WO2018189862A1 - Engin de chantier - Google Patents

Engin de chantier Download PDF

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Publication number
WO2018189862A1
WO2018189862A1 PCT/JP2017/015134 JP2017015134W WO2018189862A1 WO 2018189862 A1 WO2018189862 A1 WO 2018189862A1 JP 2017015134 W JP2017015134 W JP 2017015134W WO 2018189862 A1 WO2018189862 A1 WO 2018189862A1
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WO
WIPO (PCT)
Prior art keywords
component
stick
holder
pair
holding
Prior art date
Application number
PCT/JP2017/015134
Other languages
English (en)
Japanese (ja)
Inventor
泰成 水野
Original Assignee
株式会社Ｆｕｊｉ
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 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to JP2019512128A priority Critical patent/JPWO2018189862A1/ja
Priority to PCT/JP2017/015134 priority patent/WO2018189862A1/fr
Publication of WO2018189862A1 publication Critical patent/WO2018189862A1/fr

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Classifications

    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/02—Feeding of components
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components

Definitions

  • the present invention relates to a working machine for mounting electronic circuit components on a substrate.
  • Patent Document 1 a land of a lower package component mounted on a printed circuit board is imaged by a substrate recognition camera, position information of the lower package component is obtained from the land of the corner portion, and the upper package component is An example of an electronic component mounting apparatus mounted on the side package component is described.
  • the present invention has been made to solve the above-described problems, and provides a working machine that can mount an upper part on a lower part without deforming the substrate. Objective.
  • the present specification describes a lower component supply device that supplies a lower component to be mounted on a substrate, and an upper component supply that supplies an upper component to be mounted on the upper side of the lower component.
  • An apparatus a working head having a holding tool for holding a component, a moving device for moving the working head, and a control device for controlling the operation of the holding tool and the operation of the moving device.
  • the upper part holding process for holding the upper part supplied by the upper part supply apparatus by the holder, and the lower part supplied by the lower part supply apparatus for the upper part held by the holder.
  • An upper part moving process for moving the upper part above the side part, and an upper part mounting process for mounting the upper part on the lower part on the lower part supply device. Aircraft are disclosed.
  • the upper part held by the holder is mounted on the lower part on the lower part supply apparatus, the upper part can be mounted on the lower part without deforming the substrate. It becomes possible.
  • FIG. 10 is a perspective view showing an example in which an upper part is mounted on a lower part according to another embodiment 1;
  • FIG. 1 shows a component mounter 10.
  • the component mounter 10 is a device for performing a component mounting operation on the circuit substrate 12.
  • the component mounting machine 10 includes an apparatus main body 20, a substrate conveyance holding device 22, a component mounting device 24, a mark camera (imaging device) 26, a parts camera 28, a loose component supply device 30, a component supply device 32, and a control device (FIG. 8).
  • Reference) 36 is provided.
  • the circuit substrate 12 includes a circuit board, a three-dimensional structure substrate, and the like, and the circuit board includes a printed wiring board and a printed circuit board.
  • the apparatus main body 20 includes a frame portion 40 and a beam portion 42 that is overlaid on the frame portion 40.
  • the substrate conveyance holding device 22 is disposed in the center of the frame portion 40 in the front-rear direction, and includes a conveyance device 50 and a clamp device 52.
  • the conveyance device 50 is a device that conveys the circuit substrate 12
  • the clamp device 52 is a device that holds the circuit substrate 12.
  • the base material transport and holding device 22 transports the circuit base material 12 and holds the circuit base material 12 fixedly at a predetermined position.
  • the conveyance direction of the circuit substrate 12 is referred to as an X direction
  • a horizontal direction perpendicular to the direction is referred to as a Y direction
  • a vertical direction is referred to as a Z direction. That is, the width direction of the component mounting machine 10 is the X direction, and the front-rear direction is the Y direction.
  • the component mounting device 24 is disposed in the beam portion 42 and includes two work heads 60 and 62 and a work head moving device 64. As shown in FIG. 2, a component holder (holder) 66 is detachably provided on the lower end surface of each work head 60, 62.
  • the component holder 66 has a pair of claws 67. As will be described later, by bringing the pair of claws 67 close to each other, the components are gripped and the pair of claws 67 are separated. Remove the gripped parts.
  • the work head moving device 64 has an X direction moving device 68, a Y direction moving device 70, and a Z direction moving device 72.
  • the X-direction moving device 68 and the Y-direction moving device 70 have electromagnetic motors (see FIG. 8) 212 and 214, respectively. By the operation of the electromagnetic motors 212 and 214, the two work heads 60, 62 moves integrally to an arbitrary position on the frame portion 40.
  • Each Z-direction moving device 72 has electromagnetic motors (see FIG. 8) 216A and 216B, and the sliders 74 and 76 are individually moved in the vertical direction by the operation of the electromagnetic motors 216A and 216B. Further, as shown in FIG. 2, each of the work heads 60 and 62 is detachably attached to the sliders 74 and 76, and the Z-direction moving device 72 individually moves the sliders 74 and 76 in the vertical direction. That is, the work heads 60 and 62 are individually moved in the vertical direction by the Z-direction moving devices 72.
  • Each electromagnetic motor 212, 214, 216A, 216B has an encoder (not shown), and the encoder detects the rotation angle of each electromagnetic motor 212, 214, 216A, 216B.
  • the operations of the electromagnetic motors 212, 214, 216A, and 216B are controlled so that the rotation angles of the electromagnetic motors 212, 214, 216A, and 216B become the target rotation angles, so that the work heads 60 and 62 can be Move to position.
  • the work heads 60 and 62 have electromagnetic motors (see FIG. 8) 218A and 218B.
  • the operation of the electromagnetic motors 218A and 218B can rotate to the lower end surfaces of the work heads 60 and 62.
  • Each attached component holder 66 rotates about the vertical axis.
  • Each electromagnetic motor 218A, 218B has an encoder (not shown), and the rotation angle of each electromagnetic motor 2128, 218B is detected by the encoder.
  • each electromagnetic motor 218A, 218B is controlled so that the rotation angle of each electromagnetic motor 218A, 218B becomes the target rotation angle, so that the electromagnetic motor 218A, 218B can be pivotally attached to the lower end surface of each work head 60, 62.
  • Each component holder 66 is rotated about the vertical axis from the origin position to the target rotation angle. That is, the components gripped by the pair of claws 67 of each component holder 66 can be rotated around the vertical axis.
  • the mark camera (imaging device) 26 is attached to the slider 74 so as to face downward, and is moved together with the work head 60 in the X, Y, and Z directions. As a result, the mark camera (imaging device) 26 images an arbitrary position on the frame unit 40. As shown in FIG. 1, the parts camera 28 is disposed between the base material conveyance holding device 22 and the component supply device 32 on the frame portion 40 so as to face upward. Thereby, the parts camera 28 images the components gripped by the component holder 66 of the work heads 60 and 62.
  • the bulk component supply device 30 is disposed at one end of the frame portion 40 in the front-rear direction.
  • the separated component supply device 30 is a device that aligns a plurality of components scattered in a separated state and supplies the components in an aligned state. That is, it is an apparatus that aligns a plurality of components in an arbitrary posture into a predetermined posture and supplies the components in a predetermined posture.
  • the component supply device 32 is disposed at the other end of the frame portion 40 in the front-rear direction.
  • the component supply device 32 includes a tray-type component supply device 78 and a feeder-type component supply device 80.
  • the tray-type component supply device 78 is a device that supplies components placed on the tray.
  • the feeder-type component supply device 80 is a device that supplies components by the stick feeder 82.
  • the stick feeder 82 will be described in detail.
  • examples of the components supplied by the bulk component supply device 30 and the component supply device 32 include an electronic circuit component, a solar cell component, and a power module component.
  • Electronic circuit components include components having leads and components not having leads.
  • the stick feeder 82 is detachably attached to a feeder holding base 86 fixedly provided at the other end of the frame portion 40.
  • the stick feeder 82 is a device that pushes out an electronic circuit component from a component housing stick (see FIG. 3) 88 and supplies the extruded electronic circuit component at a component supply position.
  • the component housing stick 88 is composed of a stick case 90 and a plurality of electronic circuit components 92, as shown in FIG.
  • the stick case 90 is made of resin and has a hollow stick shape inside. That is, the stick case 90 has a tube shape with both ends opened.
  • the internal shape of the stick case 90 is substantially the same as the shape of the electronic circuit component 92, and the internal size of the stick case 90 is slightly larger than the external size of the electronic circuit component 92.
  • a plurality of electronic circuit components 92 are accommodated in the stick case 90 in a line.
  • the electronic circuit component 92 moves along the axial direction of the stick case 90 with almost no rattle inside the stick case 90.
  • the component accommodation stick 88 is distributed in the market in a state where a plurality of electronic circuit components 92 are accommodated in the stick case 90.
  • the user can distribute the stick case 90 in the market.
  • the electronic circuit component 92 housed in the stick case 90 includes a fuse, a fuse socket, a connector, a DIP (abbreviation for Dual Inline Package), and the like.
  • the stick feeder 82 includes a feeder main body 100, a stick holding unit 102, a component buffer unit 104, a component supply unit 106, and a component feeding device 108.
  • the electronic circuit component 92 is sent out from the component accommodation stick 88 held by the holding unit 102, and the sent electronic circuit component 92 is supplied by the component supply unit 106.
  • the feeder main body 100 is mounted on a feeder holding base 86 provided at the end of the frame 40 of the component mounter 10.
  • the front side portion of the feeder main body 100 where the component supply unit 106 is provided is located inside the component mounter 10, and the feeder main body 100.
  • the portion on the rear side where the stick holding unit 102 is provided is located outside the component mounter 10.
  • the stick holding unit 102 includes a pair of holding members 110 and 112 and a holding device 114.
  • One clamping member 110 of the pair of clamping members 110, 112 is erected on the upper surface of the rear side end of the feeder main body 100, and the other clamping member 112 is generally located at the center of the feeder main body 100. Stands on the top surface.
  • the pair of sandwiching members 110 and 112 face each other, and a plurality of component receiving sticks 88 are stacked substantially horizontally between the pair of sandwiching members 110 and 112, and It is arranged on the upper surface.
  • the holding device 114 is a device that holds a plurality of component housing sticks 88 disposed between the pair of clamping members 110 and 112, and includes a first holding mechanism (not shown) and a second holding mechanism (not shown). Including.
  • the first holding mechanism holds the lowermost component storage stick 88 among the plurality of component storage sticks 88 stacked between the pair of clamping members 110 and 112. And when holding
  • the second holding mechanism moves the second component storage stick 88 from the bottom of the plurality of component storage sticks 88 stacked between the pair of clamping members 110 and 112 to the lowest component storage stick 88. And a component holding stick 88 stacked on the second component holding stick 88.
  • the holding of the component storage stick 88 by the first holding mechanism is released and the component storage stick 88 is released below the feeder main body 100, the holding of the component storage stick 88 by the second holding mechanism is released.
  • the second component receiving stick 88 from the bottom moves downward and is held by the first holding mechanism.
  • the third and subsequent component housing sticks 88 from the bottom are held by the second holding mechanism in a state where they are moved downward step by step.
  • the component buffer unit 104 includes a main body 121 and a lid 122.
  • the main body 121 is a member having a generally square bar shape, and a concave portion 123 is formed on the upper surface of the main body 121 so as to extend in the axial direction thereof.
  • the recess 123 is open at both end faces of the main body 121, and the width and depth of the recess 123 are the width and height of the electronic circuit component 92 housed in the component housing stick 88. It is made slightly larger.
  • the lid portion 122 is a flat plate-like member, and is fixed to the main body portion 121 so as to cover the concave portion 123 of the main body portion 121.
  • the component buffer part 104 is being fixed to the upper surface of the feeder main-body part 100 with the attitude
  • the component buffer unit 104 is fixed to the upper surfaces of the two mounting blocks 125 and 126. However, the component buffer unit 104 can be attached to and detached from the mounting blocks 125 and 126 by screws or the like.
  • the mounting block 125 is disposed on the upper surface on the front side of the clamping member 112 of the feeder main body 100, and the mounting block 126 is disposed on the upper surface of the feeder main body 100 while being separated from the mounting block 125 toward the front. It is arranged.
  • the opening on the front side of the stick case 90 of the lowermost component housing stick 88 faces the opening.
  • the component buffer unit 104 fixed to the upper surfaces of the mounting blocks 125 and 126 is parallel to the lowermost component receiving stick 88.
  • the component supply unit 106 generally has a block shape, and is located on the upper surface of the feeder main body 100 so as to face the opening of the recess 123 on the front side of the component buffer unit 104 fixed to the upper surfaces of the mounting blocks 125 and 126. It is arranged.
  • a storage recess 128 is formed on the upper surface of the component supply unit 106, and the inner dimension of the storage recess 128 is slightly larger than the outer dimension of the electronic circuit component 92.
  • the rear wall surface of the housing recess 128 is open, and the opening of the housing recess 128 faces the opening of the recess 123 on the front side of the component buffer unit 104.
  • the component feeding device 108 includes a wire 130 and a wire feeding mechanism 132.
  • the wire 130 has flexibility, and a tip portion of the wire 130 is a plurality of component housing sticks 88 stacked between the pair of sandwiching members 110 and 112 from the rear of the feeder main body 100. It is inserted into the stick case 90 of the lowermost component housing stick 88 (see FIG. 5).
  • the wire 130 is curved toward the lower side of the feeder main body portion 100 at the rear of the feeder main body portion 100, and extends toward the front of the feeder main body portion 100 at the lower portion of the feeder main body portion 100. Yes. Further, the end of the wire 130 facing the front is inserted into the feeder main body 100.
  • the wire feeding mechanism 132 is disposed inside the feeder main body 100 in which the end of the wire 130 is inserted, and has two rollers (not shown). And the wire 130 inserted in the inside of the feeder main-body part 100 is clamped by these two rollers, and these two rollers rotate by the action
  • the wire 130 sandwiched between the two rollers is pulled back into the feeder main body 100.
  • the distal end portion of the wire 130 inserted into the stick case 90 of the lowermost component housing stick 88 moves in a direction of retreating from the lowermost component housing stick 88. That is, the tip of the wire 130 inserted into the stick case 90 moves toward the rear of the stick feeder 82.
  • the electronic circuit component 92 accommodated in the lowermost component accommodating stick 88 is transferred to the component buffer unit 104 by the wire 130 entering the lowermost component accommodating stick 88. It pushes out toward the recessed part 123. As a result, the electronic circuit component 92 is pushed out from the opening on the front side of the lowermost component housing stick 88 into the recess 123 of the component buffer unit 104.
  • the electronic circuit components 92 are sequentially pushed out from the lowermost component housing stick 88 into the recess 123 of the component buffer unit 104, as shown in FIG. As described above, the leading electronic circuit component 92 is pushed out into the storage recess 128 of the component supply unit 106 via the recess 123.
  • the extrusion of the electronic circuit component 92 from the component receiving stick 88 at the lowermost end to the component buffer unit 104 and the extrusion of the electronic circuit component 92 from the component buffer unit 104 to the component supply unit 106 are performed. Both are performed by wire 130. Then, the electronic circuit component 92 pushed out from the component buffer unit 104 is accommodated in the accommodating recess 128 of the component supply unit 106. Accordingly, the stick feeder 82 supplies the electronic circuit component 92 in the storage recess 128, and the electronic circuit component 92 supplied in the storage recess 128 is gripped by the component holder 66 and attached to the circuit substrate 12.
  • the electronic circuit components 92 are sequentially stored in the storage recess 128 by pushing the wire 130.
  • the electronic circuit component 92 stored in the lowermost component storage stick 88 disappears and the lowermost component storage stick 88 is empty.
  • the wire 130 is pulled out from the inside of the lowermost component housing stick 88, and the lowermost component housing stick 88 is replaced.
  • the component holder 66 includes an outer housing 140, an attachment 142, an inner housing 144, a piston 146, a link mechanism 148, a pressing member 150, and a pair of claws 67.
  • the outer housing 140 generally has a cylindrical shape with a lid, and an air circulation pipe 154 extending toward the inside of the outer housing 140 is disposed at the center of the lid portion 152 of the outer housing 140.
  • a through hole 156 penetrating in the axial direction of the air circulation pipe 154 is formed in the air circulation pipe 154.
  • the attachment 142 has a generally disc shape, and a through hole 158 having the same diameter as the through hole 156 of the air circulation pipe 154 is formed at the center thereof.
  • the attachment 142 is being fixed to the cover part 152 of the outer housing 140 so that the two through-holes 156 and 158 may connect.
  • the component holder 66 is attached to the lower end surface of each work head 60, 62 in the attachment 142.
  • the inner housing 144 generally has a cylindrical shape with a lid, and a convex portion 162 protruding upward is formed at the center of the lid portion 160 of the inner housing 144.
  • a through hole 164 penetrating in the vertical direction is formed at the center of the convex portion 162, and the diameter of the through hole 164 is slightly larger than the outer diameter of the air circulation pipe 154 of the outer housing 140.
  • the outer diameter of the inner housing 144 is slightly smaller than the inner diameter of the outer housing 140.
  • the lid 160 of the inner housing 144 is inserted into the outer housing 140 so as to face the lid 152 of the outer housing 140. Further, the air circulation pipe 154 of the outer housing 140 is inserted into the through hole 164 of the convex portion 162 of the inner housing 144. As a result, the lid 160 of the inner housing 144 moves in the vertical direction inside the outer housing 140.
  • a coil spring 166 is disposed between the lid portion 152 of the outer housing 140 and the lid portion 160 of the inner housing 144 in a compressed state. Thereby, the inner housing 144 is biased downward by the elastic force of the coil spring 166.
  • a large-diameter portion 168 projecting in the radial direction is formed on the outer peripheral surface of the inner housing 144, and an annular stopper 170 is attached to the lower end surface of the outer housing 140.
  • the inner diameter of the stopper 170 is slightly smaller than the outer diameter of the large-diameter portion 168 of the inner housing 144, and the large-diameter portion 168 is located above the stopper 170. For this reason, the downward movement of the inner housing 144 urged by the coil spring 166 is restricted by the large diameter portion 168 coming into contact with the stopper 170.
  • the piston 146 generally has a bottomed cylindrical shape, and a recess 174 is formed at the center of the bottom 172 of the piston 146.
  • the outer diameter of the piston 146 is slightly smaller than the inner diameter of the inner housing 144, and the piston 146 is fitted into the inner housing 144 with the bottom 172 facing downward.
  • the air chamber 175 is defined by the piston 146 and the inner housing 144, and the piston 146 moves in the vertical direction inside the inner housing 144.
  • a coil spring 176 is disposed between the convex portion 162 of the inner housing 144 and the concave portion 174 of the piston 146 in a compressed state. Thereby, the piston 146 is urged downward by the elastic force of the coil spring 176.
  • the link mechanism 148 also includes a base 178, a pair of sliders 180, a pair of brackets 182, a pair of arms 184, and a stopper 186.
  • the base 178 has a generally plate shape and is fixed to the lower end portion of the inner housing 144.
  • a rail 188 is formed on the lower end surface of the base 178 so as to extend in the radial direction of the inner housing 144, and a pair of sliders 180 are slidably fitted to the rail 188.
  • the pair of sliders 180 are arranged symmetrically around the central portion of the rail 188.
  • the pair of brackets 182 are fixed to the lower end surface of the recess 174 of the piston 146 side by side in a slightly spaced state. Note that the direction in which the pair of brackets 182 are aligned corresponds to the direction in which the rail 188 extends.
  • One pair of arms 184 is rotatably connected to the pair of brackets 182, and the other ends of the pair of arms 184 are rotated away from each other.
  • a pair of sliders 180 are rotatably connected to the other ends of the pair of arms 184. Thereby, when the piston 146 moves in the vertical direction, the pair of arms 184 rotate, and the pair of sliders 180 approach and separate.
  • the piston 146 is biased downward by the elastic force of the coil spring 176 as described above.
  • one pair of arms 184 connected to the pair of brackets 182 are lowered and the other ends are separated so that the pair of sliders 180 are separated.
  • a stopper 186 is disposed between one end portions of the pair of arms 184 in the lowered state. Therefore, when one end of the pair of arms 184 is lowered to the closest state, the one end of the pair of arms 184 comes into contact with the stopper 186 and the rotation of the arm 184 is restricted. That is, the downward movement of the piston 146 urged by the coil spring 176 is restricted when one end of the pair of arms 184 contacts the stopper 186.
  • the pair of claws 67 are fixed to the lower end surfaces of the pair of sliders 180 so as to extend downward.
  • the presser member 150 is fixed to the lower end surface of the base 178 so as to be positioned between the pair of claws 67.
  • the component holder 66 having the above-described structure, when air is sucked from the air chamber 175, the components are gripped by the pair of claws 67, and the air is supplied to the air chamber 175. The part gripped by the claw 67 is detached. Specifically, when air is not supplied to the air chamber 175, the piston 146 moves downward due to the elastic force of the coil spring 176, as shown in FIG. At this time, since the pair of sliders 180 are separated by the movement of the link mechanism 148 described above, the pair of claws 67 are also separated.
  • the component holder 66 in a state where the pair of claws 67 are separated is pressed toward the component to be grasped, so that the holding member 150 comes into contact with the component to be grasped.
  • the inner housing 144 moves into the outer housing 140 against the elastic force of the coil spring 166, so that the pressing member 150 contacts the component. Impact is alleviated.
  • a manifold (positive / negative pressure supply device) (see FIG. 8) 208 is connected to the air circulation pipe 154 of the outer housing 140 through a through hole 156 of the attachment 142. Then, when negative pressure is supplied to the air flow pipe 154 by the manifold (positive / negative pressure supply device) 208, air is sucked from the air chamber 175, and the piston 146 moves upward as shown in FIG. At this time, the pair of sliders 180 approach and the pair of claws 67 approach due to the movement of the link mechanism 148 described above. As a result, the pair of claws 67 grips the component to be gripped.
  • the manifold (positive / negative pressure supply device) 208 causes the air circulation pipe 154 to be attached. A slight positive pressure is supplied. As a result, air is supplied to the air chamber 175, and the piston 146 moves downward as shown in FIG. At this time, the pair of sliders 180 are separated and the pair of claws 67 are also separated by the movement of the link mechanism 148 described above. As a result, the parts gripped by the pair of claws 67 are detached, and the parts are mounted on the lower part or the circuit substrate 12.
  • the control device 36 includes a controller 200, a plurality of drive circuits 202, an image processing device 204, and a control circuit 206.
  • the plurality of drive circuits 202 include the transport device 50, the clamp device 52, the electromagnetic motors 212, 214, 216A, 216B, 218A, 218B, the manifold (positive / negative pressure supply device) 208, the tray type component supply device 78, and the feeder type component supply.
  • the device 80 is connected to the bulk component supply device 30.
  • the controller 200 includes a CPU 221, a RAM 222, a ROM 223, and the like, mainly a computer, and is connected to a plurality of drive circuits 202.
  • the CPU 221 controls the operations of the substrate conveyance holding device 22, the component mounting device 24, and the like by executing various programs stored in the ROM 223.
  • the RAM 222 is used as a main storage device for the CPU 221 to execute various processes.
  • the ROM 223 stores a program for an upper component mounting process (see FIG. 9) described later, a control program, various data, and the like.
  • the controller 200 is also connected to the image processing device 204.
  • the image processing device 204 processes image data obtained by the mark camera 26 and the part camera 28, and the CPU 221 acquires various information from the image data.
  • the controller 200 is connected to the display device 210 via the control circuit 206, and an arbitrary image is displayed on the display device 210 in response to a command from the CPU 221.
  • the upper part supplied by the upper part stick feeder 82A which is executed by the CPU 221 of the controller 200 configured as described above, becomes the lower part on the part supply unit 106 of the lower part stick feeder 82B.
  • the “upper component mounting process” for mounting the lower component on the mounting board after mounting will be described with reference to FIGS.
  • the CPU 221 starts executing a program for mounting the electronic circuit component 92 on the circuit base material 12 (mounting substrate) according to the mounting order data input in advance
  • the component holder 66 holds the electronic circuit component 92. Therefore, every time the component supply device 32 or the separated component supply device 30 is moved, the “upper component mounting process” is executed.
  • the upper part stick feeder 82A and the lower part stick feeder 82B have the same configuration as the stick feeder 82 described above.
  • the upper part stick feeder 82 ⁇ / b> A and the lower part stick feeder 82 ⁇ / b> B are mounted side by side on the feeder holding base 86.
  • the upper part is housed in the part housing stick 88 held by the stick holding unit 102.
  • the lower part stick feeder 82 ⁇ / b> B the lower part is housed in the part housing stick 88 held by the stick holding unit 102.
  • the same reference numerals as those of the stick feeder 82 shown in FIGS. 4 and 5 indicate the same or corresponding parts as those of the stick feeder 82.
  • step (hereinafter abbreviated as “S”) 11 the CPU 221 determines that the electronic circuit component 92 held by the pair of claws 67 of the component holder 66 is, for example, a lower side such as a fuse socket. A determination process for determining whether the upper part is a fuse or the like to be mounted on the part is executed. If it is determined that the electronic circuit component 92 held by the pair of claws 67 of the component holder 66 is not the upper component (S11: NO), the CPU 221 ends the process. Therefore, the CPU 221 mounts the electronic circuit component 92 gripped by the pair of claws 67 of the component holder 66 on the circuit substrate 12.
  • the CPU 221 proceeds to the process of S12.
  • the CPU 221 drives the electromagnetic motors 212 and 214 to move the component holder 66 attached to the lower end surface of the work head 60 above the component supply unit 106 of the upper component stick feeder 82A.
  • the CPU 221 drives the electromagnetic motor 216 ⁇ / b> A to move the work head 60 downward, so that the pressing member 150 of the component holder 66 contacts the upper component 233 (see FIG. 11) fed into the storage recess 128. Make contact.
  • the CPU 221 drives the manifold 208 to suck air from the air chamber 175 of the component holder 66 and grips the upper component 233 (see FIG. 11) by the pair of claws 67.
  • the CPU 221 drives the electromagnetic motor 216A to move the work head 60 upward while holding the upper part 233 (see FIG. 11) by the pair of claws 67.
  • the CPU 221 drives the electromagnetic motors 212 and 214 to move the component holder 66 mounted on the lower end surface of the work head 60 above the parts camera 28.
  • the CPU 221 images the upper part 233 gripped by the pair of claws 67 of the part holder 66 by the parts camera 28, and the image processing apparatus (recognition processing apparatus) 204 performs recognition processing on the captured image, Recognizing the amount of positional deviation of the upper part 233 relative to the part holder 66, the gripping posture, the drop state, and the like, each data is stored in the RAM 222.
  • the CPU 221 drives the electromagnetic motors 212 and 214 so that the mark camera 26 attached to the lower end of the slider 74 is a component of the lower part stick feeder 82B. Move to above the supply unit 106. Then, as shown in FIG. 10, the CPU 221 images the component supply unit 106 of the lower component stick feeder 82 ⁇ / b> B with the mark camera 26, and the image processing apparatus (recognition processing apparatus) 204 recognizes the captured image. Then, the position of the reference mark 231 formed on the upper end surface of the component supply unit 106 and the position and shape of the storage recess 128 are recognized by pattern matching, and each data is stored in the RAM 222.
  • the CPU 221 images the lower part 232 such as a fuse socket supplied to the housing recess 128 of the component supply unit 106 by the mark camera 26, and displays the captured image.
  • the image processing device (recognition processing device) 204 performs recognition processing, recognizes the positions and shapes of the insertion holes 232A and 232B formed on the upper surface of the lower part 232 by pattern matching, and stores each data in the RAM 222. .
  • the CPU 221 stores the position and shape data of the reference mark 231 and the storage recess 128 stored in the RAM 222 in S14 and the positions and shapes of the insertion holes 232A and 232B stored in the RAM 222 in S15. Read data and. Then, as shown in FIG. 10, the CPU 221 calculates the positional displacement amount in the X and Y directions of the insertion holes 232 ⁇ / b> A and 232 ⁇ / b> B with respect to the outer periphery of the reference mark 231 and the storage recess 128, the inclination angle ⁇ ⁇ b> 1 with respect to the X direction, and the like. The position data of the lower part 232 is stored in the RAM 222.
  • the CPU 221 drives the electromagnetic motors 212 and 214 to attach the component holder 66 mounted on the lower end surface of the work head 60 to the lower component stick feeder 82B. It is moved above the component supply unit 106. Then, the CPU 221 drives the electromagnetic motors 212 and 214 so that the upper part 233 such as a fuse held by the pair of claws 67 of the part holder 66 is located above the lower part 232 supplied to the storage recess 128. Move to.
  • the CPU 221 reads the data of the inclination angle ⁇ 1 with respect to the X direction of each insertion hole 232A, 232B stored in the RAM 222 in S16, drives the electromagnetic motor 218A, rotates the component holder 66 about the vertical axis, Position correction is performed so that the inclination angle of each terminal 233A, 233B of the component 233 with respect to the X direction becomes the inclination angle ⁇ 1.
  • the CPU 221 reads out the data of the positional shift amounts in the X and Y directions of the respective insertion holes 232A and 232B stored in the RAM 222 in S16, drives the respective electromagnetic motors 212 and 214, and each terminal of the upper part 233.
  • the position correction is performed by moving 233A and 233B so as to be positioned directly above the insertion holes 232A and 232B in the vertical direction.
  • the CPU 221 drives the electromagnetic motor 216A to move the work head 60 downward as shown in the upper left end of FIGS. 11 and 12, and the terminals 233A and 233B of the upper part 233 are moved downward.
  • the portion from the tip to the substantially central portion is inserted into each insertion hole 232A, 232B of the lower part 232.
  • the CPU 221 drives the manifold 208 to supply air to the air chamber 175 of the component holder 66 and separates the pair of claws 67 from the upper component 233 as shown in the upper center of FIG.
  • the CPU 221 drives the electromagnetic motor 216 ⁇ / b> A to further move the work head 60 downward by a predetermined height, so that the terminals 233 ⁇ / b> A and 233 ⁇ / b> B of the upper part 233 are connected to the lower part 232 via the pressing member 150.
  • the upper part 233 is assembled and mounted on the lower part 232 by pressing into the respective insertion holes 232A and 232B so that the lower end face of the upper part 233 is brought into contact with the upper end face of the lower part 232.
  • a clearance groove 235 into which each terminal 232C protruding from the bottom surface portion of the lower component 232 enters the bottom surface portion of the housing recess 128 of the component supply unit 106 along the Y direction. Is formed.
  • the bottom part of the lower part 232 reliably contacts the bottom part of the storage recess 128, so that the terminals 233A and 233B of the upper part 233 are pushed into the insertion holes 232A and 232B of the lower part 232,
  • the lower end surface of the upper part 233 can be reliably brought into contact with the upper end surface of the lower part 232. At that time, the deformation of each terminal 232C of the lower part 232 can be surely prevented.
  • the CPU 221 drives the manifold 208 in a state where the pressing member 150 of the component holder 66 is in contact with the upper end surface of the upper component 233 as shown in the upper right end of FIG. Air is sucked from the air chamber 175 of the tool 66, and the upper part 233 is gripped again by the pair of claws 67.
  • the CPU 221 drives the electromagnetic motor 216A to move the work head 60 upward in a state where the upper part 233 is gripped by the pair of claws 67 as shown in the lower right end of FIG.
  • the upper part 233 and the lower part 232 are integrally lifted upward from the part supply unit 106.
  • the CPU 221 drives the electromagnetic motors 212 and 214 to move the component holder 66 mounted on the lower end surface of the work head 60 above the parts camera 28. That is, the CPU 221 moves the upper part 233 and the lower part 232 integrally above the parts camera 28.
  • the CPU 221 images the upper part 233 and the lower part 232 gripped by the pair of claws 67 of the part holder 66 by the parts camera 28, and the image processing apparatus (recognition processing apparatus) 204 captures the captured image.
  • the recognition processing is performed to recognize the positional deviation amount, the gripping posture, the dropping state, and the like of each terminal 232C of the lower part 232 with respect to the component holder 66, and each data is stored in the RAM 222.
  • the CPU 221 drives each electromagnetic motor 212, 214 when there is no recognition abnormality, as shown at the lower left end in FIG. 26 is moved above the position where the lower part 232 of the mounting board 241 is mounted. Then, the CPU 221 images the mounting substrate 241 with the mark camera 26, and the image processing device (recognition processing device) 204 recognizes the captured image to insert each terminal 232 ⁇ / b> C of the lower part 232. The amount of positional deviation of the hole, the inclination angle with respect to the X direction, and the like are recognized by pattern matching, and each data is stored in the RAM 222.
  • the CPU 221 reads data of the inclination angle of each through hole into which each terminal 232C of the lower part 232 is inserted with respect to the X direction, drives the electromagnetic motor 218A, rotates the part holder 66 about the vertical axis, Position correction is performed so that the inclination angle of each terminal 232C of the side component 232 with respect to the X direction becomes the inclination angle of each through hole.
  • the CPU 221 reads out data on the amount of positional deviation of each terminal 232 ⁇ / b> C of the lower part 232 stored in the RAM 222 in S ⁇ b> 19 with respect to the part holder 66, drives each electromagnetic motor 212, 214, and controls the lower part 232.
  • Each terminal 232C is moved so as to be positioned directly above each through-hole into which each terminal 232C of the mounting substrate 241 is inserted to correct the position.
  • the CPU 21 drives the electromagnetic motor 216A to move the work head 60 downward, and moves the upper part 233 and the lower part 232 integrally downward.
  • the CPU 221 inserts each terminal 232 ⁇ / b> C of the lower component 232 into the through hole of the mounting substrate 241, and integrally mounts the upper component 233 and the lower component 232 on the mounting substrate 241.
  • the CPU 221 drives the manifold 208 to supply air to the air chamber 175 of the component holder 66 and separates the pair of claws 67 from the upper component 233, and then ends the processing.
  • the component mounting machine 10 is an example of a working machine.
  • the circuit base 12 and the mounting substrate 241 are examples of substrates.
  • the lower part 232 is an example of a lower part.
  • the lower part stick feeder 82B is an example of a lower part supply apparatus.
  • the upper part 233 is an example of an upper part.
  • the upper part stick feeder 82A is an example of an upper part supply apparatus.
  • the component holder 66 is an example of a holder.
  • Each working head 60, 62 is an example of a working head.
  • the work head moving device 64 is an example of a moving device.
  • the control device 36 is an example of a control device.
  • the process of S12 is an example of an upper part holding process.
  • the process of S17 is an example of an upper part movement process.
  • the process of S18 is an example of an upper part mounting process.
  • the process of S21 is an example of a lower part movement process and a lower part mounting process.
  • the stick feeder 82 is an example of a stick feeder.
  • the component storage stick 88 is an example of a component storage stick.
  • the electronic circuit component 92, the upper component 233, and the lower component 232 are examples of components.
  • the component supply unit 106 is an example of a component supply unit.
  • the mark camera 26 is an example of an imaging device.
  • the image processing device 204 is an example of a recognition processing device.
  • the reference mark 231 is an example of a reference mark.
  • the process of S16 is an example of a position correction process.
  • the process of S17 is an example of a correction movement process.
  • the pair of claws 67 is an example of a plurality of claws.
  • the pressing member 150 is an example of a pressing member.
  • the CPU 221 uses the component holder 66 mounted on the lower end surface of the work head 60 above the component supply unit 106 of the upper component stick feeder 82A. Move to. Then, the CPU 221 holds the upper part 233 supplied in the storage recess 128 provided in the part supply unit 106 with a pair of claws 67. Thereafter, the CPU 221 moves the component holder 66 holding the upper component 233 above the component supply unit 106 of the lower component stick feeder 82B.
  • the CPU 221 moves the work head 60 downward so that the terminals 233A and 233B of the upper part 233 gripped by the part holder 66 are supplied to the storage recess 128 provided in the part supply unit 106.
  • the upper part 233 is pressed and mounted on the lower part 232 via the pressing member 150 by being pushed into the insertion holes 232A and 232B of the side part 232.
  • the upper part 233 gripped by the part holder 66 is pressed onto the lower part 232 via the pressing member 150 on the storage recess 128 provided in the part supply unit 106 of the lower part stick feeder 82B.
  • the mechanical strength of the component supply unit 106 that is, the mechanical strength of the housing recess 128 is easily increased, the pressing load for pressing the upper component 233 is increased, and the upper component 233 is securely attached to the lower component 232. It can be mounted on top.
  • the upper component 233 can be pressed and mounted on the lower component 232 on the storage recess 128 provided in the component supply unit 106 of the lower component stick feeder 82B, the mounting substrate 241 is deformed. Without this, the upper part 233 can be mounted on the lower part 232.
  • the CPU 221 again grips the upper part 233 mounted on the lower part 232 with the pair of claws 67 of the part holder 66, and then moves the work head 60 upward so that the upper part 233 and the lower part 233
  • the component 232 is integrally lifted upward from the component supply unit 106.
  • the CPU 221 moves the component holder 66 that integrally holds the upper component 233 and the lower component 232 onto the mounting substrate 241, and inserts each terminal 232 ⁇ / b> C of the lower component 232 into the through hole of the mounting substrate 241.
  • the upper part 233 and the lower part 232 are integrally mounted on the mounting substrate 241.
  • the lower component 232 on which the upper component 233 is mounted can be mounted on the mounting substrate 241 without deforming the mounting substrate 241.
  • the upper part 233 mounted on the lower part 232 can be gripped again by the pair of claws 67 of the same part holder 66, and the replacement time of the part holder 66 can be shortened and the mounting board 241 can be shortened. Therefore, it is possible to improve the mounting efficiency for mounting the components on the board.
  • the CPU 221 images the component supply unit 106 of the lower component stick feeder 82B by the mark camera 26, and the image processing device (recognition processing device) 204 performs recognition processing on the captured image. Then, the CPU 221 calculates the positional deviation amounts of the insertion holes 232A and 232B in the X and Y directions with respect to the outer periphery of the reference mark 231 and the storage recess 128, the inclination angle ⁇ 1 with respect to the X direction, and the like, and position data of the lower part 232 Is stored in the RAM 222.
  • the CPU 221 corrects the position by moving the terminals 233A and 233B of the upper part 233 so as to be positioned directly above the insertion holes 232A and 232B in the vertical direction.
  • the terminals 233A and 233B of the upper part 233 can be smoothly inserted into the insertion holes 232A and 232B of the lower part 232, and the mounting accuracy can be improved.
  • a component mounter 10 for example, a component mounter 10 according to another embodiment 1 will be described with reference to FIGS. 13 and 14.
  • the CPU 221 images the component supply unit 106 of the lower component stick feeder 82B with the mark camera 26, and the image processing apparatus (recognition processing apparatus) 204 captures the captured image.
  • the recognition process is performed to recognize the position of the reference mark 231 formed on the upper end surface of the component supply unit 106 and the position and shape of the storage recess 128 by pattern matching, and each data is stored in the RAM 222.
  • the CPU 221 has a box-like shape opened to the upper side supplied to the storage recess 128 of the component supply unit 106 by the mark camera 26, and is small on the inner bottom surface.
  • the lower part 245 such as an IC socket in which the insertion holes 245A are formed in a plurality of rows is imaged, and the image processing device (recognition processing device) 204 performs recognition processing on the captured image so that the rectangular shape of the lower part 245 is formed.
  • the position and shape of the outer peripheral edge may be recognized by pattern matching, and each data may be stored in the RAM 222.
  • the CPU 221 determines the position of the reference mark 231 stored in the RAM 222 in S14, the position and shape data of the storage recess 128, and the rectangular outer peripheral edge of the lower part 245 stored in the RAM 222 in S15. Read position and shape data. Then, as shown in FIG. 13, the CPU 221 shifts the position of the rectangular outer periphery of the lower part 245 relative to the outer periphery of the reference mark 231 and the storage recess 128 in the X and Y directions, and the tilt angle ⁇ 2 with respect to the X direction. Etc. may be calculated and stored in the RAM 222 as position data of the lower part 245.
  • the CPU 221 drives the electromagnetic motors 212 and 214 to attach the component holder 66 mounted on the lower end surface of the work head 60 to the lower component stick feeder. It is moved above the component supply unit 106 of 82B. Then, the CPU 221 drives the electromagnetic motors 212 and 214 so that the upper component 246 such as an IC chip held by the pair of claws 67 of the component holder 66 is transferred to the lower component 245 supplied to the storage recess 128. Move upward.
  • the CPU 221 reads the data of the inclination angle ⁇ 2 with respect to the X direction of the rectangular outer peripheral edge of the lower part 245 stored in the RAM 222 in S16 and drives the electromagnetic motor 218A to move the part holder 66 around the vertical axis. To correct the position so that the inclination angle of the terminals 246A of the upper part 246 with respect to the X direction is the inclination angle ⁇ 2.
  • the CPU 221 reads out the data of the positional deviation amount in the X and Y directions of the rectangular outer peripheral edge of the lower part 245 stored in the RAM 222 in S16, and drives the electromagnetic motors 212 and 214 to
  • the terminals 246A provided in rows on both side edges of the component 246 may be moved so as to be positioned directly above the insertion holes 245A arranged in two rows to correct the position.
  • the CPU 221 drives the electromagnetic motor 216A to move the work head 60 downward, and each terminal provided in a row on both side edges of the upper part 246.
  • the portion from 246A to the substantially central portion is inserted into each insertion hole 245A arranged in two rows of the lower part 245.
  • the CPU 221 may drive the manifold 208 to supply air to the air chamber 175 of the component holder 66 so that the pair of claws 67 are separated from the upper component 246.
  • the CPU 221 drives the electromagnetic motor 216 ⁇ / b> A to further move the work head 60 downward by a predetermined height, and each terminal provided in a row on both side edges of the upper part 246 via the pressing member 150.
  • 246A is pushed into the insertion holes 245A arranged in the two rows of the lower part 245, and the lower end surface of the upper part 246 is brought into contact with the inner bottom surface of the lower part 245 so as to be on the inner bottom surface of the lower part 245.
  • the upper part 246 may be assembled and mounted.
  • the upper part 246 gripped by the part holder 66 on the storage recess 128 provided in the part supply unit 106 of the lower part stick feeder 82B is moved to the inner bottom surface of the lower part 245 via the pressing member 150. It can be attached by pressing up. Accordingly, the mechanical strength of the component supply unit 106, that is, the mechanical strength of the housing recess 128 is easily increased, the pressing load for pressing the upper component 246 is increased, and the upper component 246 is securely attached to the lower component 245. It becomes possible to mount on the inner bottom surface.
  • the mounting substrate 241 is mounted. It is possible to mount the upper part 246 on the inner bottom surface of the lower part 245 without deforming.
  • the CPU 221 images the component supply unit 106 of the lower component stick feeder 82B by the mark camera 26, and the image processing device (recognition processing device) 204 performs recognition processing on the captured image. Then, the CPU 221 calculates the positional deviation amount in the X and Y directions of the rectangular outer peripheral edge of the lower part 245 with respect to the outer peripheral edges of the reference mark 231 and the storage recess 128, the inclination angle ⁇ 2 with respect to the X direction, etc.
  • the position data of the component 245 can be stored in the RAM 222.
  • the CPU 221 includes terminals 246A provided in a row on both side edges of the upper part 246, and the insertion holes 245A arranged in two rows of the lower part 245.
  • the position is corrected by moving it so that it is located directly above the vertical direction.
  • the terminals 246A provided in a row on both side edges of the upper part 246 can be smoothly inserted into the insertion holes 245A arranged in the two rows of the lower part 245, thereby improving the mounting accuracy. Can be achieved.
  • a relief groove 235 into which each terminal 245 ⁇ / b> C protruding from the bottom surface portion of the lower component 245 enters is formed in the bottom surface portion of the housing recess 128 of the component supply unit 106 along the Y direction. ing.
  • the bottom surface portion of the lower component 245 is surely brought into contact with the bottom surface portion of the storage recess 128, so that each terminal 246 ⁇ / b> A of the upper component 246 is pushed into each insertion hole 245 ⁇ / b> A of the lower component 245.
  • the lower end surface can be reliably brought into contact with the inner bottom surface of the lower part 245. At that time, the deformation of each terminal 245C of the lower part 245 can be reliably prevented.
  • a component holder 66 capable of gripping the lower part 232 is attached to the work head 62, and in S19, the CPU 221 uses the component holder 66 to attach the lower part 232 to which the upper part 233 is mounted. You may make it hold

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

Abstract

L'invention comprend un dispositif d'alimentation en composant latéral inférieur fournissant un composant latéral inférieur à monter sur une plaque de base, un dispositif d'alimentation en composant latéral supérieur fournissant un composant latéral supérieur à monter sur le côté supérieur du composant latéral inférieur, une tête de travail ayant un outil de maintien pour maintenir un composant, un dispositif mobile amenant la tête de travail à se déplacer, et un dispositif de commande commandant le fonctionnement de l'outil de maintien et le fonctionnement du dispositif mobile. Le dispositif de commande est constitué de manière à exécuter : un processus de maintien de composant latéral supérieur dans lequel le composant latéral supérieur fourni par le dispositif d'alimentation en composant latéral supérieur est maintenu par l'outil de maintien; un processus de déplacement de composant latéral supérieur dans lequel le composant latéral supérieur maintenu par l'outil de maintien est amené à se déplacer vers le côté supérieur du composant latéral inférieur fourni par le dispositif d'alimentation en composant latéral inférieur; et un processus de montage de composant latéral supérieur dans lequel le composant latéral supérieur est monté sur le composant latéral inférieur sur le dispositif d'alimentation en composant latéral inférieur.
PCT/JP2017/015134 2017-04-13 2017-04-13 Engin de chantier WO2018189862A1 (fr)

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JP2019512128A JPWO2018189862A1 (ja) 2017-04-13 2017-04-13 作業機
PCT/JP2017/015134 WO2018189862A1 (fr) 2017-04-13 2017-04-13 Engin de chantier

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JP2007234701A (ja) * 2006-02-28 2007-09-13 Hitachi High-Tech Instruments Co Ltd 電子部品装着装置
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JP2002237696A (ja) * 2001-02-08 2002-08-23 Matsushita Electric Ind Co Ltd 電子部品集合体及びその実装方法
JP2007234701A (ja) * 2006-02-28 2007-09-13 Hitachi High-Tech Instruments Co Ltd 電子部品装着装置
JP2013093402A (ja) * 2011-10-25 2013-05-16 Ricoh Co Ltd 部品搭載システム及び部品搭載方法
JP2013187529A (ja) * 2012-03-12 2013-09-19 National Institute Of Advanced Industrial & Technology チップ部品の組立方法
US20130240608A1 (en) * 2012-03-19 2013-09-19 Wistron Corporation Clamping tool and equipment for rework process
WO2016194035A1 (fr) * 2015-05-29 2016-12-08 富士機械製造株式会社 Dispositif de fixation de composant et procédé de fixation de composant

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WO2020152844A1 (fr) * 2019-01-25 2020-07-30 株式会社Ｆｕｊｉ Machine de travail de substrat et procédé de reconnaissance de type de composant
JPWO2020152844A1 (ja) * 2019-01-25 2021-09-09 株式会社Ｆｕｊｉ 対基板作業機、および部品種類認識方法
JP7138193B2 (ja) 2019-01-25 2022-09-15 株式会社Fuji 対基板作業機、および部品種類認識方法

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