portion 32 is attached to the Y1 side of the attachment portion 314.
  • a third shaft mechanism portion 33 and a holding portion 34 are attached to the X2 side of the second shaft mechanism portion 32. That is, the second shaft mechanism portion 32 is attached to the attachment portion 314, and the third shaft mechanism portion 33 and the holding portion 34 are attached to the attachment portion 314 via the second shaft mechanism portion 32.
  • the mounting portion 314 is provided with a ball nut 314 a that is engaged (screwed) with the ball screw shaft 313.
  • the mounting portion 314 is configured to be movable in the vertical direction along the ball screw shaft 313 together with a ball nut 314a engaged (screwed) with the ball screw shaft 313 when the ball screw shaft 313 is rotated by the drive motor 311. Yes.
  • the first shaft mechanism unit 31 moves the second shaft mechanism unit 32, the third shaft mechanism unit 33, the holding unit 34, and the workpiece P held by the holding unit 34 together with the mounting unit 314 in the vertical direction (Z Direction).
  • FIG. 5 shows a state in which the attachment portion 314 is disposed at the lower end.
  • the second axis mechanism part 32 is a tilt axis mechanism part for inclining the mounted object P held by the holding part 34.
  • the second shaft mechanism portion 32 includes a drive motor 321, a belt pulley mechanism portion 322, and a rotating shaft portion 323.
  • the driving motor 321 is configured to generate a driving force for rotating the rotating shaft portion 323.
  • the drive motor 321 is configured to be capable of forward rotation (clockwise rotation) and reverse rotation (counterclockwise rotation).
  • the belt pulley mechanism 322 is configured to transmit the driving force (rotational force) generated by the drive motor 321 to the rotating shaft 323.
  • the rotation shaft portion 323 is driven by the driving force of the drive motor 321 transmitted via the belt pulley mechanism portion 322, and the rotation axis A1 passes through the center of the rotation shaft portion 323 in parallel with the transport direction (X direction) (indicated by a one-dot chain line). It is configured to rotate around.
  • a third shaft mechanism portion 33 and a holding portion 34 are attached to the end portion on the X2 side of the rotating shaft portion 323.
  • the third shaft mechanism portion 33 and the holding portion 34 are configured to be rotatable around the rotation axis A1 together with the rotation shaft portion 323 when the rotation shaft portion 323 is rotated by the drive motor 321.
  • the second shaft mechanism portion 32 rotates the mounting object P held by the third shaft mechanism portion 33, the holding portion 34, and the holding portion 34 around the rotation axis A1 and tilts in the YZ plane ( (See FIG. 11).
  • the second shaft mechanism unit 32 moves from the reference state to the Y1 direction side or the Y2 direction side orthogonal to the transport direction.
  • the third shaft mechanism portion 33, the holding portion 34, and the mounted object P held by the holding portion 34 are configured to be inclined.
  • the second shaft mechanism unit 32 includes the third shaft mechanism unit 33 and the holding unit in an angle range of 0 degrees or more and 90 degrees or less from the reference state to the Y1 direction side or the Y2 direction side orthogonal to the transport direction.
  • maintenance part 34 are comprised so that inclination is possible.
  • the third shaft mechanism unit 33 is a rotating shaft mechanism unit for rotating the mounted product P held by the holding unit 34.
  • the third shaft mechanism 33 has a drive motor 331 and a belt pulley mechanism 332.
  • the driving motor 331 is configured to generate a driving force for rotating the holding unit 34.
  • the drive motor 331 is configured to be capable of forward rotation (clockwise rotation) and reverse rotation (counterclockwise rotation).
  • the belt pulley mechanism 332 is configured to transmit the driving force (rotational force) generated by the drive motor 331 to the holding unit 34.
  • the holding unit 34 is rotated about a rotation axis A2 (indicated by a one-dot chain line) passing through the center of the holding unit 34 and orthogonal to the rotation axis A1 by the driving force of the drive motor 331 transmitted via the belt pulley mechanism 332. It is configured.
  • the third shaft mechanism unit 33 is configured to rotate the holding unit 34 and the workpiece P held by the holding unit 34 around the rotation axis A2.
  • the holding unit 34 is configured to hold and fix the mounted object P via the mounted object holding member 90.
  • the object P to be mounted is fixed by the holding unit 34 when mounted on the inclined work surface P2.
  • the holding part 34 has a main body part 341 having a cylindrical shape and a plurality (three) of claw parts 342.
  • the plural (three) claw parts 342 are arranged on the upper surface of the main body part 341 at equal angular intervals (120 degree intervals). Further, each of the plurality of claw portions 342 is configured to be movable in the radial direction of rotation of the holding portion 34.
  • the plurality of claw portions 342 are respectively held on the upper surface of the main body portion 341. Move in the radial direction toward the rotation center (that is, the direction toward the rotation axis A2). As a result, the held portion 90a of the mounted object holding member 90 is held by the plurality of claw portions 342, and the mounted object P is held by the mounted object holding portion 3 via the mounted object holding member 90. Fixed.
  • the plurality of claw portions 342 are respectively formed on the upper surface of the main body portion 341. It moves in a radial direction away from the center of rotation (ie, in a direction away from the rotation axis A2). As a result, the gripping of the held portion 90a of the mounted object holding member 90 by the plurality of claw portions 342 is released, and the mounted object P is held by the mounted object holding portion 3 via the mounted object holding member 90. Is released.
  • the fixing part 35 is a member for attaching and fixing the mounting object holding part 3 to the base 1. As shown in FIGS. 1 to 3, the mounted object holding part 3 is fixed to the base 1 with screws or the like via a fixing part 35. Further, the mounting object holding unit 3 is fixed at a position where the holding unit 34 is shifted to the Y1 side with respect to the center of a single transport path formed by the mounting object transport unit 2.
  • an opening 1a having a rectangular shape in plan view is provided at the center of the base 1.
  • the opening 1a of the base 1 is attached with a housing portion 1b having a concave shape that is recessed downward (Z2 direction) from the upper surface (the surface on the Z1 side) of the base 1.
  • maintenance part 3 is arrange
  • maintenance part 3 is arrange
  • the head unit 4 is provided at an upper position of the base 1 via a support portion 5 and a pair of rail portions 6. Further, the head unit 4 is provided at a position above (the Z1 direction) the mounted object transport unit 2, the mounted object holding unit 3, and the tape feeder 11, and is configured to be movable in the horizontal direction.
  • the head unit 4 is configured to perform the mounting operation of the component E on the mounted object P held by the mounted object holding unit 3. In addition, the head unit 4 is configured to perform the mounting operation of the component E on the mounted object P held by the mounted object transport unit 2. Specifically, the head unit 4 is configured to suck the component E supplied from the tape feeder 11 and to mount the sucked component E on the mounted object P.
  • the head unit 4 includes a plurality (six) of mounting heads 41, a plurality (six) of ball screw shafts 42 provided for each mounting head 41, and a plurality of (six) of each of the ball screw shafts 42.
  • a Z-axis motor 43 and a plurality (six) of R-axis motors 44 (see FIG. 6) provided for each mounting head 41 are provided.
  • the plurality of mounting heads 41 are arranged in a line along the transport direction (X direction).
  • a nozzle 41 a (see FIGS. 1 and 3) is attached to the tip of each mounting head 41.
  • the mounting head 41 is configured to be able to suck and hold the component E supplied from the tape feeder 11 by the negative pressure generated at the tip of the nozzle 41a by a negative pressure generator (not shown).
  • Each ball screw shaft 42 is formed to extend in the vertical direction.
  • Each Z-axis motor 43 is configured to rotate the corresponding ball screw shaft 42.
  • Each mounting head 41 is provided with a ball nut 41b (see FIG. 3) that is engaged (screwed) with the corresponding ball screw shaft 42.
  • the mounting head 41 is configured to be movable in the vertical direction along the ball screw shaft 42 together with a ball nut 41 b that engages (screws) with the ball screw shaft 42 when the ball screw shaft 42 is rotated by the Z-axis motor 43. ing.
  • the mounting head 41 is in a lowered position where the component E can be sucked and mounted (mounted), and in a raised state where the mounting head 41 can move in the horizontal direction. It is configured to be movable up and down between positions.
  • Each R-axis motor 44 is configured to rotate the corresponding mounting head 41 around the central axis of the nozzle 41a (around the Z direction).
  • the support unit 5 is configured to move the head unit 4 in the transport direction (X direction).
  • the support unit 5 includes a ball screw shaft 51 extending in the X direction, an X axis motor 52 that rotates the ball screw shaft 51, and a guide rail (not shown) extending in the X direction.
  • the head unit 4 is provided with a ball nut 45 (see FIG. 3) to which the ball screw shaft 51 is engaged (screwed).
  • the head unit 4 moves along the support portion 5 in the transport direction (X direction) together with the ball nut 45 engaged (screwed) with the ball screw shaft 51. It is configured to be possible.
  • the pair of rail portions 6 are fixed on the base 1 at both ends of the base 1 in the X direction.
  • the pair of rail portions 6 are configured to move the support portion 5 in a direction (Y direction) orthogonal to the transport direction.
  • the pair of rail portions 6 includes a pair of ball screw shafts 61 extending in the Y direction, and a plurality (two) of Y axis motors 62 provided for each ball screw shaft 61.
  • Each Y-axis motor 62 is configured to rotate the corresponding ball screw shaft 61.
  • the support portion 5 is provided with a ball nut (not shown) to which the ball screw shaft 61 is engaged (screwed).
  • the support portion 5 is conveyed along the pair of rail portions 6 together with the ball nuts engaged (screwed) with the respective ball screw shafts 61 by the respective ball screw shafts 61 being rotated synchronously by the respective Y-axis motors 62. It is configured to be movable in a direction (Y direction) orthogonal to the direction.
  • the head unit 4 is configured to be movable in the horizontal direction (X direction and Y direction) on the base 1. Thereby, the head unit 4 can move above the tape feeder 11, for example, and can adsorb
  • the component recognition camera 7 is fixed on the upper surface of the base 1 in the vicinity of the tape feeder 11 and is configured to take an image of the component E sucked by the nozzle 41a of the mounting head 41 prior to mounting the component E. ing.
  • the component recognition camera 7 is configured to take an image of the component E sucked by the nozzle 41a of the mounting head 41 from below (Z2 direction).
  • This imaging result is acquired by the control device 10.
  • the control device 10 recognizes the suction state of the component E (rotation posture and the suction position of the mounting head 41 relative to the nozzle 41a) viewed from below based on the imaging result of the component E sucked by the nozzle 41a of the mounting head 41. , Configured to correct.
  • the board recognition camera 8 is configured to take an image of the position recognition mark FM attached to the workpiece P prior to mounting the component E.
  • the position recognition mark FM is a mark for recognizing the position of the mount P.
  • the imaging result of the position recognition mark FM is acquired by the control device 10. Then, based on the imaging result of the position recognition mark FM, the accurate position and orientation of the mounted object P that is held by the mounted object holding unit 3 or held by the mounted object transport unit 2 is controlled. It can be recognized and corrected by the device 10.
  • the board recognition camera 8 is attached to the head unit 4. Specifically, the substrate recognition camera 8 is attached to the central position of the mounting nozzle array arranged in the X direction on the Y1 side of the head unit 4. Thereby, the board
  • the substrate recognition camera 8 is configured to move in the horizontal direction on the base 1 and to image the position recognition mark FM attached to the mount P from above the mount P (Z1 direction). Has been.
  • the height measuring unit 9 is configured by a laser displacement meter that measures the height position of the component mounting position on the mount P before mounting the component E.
  • the height measuring unit 9 irradiates the component mounting position on the mounting object P with laser light and receives the reflected light reflected from the component mounting position, thereby the height position of the component mounting position on the mounting object P. Is configured to measure.
  • the measurement result of the height position is acquired by the control device 10. Then, based on the measurement result of the height position, the height position of the component mounting position on the mounted object P can be recognized and corrected by the control device 10.
  • the height measuring unit 9 is attached to the head unit 4. Specifically, the height measuring unit 9 is attached between the mounting head 42 and the substrate recognition camera 8 at a substantially central position of the mounting nozzle array arranged in the X direction. Thereby, the height measuring unit 9 is configured to be movable together with the head unit 4 in the horizontal direction (X direction and Y direction) on the base 1. Further, the height measuring unit 9 is configured to move on the base 1 in the horizontal direction and irradiate the laser beam from above the component mounting position on the mounted object P.
  • the control device 10 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like so as to control the operation of the workpiece work apparatus 100. It is configured. Specifically, the control device 10 includes a mounted object transport unit 2, a mounted object holding unit 3, a head unit 4, a support unit 5, a pair of rail units 6, a component recognition camera 7, a board recognition camera 8, and a height. The measuring unit 9 and the tape feeder 11 are controlled in accordance with a program stored in advance, and the component E is mounted on the mounting object P.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the control device 10 places the central transporting unit 22 at a position where the mounting target P can be loaded or unloaded. It is comprised so that the control which positions a pair of conveyor part 221 may be performed. Specifically, the control device 10 determines the width between the pair of conveyor units 211 of the upstream transport unit 21 (the width in the Y direction) or the width between the pair of conveyor units 231 of the downstream transport unit 23, and the center. Control is performed to move and position the pair of conveyor sections 221 of the central transport section 22 in the Y direction at positions where the width between the pair of conveyor sections 221 of the transport section 22 substantially matches. .
  • the control device 10 when the control device 10 moves the article P to be mounted in a direction orthogonal to the transport direction, the width between the pair of conveyor units 221 of the central transport unit 22 ( A control is performed to move the pair of conveyor portions 221 in a direction orthogonal to the transport direction while maintaining the width in the Y direction. That is, the control device 10 synchronizes the Y1 side drive motor 225b that moves the Y1 side conveyor unit 221 and the Y2 side drive motor 225b that moves the Y2 side conveyor unit 221 to synchronize the pair of conveyor units. It is configured to perform control to move in a direction orthogonal to the transport direction.
  • control device 10 when the control device 10 performs an operation of delivering the mounted product P from the mounted product transport unit 2 to the mounted product holding unit 3, Control is performed to move the pair of conveyor sections 221 in a direction orthogonal to the transport direction so that the width (width in the Y direction) between the pair of conveyor sections 221 is increased. That is, the control device 10 performs control to move the pair of conveyor units 221 in the direction orthogonal to the conveyance direction so that the pair of conveyor units 221 of the central conveyance unit 22 are separated from each other in the direction orthogonal to the conveyance direction. It is configured.
  • the control device 10 performs an operation of receiving the mount P from the mount holding unit 3 by the mount transport unit 2, the width (Y between the pair of conveyor units 221 of the central transfer unit 22 is determined. It is configured to perform control to move the pair of conveyor portions in a direction orthogonal to the transport direction so that the width in the direction is narrowed. That is, the control device 10 performs control to move the pair of conveyor units 221 in the direction orthogonal to the conveyance direction so that the pair of conveyor units 221 of the central conveyance unit 22 are close to each other in the direction orthogonal to the conveyance direction. It is configured.
  • the control device 10 moves (conveys) the loaded object P in the conveyance direction (X direction) by the pair of conveyor units 221 of the central conveyance unit 22, thereby conveying the conveyance direction. It is configured to perform control for positioning to a predetermined position. As a result, the workpiece P is positioned at the horizontal mounting position N.
  • the substrate recognition camera 8 or the height measuring unit 9 detects the end of the mounted object P or the mounted object holding member 90 on the X2 side, and positions the mounted object P at the horizontal mounting position N.
  • a stopper member (not shown) can be provided on the downstream side (X2 side) of the central transport unit 22 to position the mounted object P at the horizontal mounting position N.
  • control device 10 is configured to perform control to hold and fix the positioned mount P by the clamp mechanism 226 when the mount P is positioned at the horizontal mounting position N. That is, both ends of the mounting object holding member 90 in the Y direction are sandwiched between the clamp mechanism 226 and the pair of conveyor guides 221a. As a result, the mounted object P is held by the mounted object transport unit 2 via the mounted object holding member 90.
  • the control device 10 causes the head unit 4 to perform the mounting work of the component E on the horizontal work surface P1 (see FIG. 4) of the work P that is held by the work transfer unit 2. It is configured as follows. That is, before the mounting object P is delivered from the mounting object transport unit 2 to the mounting object holding unit 3, the mounting operation of the component E is performed by the head unit 4 on the horizontal work surface P1 of the mounting object P. Done. Further, during the mounting work on the horizontal work surface P1, the image of the component E by the component recognition camera 7, the image of the position recognition mark FM by the board recognition camera 8, and the height of the height of the component mounting position on the workpiece P Measurement by the height measuring unit 9 is appropriately performed.
  • a possible component E mounting operation is performed. That is, a mounting operation of a small component E (such as a component E having a small size or a component E having a small weight) that is unlikely to be displaced from the mounting position when the mount P is tilted is performed.
  • a small component E such as a component E having a small size or a component E having a small weight
  • the clamp mechanism unit 226 fixes the mounting target P. It is configured to perform control to release the holding. That is, the sandwiching of both end portions in the Y direction of the workpiece holding member 90 between the clamp mechanism 226 and the pair of conveyor guides 221a is released.
  • the control apparatus 10 orthogonally crosses a pair of conveyor part 221 with a conveyance direction, maintaining the width
  • the control apparatus 10 is configured to move in the Y1 direction so as to perform control for positioning the mount P at a predetermined position in a direction orthogonal to the transport direction.
  • the workpiece P is positioned at the delivery position M.
  • the single held portion 90 a of the mounted object holding member 90 that holds the mounted object P is disposed substantially immediately above the single holding portion 34 of the mounted object holding portion 3. Position.
  • the control device 10 moves the holding portion 34 upward by the first shaft mechanism portion 31 of the mounted object holding portion 3, and the holding portion 34 moves the holding object holding member 90. It is configured to perform control for holding a single held portion 90a. At this time, the control device 10 holds from the position where it does not interfere with the pair of conveyor sections 221 to the position where the mounting object P can be held when moving in the direction orthogonal to the conveying direction of the pair of conveyor sections 221. It is comprised so that the control which moves the part 34 may be performed. At this time, the control device 10 is configured to control the holding unit 34 to move from the conveyor belt 221b of the pair of conveyor units 221 to a position where the mounting target holding member 90 (the mounting target P) is lifted. ing.
  • the control apparatus 10 after holding the to-be-mounted object P by the to-be-mounted object holding
  • FIG. Control is performed to move the pair of conveyor portions 221 in a direction orthogonal to the transport direction so as to spread.
  • the control device 10 is configured to mount the mounted object P and the mounted object from the position where the mounted object P can be supported to the mounted object P held by the mounted object holding unit 3.
  • Control is performed to move the pair of conveyor sections 221 in a direction orthogonal to the transport direction to a position where the mounting object holding section 3 does not interfere.
  • the mounted object P is held by the mounted object holding part 3, and the mounted object P is delivered from the mounted object transport part 2 to the mounted object holding part 3.
  • the width (width in the Y direction) between the pair of conveyor sections 221 of the central transport section 22 is sufficiently larger than the width in the direction orthogonal to the transport direction of the object P to be mounted.
  • the control device 10 has a width between the pair of conveyor units 221 of the central conveyance unit 22 that is sufficiently larger than the width in the direction orthogonal to the conveyance direction of the mounted object P.
  • the mounted object P is tilted by the mounted object holding part 3 in a state where the mounted object P is spread, and the mounting work of the component E is performed on the inclined work surface P2 of the mounted object P by the head unit 4. Yes.
  • the mounting object P is moved in the vertical direction by the first shaft mechanism part 31, tilted by the second shaft mechanism part 32, or rotated by the third shaft mechanism part 33.
  • the posture of the workpiece P is adjusted so that the inclined work surface P2 (see FIG. 4) is parallel to the horizontal plane (XY plane).
  • a mounting operation is performed by the head unit 4 on each inclined work surface P2 (P2a to P2d) in a state of being parallel to the horizontal plane. Further, during the mounting work on the inclined work surface P2, the component recognition camera 7 images the component E, the board recognition camera 8 images the position recognition mark FM, and the height measurement unit 9 mounts the component mounting position on the workpiece P. Measurement of the height position is appropriately performed.
  • the control device 10 finishes mounting on the mounting object P held in the mounting object holding portion 3 (that is, mounting on the inclined work surface P2),
  • the posture of the mounting object holding unit 3 is adjusted so that the mounting object P can be received by the mounting object transport unit 2.
  • the control device 10 is configured to adjust the posture of the mounted object holding unit 3 so that the horizontal work surface P1 of the mounted object P is parallel to the horizontal plane (XY plane). .
  • the width (width in the Y direction) between the pair of conveyor units 221 of the central transport unit 22 is reduced. It is comprised so that a pair of conveyor part 221 may be controlled to move to the direction orthogonal to a conveyance direction.
  • the control device 10 is configured so that, when mounted on the mount P in a state of being held by the mount holding unit 3, from the position where it does not interfere with the mount P and the mount holding unit 3. Control is performed to move the pair of conveyor portions 221 in a direction orthogonal to the transport direction to a position where the mounting object P can be supported.
  • the control apparatus 10 moves a pair of conveyor part 221 to the position of the state which can support the to-be-mounted object P, the conveyor belt of the to-be-mounted object holding member 90 (mounted object P) and a pair of conveyor part 221 will be shown.
  • the holding portion 90a of the mounted object holding member 90 is released by the holding portion 34 in a non-contact state with 221b, and the holding portion 34 is lowered by the first shaft mechanism portion 31 of the mounted object holding portion 3. It is configured to perform control to move in the direction.
  • the control device 10 holds the mounting object P from a position where it can be held to a position where it does not interfere with the pair of conveyor sections 221 when moving in a direction orthogonal to the conveying direction of the pair of conveyor sections 221. It is comprised so that the control which moves the part 34 may be performed.
  • the mounted object P is received from the mounted object holding part 3 by the mounted object transport part 2.
  • control apparatus 10 orthogonally crosses a pair of conveyor part 221 with a conveyance direction, maintaining the width
  • the control apparatus 10 is configured to control the positioning of the pair of conveyor portions 221 at positions where the workpiece P can be loaded or unloaded by moving in the Y2 direction. Thereby, the to-be-mounted object P is positioned in the horizontal mounting position N.
  • the control device 10 is configured to perform control to hold and fix the positioned mount P by the clamp mechanism 226 when the mount P is positioned at the horizontal mounting position N. That is, both ends of the mounting object holding member 90 in the Y direction are sandwiched between the clamp mechanism 226 and the pair of conveyor guides 221a. As a result, the mounted object P is held by the mounted object transport unit 2 via the mounted object holding member 90.
  • the control device 10 causes the head unit 4 to perform the mounting work of the component E on the horizontal work surface P1 (see FIG. 4) of the work P that is held by the work transfer unit 2. It is configured as follows. That is, after receiving the mounting object P from the mounting object holding part 3 by the mounting object transport part 2, the mounting operation of the component E is performed by the head unit 4 on the horizontal work surface P1 of the mounting object P. Is called. Further, during the mounting work on the horizontal work surface P1, the image of the component E by the component recognition camera 7, the image of the position recognition mark FM by the board recognition camera 8, and the height of the height of the component mounting position on the workpiece P Measurement by the height measuring unit 9 is appropriately performed.
  • the component E is mounted. That is, a mounting operation of a large component E (such as a component E having a large size or a component E having a large weight) that is likely to be displaced from the mounting position when the mount P is tilted is performed.
  • a large component E such as a component E having a large size or a component E having a large weight
  • the clamp mechanism 226 holds the mount P. It is configured to perform control to cancel. That is, the sandwiching of both end portions in the Y direction of the workpiece holding member 90 between the clamp mechanism 226 and the pair of conveyor guides 221a is released.
  • control apparatus 10 performs control which delivers the mounted P after mounting to the downstream conveyance part 23 from the center conveyance part 22, and unloads the mounted P after mounting by the downstream conveyance part 23. It is configured as follows.
  • step S ⁇ b> 1 the mount P is carried in by the upstream transport unit 21 of the mount transport unit 2.
  • step S2 positioning of the to-be-mounted object P in the conveyance direction is performed. That is, in step S ⁇ b> 2, the loaded workpiece P is moved (conveyed) in the transport direction (X direction) by the pair of conveyor units 221 of the central transport unit 22 and positioned at a predetermined position in the transport direction. Thereby, the to-be-mounted object P is positioned in the horizontal mounting position N as shown in FIG.
  • step S3 the mounting operation by the head unit 4 before the mounting object P is delivered from the mounting object transport unit 2 to the mounting object holding unit 3 with respect to the horizontal work surface P1 of the mounting object P. Done.
  • the mounting object P is held and fixed by the clamp mechanism 226.
  • the relatively small component E is mounted on the horizontal work surface P1 of the mounting object P. .
  • step S4 positioning in the direction orthogonal to the conveyance direction of the mounting object P is performed. That is, in step S4, while maintaining the width (width in the Y direction) between the pair of conveyor units 221 of the central conveyance unit 22, the pair of conveyor units 221 is moved in the Y1 direction orthogonal to the conveyance direction, and conveyed.
  • the mounting object P is positioned at a predetermined position in a direction orthogonal to the direction. As a result, the object P is positioned at the delivery position M as shown in FIG.
  • step S5 the mounted object P is held by the mounted object holding unit 3. That is, in step S5, the holding portion 34 is moved upward by the first shaft mechanism portion 31 of the mounted object holding portion 3, and the held portion 90a of the mounted object holding member 90 is moved by the moved holding portion 34. Retained.
  • step S6 a pair of conveyor part 221 is moved to the direction orthogonal to a conveyance direction so that the width between a pair of conveyor parts 221 of the center conveyance part 22 spreads. That is, in step S6, as shown in FIG. 10, when mounted on the mount P in the state of being held by the mount holding unit 3, the state of not interfering with the mount P and the mount holding unit 3 The pair of conveyor portions 221 is moved in the direction orthogonal to the transport direction to the position.
  • step S7 mounting work processing is performed on each inclined work surface P2 (P2a to P2d) of the work P.
  • the mounting work processing of the mounting object P on each inclined work surface P2 (P2a to P2d) will be described later.
  • step S8 the posture of the mounted object holding unit 3 is adjusted so that the mounted object holding unit 3 can receive the mounted object P. That is, in step S8, as shown in FIG. 12, the posture of the mounted object holding portion 3 is adjusted so that the horizontal work surface P1 of the mounted object P is parallel to the horizontal plane (XY plane).
  • step S9 a pair of conveyor part 221 is moved to the direction orthogonal to a conveyance direction so that the width
  • step S10 the holding of the to-be-mounted object P by the to-be-mounted object holding part 3 is cancelled
  • step S11 a pair of conveyor part 221 of the center conveyance part 22 is moved to the position which can carry out the to-be-mounted object P, and is positioned. Thereby, as shown in FIG. 14, the to-be-mounted object P is positioned in the horizontal mounting position N. As shown in FIG.
  • step S12 the mounting work by the head unit 4 after receiving the mounting object P from the mounting object holding part 3 by the mounting object transport part 2 on the horizontal work surface P1 of the mounting object P is performed. Done. At this time, as shown in FIG. 14, the workpiece P is held and fixed by the clamp mechanism 226. In the mounting operation after receiving the mount P from the mount holder 3 by the mount transport unit 2, the relatively large component E is mounted on the horizontal work surface P1 of the mount P. .
  • step S13 the to-be-mounted object P is carried out by the downstream conveyance part 23 of the to-be-mounted object conveyance part 2.
  • step S21 the component E supplied from the tape feeder 11 is sucked by the mounting head 41 of the head unit 4.
  • step S22 the component recognition camera 7 captures an image of the suction state of the component E sucked by the mounting head 41 from below. As a result, the suction state of the component E sucked by the mounting head 41 is recognized.
  • step S23 the inclined work surface P2 of the mounted object P on which the mounting operation is performed is made parallel to the horizontal plane (XY plane) by the mounted object holding unit 3.
  • step S ⁇ b> 23 the mounted object P held by the holding part 34 of the mounted object holding part 3 is moved in the vertical direction by the first shaft mechanism part 31 and is inclined by the second shaft mechanism part 32. Or rotated by the third shaft mechanism 33. Thereby, the inclined work surface P2 of the work P to be mounted is made parallel to the horizontal plane (XY plane).
  • step S24 the mounting head 42 that has sucked the component E is raised to a height position where the mounting head 42 can move horizontally.
  • step S25 the head unit 4 is moved in the horizontal direction toward the workpiece P.
  • step S26 the board recognition camera 8 images the position recognition mark FM on the inclined work surface P2 of the work P to be mounted. As a result, the position of the mounted object P held by the mounted object holding part 3 is recognized.
  • step S27 the height measuring unit 9 is moved to a position above the component mounting position on the mount P.
  • step S28 the height of the inclined work surface P2 is measured by the height measuring unit 9. Specifically, in step S28, the height measurement unit 9 measures the height position of the component mounting position on the inclined work surface P2 of the work P to be mounted. The height of the inclined work surface P2 is measured every time the component E is mounted.
  • step S29 the mounting head 41 is moved to a position above the component mounting position.
  • step S ⁇ b> 30 the component E is mounted at the component mounting position of the mounted object P by the mounting head 41.
  • the picked-up component based on the imaging result by the component recognition camera 7 in step S22, the imaging result by the substrate recognition camera 8 in step S26, and the measurement result by the height measuring unit 9 in step S28.
  • the posture of E and the component mounting position (horizontal position, vertical position) are appropriately corrected, and the component E is mounted. Then, the mounting work process on the inclined work surface P2 is completed.
  • the pair of conveyor units 221 are configured to be movable independently of each other in a direction orthogonal to the transport direction.
  • a pair of conveyor part 221 is comprised so that the operation
  • variety between a pair of conveyor parts 221 can be changed according to the width
  • the mounted object P can be transferred by moving the mounted object P in a direction orthogonal to the conveying direction by the pair of conveyor units 221.
  • the pair of conveyor portions 221 can be moved away from each other in the direction orthogonal to the transport direction, and the article P can be delivered.
  • the degree of freedom of driving of the pair of conveyor units 221 can be improved, so that the pair of conveyor units 221 is driven and the mounted object from the mounted object transport unit 2 to the mounted object holding unit 3 P can be delivered appropriately.
  • the control device 10 is configured to perform control to move the pair of conveyor units 221 in a direction orthogonal to the transport direction so that the width between the pair of conveyor units 221 is widened.
  • the mounting object can be mounted only by widening the width between the pair of conveyor parts 221 while the mounting object P is held by the mounting object holding part 3.
  • the mounted object P can be delivered from the object transport unit 2 to the mounted object holding unit 3.
  • the mounting object P can be transferred from the mounting object transport unit 2 to the mounting object holding unit 3 with a simple configuration.
  • the mounted object P is inclined by the mounted object holding part 3 while the width between the pair of conveyor parts 221 is widened, and the mounted object is mounted by the head unit 4.
  • the control device 10 is configured to cause P to perform work. Accordingly, when the mounting object P is inclined by the mounting object holding part 3 and the work is performed on the mounting object P by the head unit 4, the pair of conveyor parts 211 can be retracted. It can suppress that the conveyor part 221 interferes with the to-be-mounted object holding
  • the work is performed by the head unit 4 in a state where the mount P is inclined by the mount holder 3, and then the mount is transferred by the mount transport unit 2.
  • control is performed to move the pair of conveyor units 221 in a direction orthogonal to the transport direction so that the width between the pair of conveyor units 221 is narrowed.
  • the control device 10 is configured.
  • the mounting object transport unit 2 can mount the mounted object from the mounted object holding part 3 only by narrowing the width between the pair of conveyor parts 221 while the mounted object P is held by the mounted object holding part 3.
  • the object P can be received.
  • the to-be-mounted object P is carried out by a pair of conveyor part 221.
  • the controller 10 is configured to do so.
  • a pair of conveyors is also provided.
  • the mounting object P can be easily positioned at the delivery position M.
  • the workpiece holder 3 is mounted by the workpiece carrier 2 before the workpiece P is delivered from the workpiece carrier 2 to the workpiece holder 3.
  • the head unit 4 performs work on the horizontal work surface P1 of the mount P held by the mount transport unit 2.
  • the control device 10 is configured as follows. Thereby, when the holding force of the mounting object P is larger than that of the mounting object holding part 3 as in the present embodiment, the state of being held by the mounting object transfer part 2 By performing the mounting operation with the head unit 4 on the horizontal work surface P1 of the workpiece P, the mounting operation with the head unit 4 can be performed with high accuracy on the horizontal work surface P1.
  • the transferred object is transferred by the mounted object transfer unit 2, and the mounted object holding part is interposed via the mounted object holding member 90.
  • the mounted object P is configured to be held by 3.
  • the to-be-mounted object holding member 90 is provided with a single to-be-held part 90 a for holding the to-be-mounted object holding part 3.
  • maintenance part 3 is comprised so that the single to-be-held part 90a of the to-be-mounted object holding member 90 may be hold
  • the mount P can be easily transferred from the mount transport unit 2 to the mount holder 3.
  • the present invention is not limited thereto.
  • the present invention may be applied to an article work apparatus other than the component mounting apparatus.
  • the present invention may be applied to a mounted object working apparatus as a viscous material applying apparatus that performs an operation of applying a viscous material such as solder to a mounted object.
  • a viscous material application unit for applying a viscous material to an object to be mounted is provided in the viscous material application device.
  • the mounting object held by the mounting object holding section may be inclined, and the viscous material application unit may apply the viscous material to the mounted object.
  • the viscous material application unit is an example of the “working unit” in the claims.
  • the present invention may be applied to a mounted object working apparatus as a reflow apparatus that performs an operation of reflowing a viscous material such as solder on the mounted object.
  • a laser beam irradiation unit that irradiates a laser beam to reflow the viscous material on the mounted object is provided in the reflow apparatus.
  • the mounting object held by the mounting object holding portion may be tilted, and the laser light irradiation unit may irradiate the laser light to reflow the viscous material on the mounting object.
  • the laser beam irradiation unit is an example of the “working unit” in the claims.
  • the present invention may be applied to a mounted object working apparatus as a mounted object inspection apparatus that performs work for inspecting a mounted object using visible light, infrared light, X-rays, or the like.
  • a mounted object inspection apparatus that performs work for inspecting a mounted object using visible light, infrared light, X-rays, or the like.
  • an inspection unit that irradiates the object to be mounted with visible light, infrared light, X-rays, or the like is provided in the object inspection apparatus. Then, the mounting object held by the mounting object holding unit is tilted, and the inspection unit irradiates visible light, infrared light, X-rays, etc. to photograph and inspect the mounted object. You can do it.
  • the inspection unit is an example of the “working unit” in the claims.
  • the mounted object has a flat work surface (horizontal work surface and inclined work surface) is shown, but the present invention is not limited to this.
  • the mounted object may have a non-flat work surface (work surface as a curved surface).
  • you may have both a flat work surface and a non-flat work surface.
  • the mounted object has one horizontal work surface and four inclined work surfaces is shown, but the present invention is not limited to this.
  • the mounted object may have two or more horizontal work surfaces.
  • the mounted object may have a plurality of inclined work surfaces other than one or four.
  • the mounted object is transferred by the mounted object transfer unit via the mounted object holding member and held by the mounted object holding unit.
  • the present invention is not limited to this. I can't.
  • the mounted object may be directly transferred by the mounted object transfer unit as long as it can be transferred.
  • the mounted object may be directly held by the mounted object holding part as long as it can be held.
  • the mounting object holding unit is configured to move, tilt, and rotate the mounting object in the vertical direction, but the present invention is not limited to this.
  • the mounted object holding portion only needs to be configured to be able to tilt at least the mounted object.
  • control apparatus which controls a pair of conveyor part to move in the direction orthogonal to a conveyance direction so that the width between a pair of conveyor parts may spread. May do.
  • the mounted object holding unit can mount the mounted object.
  • the control device receives the mounted object from the mounted object holding unit before the delivery of the mounted object from the mounted object transfer unit to the mounted object holding unit and by the mounted object transfer unit.
  • the present invention is not limited to this, although the example in which the mounting operation of the component is performed by the head unit on the horizontal work surface of the mounted object in both of the cases described above.
  • the control device delivers the mounting object from the mounting object transport unit to the mounting object holding unit, or after receiving the mounting object from the mounting object holding unit by the mounting object transport unit.
  • a component mounting operation may be performed by the head unit on the horizontal work surface of the mounted object.
  • the mounting work is performed on the horizontal work surface of the mounting object while being held by the mounting object transport unit, and the mounting object is held by the mounting object holding unit.
  • the mounting work may be performed on both the horizontal work surface of the mounted object and the inclined work surface of the mounted object while being held by the mounted object holding portion.
  • the mounted object holding member may be provided with a plurality of held parts.
  • the mounted object holding unit may be configured to hold the mounted object by a method other than gripping.
  • the mounted object holding unit may be configured to hold the mounted object by adsorbing the mounted object with negative pressure.
  • positioning part was provided only in the edge part of the one side (Y2 side) of a base
  • the tape feeder was arrange
  • this invention is not limited to this.
  • the feeder placement portions may be provided at both ends (both sides in the Y direction) of the base, respectively, and the tape feeders may be placed respectively.
  • the height measurement of the inclination work surface was performed for every mounting of a component
  • the example where the height position for every component mounting position in the inclination work surface was acquired was shown.
  • the present invention is not limited to this.
  • the measurement of the height of the inclined work surface may not be performed every time the component is mounted.
  • the height position for each component mounting position on the inclined work surface may be acquired by the following method. That is, first, the height of a plurality of three or more locations on the inclined work surface is measured by the height measuring unit.
  • a least square plane (a plane obtained by the least square method) is calculated by the control device. Then, based on the calculated least squares plane, the height position for each component mounting position on the inclined work surface may be acquired by the control device.
  • the processing operation of the control device has been described using a flow-driven flowchart in which processing is performed in order along the processing flow, but the present invention is not limited to this.
  • the processing operation of the control device may be performed by event-driven (event-driven) processing that executes processing in units of events. In this case, it may be performed by a complete event drive type or a combination of event drive and flow drive.
  • Control device 90 Mounted object holding member 90a Held part 100 Mounted object working device 221 Conveyor part E Part P Mounted object P1 Horizontal work surface P2, P2a, P2b, P2c, P2d Inclined work surface M Delivery position

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Abstract

L'invention concerne un dispositif de travail de corps de montage (100) comprenant : une unité de transport de corps de montage (2) qui transporte un corps de montage (P) ; une unité de maintien de corps de montage (3) qui maintient le corps de montage ; et une unité de tête (4) qui effectue un travail sur le corps de montage. L'unité de transport de corps de montage comprend une paire de segments de transporteur (221). La paire de segments de transporteur sont configurés de manière à pouvoir se déplacer indépendamment l'un de l'autre dans une direction orthogonale par rapport à la direction de transport.
PCT/JP2016/050741 2016-01-12 2016-01-12 Dispositif de travail de corps de montage WO2017122282A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201680066885.2A CN108353538B (zh) 2016-01-12 2016-01-12 元件安装装置
JP2017561095A JP6720219B2 (ja) 2016-01-12 2016-01-12 部品実装装置
DE112016004647.2T DE112016004647T5 (de) 2016-01-12 2016-01-12 Bestückungskörperarbeitsvorrichtung
PCT/JP2016/050741 WO2017122282A1 (fr) 2016-01-12 2016-01-12 Dispositif de travail de corps de montage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/050741 WO2017122282A1 (fr) 2016-01-12 2016-01-12 Dispositif de travail de corps de montage

Publications (1)

Publication Number Publication Date
WO2017122282A1 true WO2017122282A1 (fr) 2017-07-20

Family

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PCT/JP2016/050741 WO2017122282A1 (fr) 2016-01-12 2016-01-12 Dispositif de travail de corps de montage

Country Status (4)

Country Link
JP (1) JP6720219B2 (fr)
CN (1) CN108353538B (fr)
DE (1) DE112016004647T5 (fr)
WO (1) WO2017122282A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
WO2019150439A1 (fr) * 2018-01-30 2019-08-08 ヤマハ発動機株式会社 Dispositif de montage de composant

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JP2004193507A (ja) * 2002-12-13 2004-07-08 Juki Corp 電子部品実装装置
JP2007214227A (ja) * 2006-02-08 2007-08-23 Matsushita Electric Ind Co Ltd 基板保持装置、基板保持方法、並びに該装置及び方法を利用する部品実装装置、部品実装方法
JP2012119643A (ja) * 2010-12-03 2012-06-21 Fuji Mach Mfg Co Ltd 電子回路部品装着方法，電子回路部品装着機および立体被装着体保持治具
JP5721469B2 (ja) * 2011-02-28 2015-05-20 富士機械製造株式会社 部品実装方法および部品実装装置

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JPS5721469A (en) 1980-07-14 1982-02-04 Nippon Soken Inc Heat-resisting, electrically conductive adhesive
JP4165940B2 (ja) * 1998-10-13 2008-10-15 松下電器産業株式会社 処理装置
JP2009049232A (ja) * 2007-08-21 2009-03-05 Dainippon Screen Mfg Co Ltd 基板処理装置
JP2014014989A (ja) * 2012-07-10 2014-01-30 Panasonic Corp 基板搬送装置及び基板搬送装置における異物の検出方法
EP2955987B1 (fr) * 2013-02-08 2017-01-11 Yamaha Hatsudoki Kabushiki Kaisha Système de transport de substrat d'un dispositif de montage de composant électronique

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Publication number Priority date Publication date Assignee Title
JP2004193507A (ja) * 2002-12-13 2004-07-08 Juki Corp 電子部品実装装置
JP2007214227A (ja) * 2006-02-08 2007-08-23 Matsushita Electric Ind Co Ltd 基板保持装置、基板保持方法、並びに該装置及び方法を利用する部品実装装置、部品実装方法
JP2012119643A (ja) * 2010-12-03 2012-06-21 Fuji Mach Mfg Co Ltd 電子回路部品装着方法，電子回路部品装着機および立体被装着体保持治具
JP5721469B2 (ja) * 2011-02-28 2015-05-20 富士機械製造株式会社 部品実装方法および部品実装装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019150439A1 (fr) * 2018-01-30 2019-08-08 ヤマハ発動機株式会社 Dispositif de montage de composant

Also Published As

Publication number Publication date
CN108353538A (zh) 2018-07-31
DE112016004647T5 (de) 2018-06-28
JP6720219B2 (ja) 2020-07-08
CN108353538B (zh) 2020-08-11
JPWO2017122282A1 (ja) 2018-07-26

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