WO2019234813A1

WO2019234813A1 - Component mounter and arrangement modification method for backup member

Info

Publication number: WO2019234813A1
Application number: PCT/JP2018/021495
Authority: WO
Inventors: 淳飯阪; 春菜小林; 茂人大山
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2018-06-05
Filing date: 2018-06-05
Publication date: 2019-12-12
Also published as: CN112219462A; JPWO2019234813A1; CN112219462B; JP6913247B2

Abstract

A component mounter that comprises a first raising/lowering device, a second raising/lowering device, and a control device. The first raising/lowering device raises/lowers a holding member in a first range of motion. The second raising/lowering device raises/lowers the holding member in a second range of motion that has: an overlap area that overlaps the first range of motion; and a second dedicated area that does not overlap the first range of motion. During arrangement modification processing in which a current location is inside a first dedicated area that is the portion of the first range of motion that is outside the overlap area and in which a target location is inside the second dedicated area, the control device uses the action of the first raising/lowering device to make the holding member hold a backup member that is in the current location and then uses the action of the second raising/lowering device to arrange the backup member in the target location.

Description

Component placement machine and method for changing arrangement of backup member

The present invention relates to a component placement machine and a method for changing the arrangement of backup members.

The component mounting machine executes a mounting process for mounting the component on the board. Patent Document 1 discloses a component mounting machine that performs a mounting process using a mounting head including a plurality of lifting devices that lift and lower a plurality of suction nozzles independently. The component mounting machine positions the board carried into the machine in the mounting process, and supports the backup member by contacting the board from below. Patent Document 2 discloses a component mounting machine including a backup pin as a backup member. The backup member is repositioned according to the type of substrate used for production and the state of the lower surface of the substrate.

International Publication No. 2013/190608 JP 2016-004964 A

For example, a mounting head to which a holding member capable of holding the backup member is attached is used for the backup member arrangement changing process. At this time, when the mounting head includes a plurality of lifting devices as in the component mounting machine of Patent Document 1, the overlapping region of the movable regions in which the holding members can be lifted and lowered by the respective lifting devices is substantially disposed as a backup member. It corresponds to a possible area.

This specification aims to provide a component placement machine and a method for changing the placement of a backup member that can expand the area where the backup member can be placed in the placement process.

The present specification includes a base, a head main body provided so as to be movable in a horizontal direction with respect to the base, a backup member disposed at a predetermined position in the machine and supporting a substrate from below, and the head main body. A holding member that holds the backup member in an arrangement change process for moving the backup member from a current position to a target position, and is provided in the head main body and moves the holding member up and down in the first movable region. A first elevating device, and a second movable region that is provided in the head main body and has an overlapping region that overlaps with the first movable region and a second dedicated region that does not overlap with the first movable region; Two lifting devices, and the current position is within the first exclusive area excluding the overlapping area in the first movable area, and the target position is the front In the arrangement changing process inside the second exclusive area, after the backup member at the current position is held by the holding member by the operation of the first lifting device, the target is moved by the operation of the second lifting device. A component mounting machine comprising: a control device that arranges the backup member at a position.

The present specification is an arrangement changing method for moving a backup member from a current position to a target position in a component mounting machine, wherein the component mounting machine is provided so as to be movable in a horizontal direction with respect to a base and the base. The head changing unit arranged in a predetermined position in the machine, the backup member supporting the substrate from below, and the head main unit being movable up and down, and moving the backup member from the current position to the target position. A first holding device for holding the backup member, a first lifting device provided in the head main body for raising and lowering the holding member in the first movable region, and provided in the head main body, overlapping the first movable region. A second moving up and down the holding member in a second movable region having an overlapping region and a second exclusive region that does not overlap with the first movable region. The arrangement changing method, wherein the current position is inside the first exclusive area excluding the overlapping area in the first movable area, and the target position is the second exclusive area. In the arrangement changing process that is inside, a holding step that causes the holding member to hold the backup member at the current position by an operation of the first lifting device, and an operation of the second lifting device after the holding step. Disposing a backup member arrangement changing method comprising disposing the backup member at the target position.

According to such a configuration, the backup member can be moved using the first lifting device and the second lifting device even in the exclusive regions where the current position and the target position of the backup member are different in the arrangement changing process. it can. Thereby, the area | region which can arrange | position a backup member in the machine of a component mounting machine provided with a some raising / lowering apparatus can be expanded from an overlapping area | region to the area | region containing each exclusive area. Therefore, the backup member can be arranged at a more suitable position. As a result, the quality of the board product produced by the mounting process can be improved.

It is a perspective view which shows the component mounting machine in embodiment. It is a side view which shows the backup apparatus of a board | substrate conveyance apparatus. It is a side view which shows a mounting head typically. It is a top view which shows a mounting head typically. It is a figure which shows two types of backup members and a holding member. It is a schematic diagram which shows the movable range of the holding member in a machine. It is a figure which shows the rotation direction of a rotary head, and the movement locus | trajectory of a backup member. It is a figure which shows operation | movement of a rotary head when a backup member is moved from a present position to a temporary placement position. It is a figure which shows operation | movement of a rotary head when moving a backup member from a temporary placement position to a target position. It is a flowchart which shows an arrangement | positioning change process.

1. Configuration of Component Mounting Machine 1 As shown in FIG. 1, the component mounting machine 1 includes a substrate transfer device 10, a component supply device 20, a component transfer device 30, a component camera 51, a substrate camera 52, a head camera unit 53, and a control. A device 55 is provided. In the following description, the first horizontal direction and the front-rear direction of the component mounting machine 1 (the direction from the lower left to the upper right in FIG. 1) is the Y direction, and the second horizontal direction intersecting the Y direction. The horizontal direction of the component mounting machine 1 (the direction from the upper left to the lower right in FIG. 1) is defined as the X direction, and the vertical direction (the vertical direction in FIG. 1) perpendicular to the X direction and the Y direction is defined as the Z direction.

The substrate transfer device 10 includes a plurality of transfer mechanisms 11 installed side by side in the Y direction. The plurality of transport mechanisms 11 each have a pair of

guide rails

12 and 13 and a conveyor belt 14. The pair of

guide rails

12 and 13 extends in the substrate transport direction (X direction) and supports the peripheral edge of the substrate 90 placed on the conveyor belt 14 and transported. At least one of the pair of

guide rails

12 and 13 is provided on the base 2 so as to be movable in the Y direction.

The substrate transport apparatus 10 sequentially transports the substrate 90 in the transport direction and positions the substrate 90 at a predetermined position in the machine. The substrate transfer device 10 includes a backup device 15 that clamps the positioned substrate 90. Detailed configurations of the substrate transfer device 10 and the backup device 15 will be described later. After the component mounting process by the component mounting machine 1 is completed, the board transfer device 10 carries the board 90 out of the component mounting machine 1.

The component supply device 20 supplies components to be mounted on the substrate 90. The component supply device 20 includes a feeder 21 set side by side in the X direction. The feeder 21 holds a reel 22 around which a carrier tape containing a large number of components is wound. The feeder 21 feeds and moves the carrier tape fed from the reel 22. Thereby, the feeder 21 supplies components in a supply position located on the front end side of the feeder 21 so that the components can be collected.

The component transfer device 30 transfers the component supplied by the component supply device 20 to a predetermined mounting position on the substrate 90 carried into the apparatus by the substrate transfer device 10. The head driving device 31 of the component transfer device 30 moves the moving table 32 in the horizontal direction (X direction and Y direction) by the linear motion mechanism. The mounting head 40 is fixed to the movable table 32 in a replaceable manner by a clamp member (not shown).

The mounting head 40 supports one or a plurality of suction nozzles 44 that are supplied with negative pressure to suck parts. Further, the mounting head 40 can be attached with a chuck or the like for clamping a component in place of the suction nozzle 44. Furthermore, the mounting head 40 is attached with a holding member 80 that holds backup members (hard pins 60 and soft pins 70 in the present embodiment), which will be described later. The detailed configuration of the mounting head 40 will be described later.

The component camera 51, the substrate camera 52, and the head camera unit 53 are digital imaging devices having an imaging element such as a CMOS. The component camera 51, the board camera 52, and the head camera unit 53 perform imaging based on the control signal, and send out image data acquired by the imaging. The component camera 51 is fixed to the base 2 so that the optical axis is upward in the Z direction. The component camera 51 is configured to be able to image a component held by the suction nozzle 44 of the mounting head 40 from below.

As shown in FIGS. 1 and 3, the substrate camera 52 and the head camera unit 53 are provided on the mounting head 40, and move integrally with the mounting head 40 as the movable table 32 moves. The substrate camera 52 is provided such that the optical axis is downward in the Z direction, and is configured to be able to image the substrate 90 from above. The head camera unit 53 sets the suction nozzle 44 attached to the mounting head 40 and the parts held by the suction nozzle 44 as an imaging target. The head camera unit 53 is configured to be able to image the suction nozzle 44 and the held components from the side.

The control device 55 is mainly composed of a CPU, main memories, and a control circuit. The control device 55 executes a mounting process for mounting components on the board 90. In the mounting process, the control device 55 controls the operation of the component transfer device 30 based on information output from various sensors, a result of image processing, a control program stored in advance, and the like. Thereby, the position and angle of the plurality of suction nozzles 44 supported by the mounting head 40 are controlled.

Further, the control device 55 executes an arrangement changing process for moving a backup member used for the substrate transfer apparatus 10 to support the substrate from below in the mounting process. The control device 55 includes a storage unit 56 that stores the pin arrangement information M1 and the safety area information M2. The “pin arrangement information M1” is information indicating the type of backup member and the position to be arranged in the machine, and is set according to the type and production process of the board product to be produced. The “safe area information M2” is information indicating a safe area where the backup member does not interfere with other members in the machine in the arrangement change process.

2. Detailed Configuration of Substrate Transfer Device 10 and Backup Device 15 The substrate transfer device 10 is a double track conveyor system including the plurality of transfer mechanisms 11 as described above. The pair of

guide rails

12 and 13 constituting the transport mechanism 11 are provided on the base 2 so as to be relatively movable in the Y direction. As a result, the plurality of transport mechanisms 11 adjust the distance between the pair of

guide rails

12 and 13 in accordance with the dimension of the substrate 90 in the Y direction.

The backup device 15 supports the substrate 90 transported by the transport mechanism 11 from below and clamps the substrate 90 between the pair of

guide rails

12 and 13. In the present embodiment, the backup device 15 supports the substrate 90 by bringing a backup member into contact with the lower surface of the substrate 90. As a result, the backup device 15 clamps the substrate 90 between the pair of

guide rails

12 and 13, and prevents the substrate 90 from bending by maintaining the height of the portion in contact with the backup member.

The backup device 15 includes a backup plate 16 and a plurality of air cylinders 17 as shown in FIG. The backup plate 16 is disposed to face the lower surface of the substrate 90 positioned by the transport mechanism 11. The backup plate 16 is provided on the base 2 so as to be movable up and down in the Z direction. In the present embodiment, the backup plate 16 is formed in a rectangular shape as shown in FIG. A hard pin 60 or a soft pin 70 as a backup member is detachably disposed on the upper surface of the backup plate 16.

The plurality of air cylinders 17 are lifting devices that lift and lower the backup plate 16 relative to the base 2. More specifically, each of the rods 171 of the plurality of air cylinders 17 is detachably fixed to the four corners of the backup plate 16. The air cylinder 17 moves the rod 171 forward and backward in the Z direction according to the air pressure of the cylinder body 172.

The backup device 15 configured in this manner holds the backup plate 16 in the lowered position (indicated by a two-dot chain line in FIG. 2) during a period when the mounting process is not being executed. On the other hand, the backup device 15 operates the plurality of air cylinders 17 to raise the backup plate 16 during the period in which the mounting process is executed. As a result, the backup device 15 pushes up the substrate 90 from below and holds it in the raised position (shown by the solid line in FIG. 2). When the mounting process ends, the backup device 15 stops the operations of the plurality of air cylinders 17 and lowers the backup plate 16 to the lowered position.

3. Detailed Configuration of Mounting Head 40 The mounting head 40 has a head main body 41 provided on the movable table 32 as shown in FIGS. The mounting head 40 includes a rotary head 42 that is provided to be rotatable about an R axis parallel to the vertical axis (Z axis) with respect to the head main body 41. The rotary head 42 holds a plurality of (for example, 20) syringes 43 at equal intervals in the circumferential direction on a circumference concentric with the R axis so as to be slidable and rotatable in the Z direction.

The syringe 43 is biased upward with respect to the rotary head 42 by the elastic force of a spring (not shown). Thereby, the syringe 43 is located at the rising end in a normal state where no external force is applied. An arm 431 extending outward in the radial direction is formed at the upper end of the syringe 43. A suction nozzle 44 that is supplied with negative pressure air and sucks components is attached to the lower end of the syringe 43. Thereby, the rotary head 42 supports the plurality of suction nozzles 44 so as to be movable up and down relative to the head body 41 and to be rotatable around the θ axis passing through the center of the syringe 43 in parallel with the R axis.

The suction nozzle 44 is supplied with negative pressure air and sucks parts. The plurality of suction nozzles 44 are angled to a specified angle around the R axis (for example, the raising / lowering angle of the syringe 43) as the rotary head 42 rotates as the R motor 48 is driven. The mounting head 40 includes a θ motor 49 fixed to the head body 41. All the syringes 43 are connected to the output shaft of the θ motor 49 so as to be able to transmit rotational force via a plurality of gears. The syringe 43 and the suction nozzle 44 rotate (spin) around the θ axis by the operation of the θ motor 49, and the rotation angle and rotation speed are controlled.

The mounting head 40 includes a lifting device that lifts and lowers the suction nozzle 44 that is angled to a specified angle around the R axis by the rotation of the rotary head 42. In the present embodiment, as shown in FIG. 4, the mounting head 40 raises and lowers two suction nozzles 44 that are angled to a first specified angle Ap1 and a second specified angle Ap2 around the R axis independently. The first lifting device 45 and the second lifting device 46 are provided.

In the present embodiment, the first specified angle Ap1 and the second specified angle Ap2 are vertical surfaces including the R axis and the reference line Lb (a line perpendicular to the R axis and parallel to the Y axis) (in this embodiment, the YZ plane). Are symmetrical angles. Specifically, the first specified angle Ap1 and the second specified angle Ap2 are angles that form 90 degrees from the reference line Lb with the R axis as the center. Moreover, the 1st raising / lowering apparatus 45 and the 2nd raising / lowering apparatus 46 are arrange | positioned along with the horizontal direction (this embodiment X direction) orthogonal to the reference line Lb.

In the present embodiment, the first lifting device 45 includes a ball screw 451, a Z motor 452, and a first pusher 453, as shown in FIG. The ball screw 451 is rotatably provided on the head main body 41. When the ball screw 451 rotates with the driving of the Z motor 452, the first pusher 453 moves in the Z direction. The first pusher 453 contacts the arm 431 of the syringe 43 that is angled to the first specified angle Ap <b> 1 by the rotation of the rotary head 42 among the plurality of syringes 43.

The first pusher 453 presses the syringe 43 downward in the Z direction against the elastic force of the spring of the syringe 43 that comes into contact, and lowers the syringe 43. Thereby, the suction nozzle 44 attached to the syringe 43 moves up and down integrally with the syringe 43. The syringe 43 and the suction nozzle 44 are integrally moved up and down in the Z direction by driving the Z motor 452, and the position and moving speed in the Z direction are controlled.

The second lifting device 46 includes a ball screw 461, a Z motor 462, and a second pusher 463. Here, the second lifting / lowering device 46 is of the same type as the first lifting / lowering device 45 and is substantially symmetrical with respect to the YZ plane. Therefore, the detailed description of the second lifting device 46 is omitted. Reference numerals in () of FIG. 3 are reference numerals of the respective parts (461-463) of the second lifting apparatus 46 corresponding to the respective parts (451-453) of the first lifting apparatus 45. Further, the second pusher 463 of the second lifting device 46 contacts the arm 431 of the syringe 43 whose angle is set to the second specified angle Ap <b> 2 among the plurality of syringes 43.

The mounting head 40 having the above-described configuration is used for the backup member arrangement changing process in addition to the component mounting process. In the backup member arrangement changing process, the suction nozzle 44 is also used for holding the backup member, and a holding member 80 dedicated for holding the backup member is used. In this case, a holding member 80 is attached to at least one of the plurality of syringes 43 instead of the suction nozzle 44.

4). Configuration of Backup Member and Holding Member 80 The backup member is detachably disposed on the upper surface of the backup plate 16. In the present embodiment, as shown in FIG. 5, the backup member includes a hard pin 60 having a tip portion made of a relatively hard member (for example, a metal member) and a member (for example, a rubber member) having a tip portion that is relatively soft. And a soft pin 70 configured as shown in FIG.

The hard pin 60 has a magnet (not shown) embedded in the base 61 and is fixed to the backup plate 16 by magnetic force. The base 61 is provided with a cylindrical body portion 62 extending upward. A support portion 63 that is in contact with and supported by the lower surface of the substrate 90 is provided at the distal end portion of the body portion 62. The tip of the support part 63 is formed in a flat shape. An engaging portion 64 that engages with the holding member 80 is formed on the outer peripheral surface of the support portion 63. The engaging portions 64 are configured by a plurality of engaging pieces that are arranged at equal intervals in the circumferential direction of the body portion 62 and protrude in the radial direction of the body portion 62.

The soft pin 70 has a magnet (not shown) embedded in the base 71 and is fixed to the backup plate 16 by magnetic force. The base 71 is provided with a cylindrical body portion 72 extending upward. A support portion 74 is provided at an intermediate portion of the body portion 72 via a connecting portion 73. The support part 74 is in contact with and supports the lower surface of the substrate 90. The tip of the support portion 74 is formed in a hemispherical shape. The support portion 74 is made of a relatively soft member and elastically deforms due to a reaction force from the substrate 90 when the substrate 90 is supported.

An engaging portion 75 that engages with the holding member 80 is formed above the connecting portion 73. The engaging portions 75 are configured by a plurality of engaging pieces that are arranged at equal intervals in the circumferential direction of the body portion 72 and protrude in the radial direction of the body portion 72. The tip of the engaging portion 75 is formed in a flat shape. As described above, the engaging portion 75 of the soft pin 70 is formed in the same shape as the engaging portion 64 of the hard pin 60. Note that the engaging portion 75 of the soft pin 70 is positioned closer to the base 71 than the distal end portion of the support portion 74 in the vertical direction.

The holding member 80 has a main body part 81 and a collecting part 82. The main body 81 is formed in a cylindrical shape as an overall shape. The main body 81 is formed to be attachable to the syringe 43 of the mounting head 40 in the same manner as the suction nozzle 44. The collection unit 82 is provided at the lower end of the main body unit 81. The sampling part 82 engages with the engaging part 64 of the hard pin 60 and the engaging part 75 of the soft pin 70. The holding member 80 presses the tips of the engaging

portions

64 and 75 by the elastic force of the elastic member provided inside the main body portion 81 in order to maintain the state where the hard pin 60 or the soft pin 70 is held. The lower ends of the

parts

64 and 75 are urged toward the sampling part 82.

The hard pin 60 and the soft pin 70 configured as described above are configured such that the heights Hs from the bottom surfaces of the

base portions

61 and 71 to the tips of the

support portions

63 and 74 coincide with each other. On the other hand, the hard pins 60 and the soft pins 70 have different heights Hn1 and Hn2 from the bottom surfaces of the

base portions

61 and 71 to the engaging

portions

64 and 75. Specifically, the engaging portion height Hn1 of the hard pin 60 matches the pin height Hs. On the other hand, the engaging portion height Hn2 of the soft pin 70 is lower than the pin height Hs.

As described above, the backup member includes the first type and the second type. In the first type, a held portion (engagement portion 64) that comes into contact with the holding member 80 when being held by the holding member 80 is provided at the distal end portion of the support portion 63 positioned at the uppermost portion of the backup member. This corresponds to the hard pin 60 of the present embodiment. In the second type, the held portion (engagement portion 75) is provided below the front end portion of the support portion 74 positioned at the uppermost portion of the backup member, and corresponds to the soft pin 70 of the present embodiment.

When the backup member is of the first type, the holding member 80 holds the uppermost portion of the hard pin 60. For example, even if the holding member 80 is moved to the rising end by the first lifting device 45, the hard pin 60 and the mounting head 40 are used. There is no interference. On the other hand, when the backup member is of the second type, the holding member 80 holds the lower part than the uppermost part of the soft pin 70. And interference with the mounting head 40 may occur.

5). Outline and Mode of Backup Member Arrangement Change Process The component mounting machine 1 having the above-described configuration executes the backup member arrangement change process according to the pin arrangement information M1 when executing the attachment process. Here, the type of the backup member and the position to be arranged vary depending on the dimensions of the board and the quantity and position of the components to be mounted. Specifically, when there is a concern about bending of the board due to the fact that the board is large and a relatively strong pressing force is applied to the board at the time of mounting, the back-up member is a supported part on the lower surface of the board. A hard pin 60 capable of minimizing the displacement is suitable.

On the other hand, when components are already mounted in the previous process on the lower surface of the substrate supported by the backup member in the mounting process, the backup member includes a soft pin 70 that can be supported while absorbing irregularities on the lower surface of the substrate. Are suitable. Therefore, the component mounting machine 1 changes the arrangement of the backup member as necessary as one of the setups when the type of board product to be produced changes. In addition to fixing the backup member to the backup plate 16 positioned below the substrate 90, this change in arrangement includes moving the backup member to a stock area that is not used to support the substrate 90.

Here, the horizontal movable range of the mounting head 40 of the present embodiment depends on the horizontal movable region of the movable table 32 as described above. The mounting head 40 has two

lifting devices

45 and 46. Therefore, the movable regions in which the suction nozzle 44 and the holding member 80 can be raised and lowered using the first lifting device 45 and the second lifting device 46 are different. Specifically, as shown in FIG. 6, the first elevating device 45 can raise and lower the holding member 80 in the first movable region Rm1 in the machine. The second lifting device 46 can lift and lower the holding member 80 in the second movable region Rm2 in the machine.

The second movable region Rm2 has an overlapping region Rd that overlaps with the first movable region Rm1 and a second dedicated region Rp2 that does not overlap with the first movable region Rm1 due to the configuration of the component transfer device 30. Specifically, the first movable region Rm1 includes a first exclusive region Rp1 in which the holding member 80 cannot be moved up and down unless the first lifting device 45 is used, and an overlapping region Rd. Further, the second movable region Rm2 includes a second exclusive region Rp2 in which the holding member 80 cannot be raised and lowered unless the second lifting device 46 is used, and an overlapping region Rd. The “overlapping region Rd” is a portion where the first movable region Rm1 and the second movable region Rm2 overlap.

Here, in the backup member arrangement changing process, the current position Pc is inside one of the first exclusive area Rp1 and the second exclusive area Rp2, and the target position Pt is the other of the first exclusive area Rp1 and the second exclusive area Rp2. In the case of the inside, there is a restriction that both of the two

lifting devices

45 and 46 must be used. Furthermore, in the above-described arrangement changing process, it is necessary to move the backup member between the first specified angle Ap1 and the second specified angle Ap2 while moving the backup member from the current position Pc to the target position Pc. .

On the other hand, for example, if the area where the backup member is allowed to be arranged is limited to the overlapping area Rd, the arrangement changing process can be performed without the above-described restrictions. However, there is a demand for reliably supporting the substrate 90 or using the regions Rp1 and Rp2 as stock regions by arranging backup members in the first exclusive region Rp1 and the second exclusive region Rp2.

From the above viewpoint, it is desirable to be able to execute the arrangement changing process including the first exclusive region Rp1 and the second exclusive region Rp2. However, for example, when the backup member is held by moving the holding member 80 up and down by the operation of the first lifting device 45 in the first holding step, the holding member 80 is moved by the operation of the second lifting device 46 in the next placement step. In order to arrange the backup member by moving it up and down, it is necessary to move the backup member located at the first specified angle Ap1 of the mounting head 40 to the second specified angle Ap2.

At this time, it is conceivable to rotate the rotary head 42 while holding the backup member. However, simply rotating the rotary head 42 may cause interference between the backup member and other members in the machine. In particular, interference between the backup member and the pair of

guide rails

12 and 13 may occur. Therefore, the component mounting machine 1 according to the present embodiment is a mode exemplified below in the arrangement change process so that the first exclusive area Rp1 and the second exclusive area Rp2 can be expanded so that the area where the backup member can be arranged is included. As described above, the backup member is moved between the first specified angle Ap1 and the second specified angle Ap2 (hereinafter referred to as “movement between angles”).

5-1. First Mode of Movement Between Angles In the arrangement changing process of the first mode, the control device 55 rotates the rotary head 42 after moving the head main body 41 to the safety region Rs, whereby the backup member is moved to the first specified angle Ap1. And the second specified angle Ap2. Here, the “safety region Rs” means that the holding member 80 is moved between the first specified angle Ap1 and the second specified angle Ap2 as the rotary head 42 rotates as shown in FIG. In this case, the backup member held by the holding member 80 does not interfere with other members (such as the guide rails 12 and 13) in the machine.

In other words, if the head main body 41 is located inside the safety region Rs, the backup member can be connected to the guide rails 12, 12 even if the holding member 80 that holds the backup member is rotated around the R axis by the rotation of the rotary head 42. Does not interfere with 13 mag. The safety area Rs is set in advance according to the in-flight situation at each execution timing of the arrangement changing process, for example, and stored in the storage unit 56 as the safety area information M2. The safety region Rs is preset in this way because the positions of the guide rails 12 and 13 and other backup members differ depending on the execution timing of the arrangement changing process, and the safety region Rs varies depending on the situation in the machine. Because it can.

According to the first aspect as described above, the backup member is moved between angles by the rotation of the rotary head 42 inside the safety region Rs. This reliably prevents interference between the backup member and other members in the machine.

5-2. Second Mode of Movement Between Angles In the arrangement changing process of the second mode, the control device 55 rotates the rotary head 42 after moving at least one of the pair of

guide rails

12 and 13 to a predetermined position in the second direction. Thus, the control device 55 prevents the backup member held by the holding member 80 and the pair of

guide rails

12 and 13 from interfering with each other between the first specified angle Ap1 and the second specified angle Ap2. Move.

In the present embodiment, the pair of

guide rails

12 and 13 are configured such that the distance between them can be adjusted. Therefore, the control device 55 uses such a function to retract at least one of the pair of

guide rails

12 and 13 from the work area of the arrangement change process to a predetermined position. According to the second aspect as described above, the backup member is moved by an angle in the work area enlarged by the movement of the pair of

guide rails

12 and 13. Thereby, the interference between the backup member and the guide rails 12 and 13 is reliably prevented.

5-3. Third Mode of Movement Between Angles In the arrangement changing process of the third mode, the control device 55 moves the holding member 80 between the first specified angle Ap1 and the second specified angle Ap2 as the rotary head 42 rotates. In this case, the rotary head 42 is rotated in the rotation direction of the rotary head 42 set on the basis of the positional relationship between the movement path of the backup member and other members in the machine.

Here, when the backup member is moved from the current position Pc to the target position Pt, the backup member moves along a movement locus in which the movement of the head main body 41 and the movement of the rotary head 42 are combined. The movement trajectory varies depending on the rotation direction of the rotary head 42 (see the movement trajectories Lm1 and Lm2 in FIG. 7). Here, the rotational direction of the rotary head 42 is generally limited to only one direction from the viewpoint of the mechanical configuration such as backlash.

On the other hand, in the arrangement change process, the rotation direction of the rotary head 42 is set based on the estimated movement trajectories Lm1 and Lm2 and the positional relationship between the backup member and other members in the machine for the purpose of preventing interference. Then, the control device 55 moves the backup member between the first specified angle Ap1 and the second specified angle Ap2 while preventing interference between the backup member held by the holding member 80 and other members in the machine.

According to the third aspect as described above, since the rotation direction of the rotary head 42 in the arrangement changing process is appropriately set, interference between the backup member and other members in the machine is reliably prevented. Note that the control device 55 may set the rotation timing and speed of the rotary head 42 relative to the movement of the head body 41 based on the movement locus of the backup member. In such a configuration, similarly, interference between the backup member and other members in the machine can be prevented.

5-4. Fourth Mode of Movement Between Angles In the arrangement changing process of the fourth mode, the control device 55 moves the holding member 80 between the first specified angle Ap1 and the second specified angle Ap2 as the rotary head 42 rotates. At this time, as shown in FIG. 7, by moving the head main body 41 in synchronization with the rotation of the rotary head 42, the movement locus Lm3 of the backup member held by the holding member 80 is kept within the predetermined range Ts. .

In other words, when the backup member moves along the arcuate movement locus by the rotation of the rotary head 42, the control device 55 causes the head main body 41 to move to the arcuate movement locus so as to cancel the movement of the backup member. Move along. Accordingly, the backup member hardly moves in the horizontal direction with respect to the base 2 even though the rotary head 42 rotates. FIG. 7 shows a movement restriction Lm3 having a part of the movement in the X direction in which the movement in the Y direction is completely canceled and approaches the target position Pt from the current position Pc. When the backup member does not move in the X and Y directions, the movement locus Lm3 does not occur.

In this way, the control device 55 makes the backup member move in the predetermined range Ts so that the backup member movement trajectory Lm3 falls within the predetermined range Ts, while preventing the backup member from interfering with other members in the machine, It is moved between the specified angle Ap2. According to the fourth aspect as described above, interference between the backup member and other members in the machine can be reliably prevented. In particular, the backup member can be moved between angles within a very small predetermined range Ts regardless of the positional relationship with other members in the machine and other backup members.

5-5. Fifth Aspect of Inter-Angle Movement In the arrangement changing process of the fifth aspect, the control device 55 does not perform inter-angle movement due to the rotation of the rotary head 42, unlike the first aspect to the fourth aspect. Specifically, the control device 55 first holds the backup member at the current position Pc by one operation of the first lifting device 45 and the second lifting device 46 and at the temporary placement position Pm inside the overlapping region Rd. Temporarily place the backup member. Thereafter, the control device 55 holds the backup member at the temporary placement position Pm by the other operation of the first lifting device 45 and the second lifting device 46 and arranges the backup member at the target position Pt.

Specifically, as shown in FIG. 8A, assuming that the current position Pc is in the first exclusive area Rp1 and the target position Pt is in the second exclusive area Rp2, the control device 55, as shown in FIG. 8A, First, the mounting head 40 is moved to the first position Pr1, and the backup member at the current position Pc is held by the operation of the first lifting device 45. Then, the control device 55 moves the mounting head 40 to the second position Pr2, and temporarily places the backup member at the temporary placement position Pm by the operation of the first lifting device 45.

The temporary placement position Pm is set at an arbitrary position inside the overlapping region Rd. The temporary placement position Pm may be set in a stock area in which a backup member that is not used for supporting the substrate 90 is stocked. The temporary placement position Pm may be set to a position where temporary placement is possible between the current position Pc and the target position Pt. Here, when there is one holding member 80 attached to the syringe 43 of the rotary head 42, the control device 55 moves the mounting head 40 from the second position Pr2 to the third position Pr3 as shown in FIG. 8B. The rotary head 42 is rotated.

Thereafter, the control device 55 holds the backup member at the temporary placement position Pm by the operation of the second lifting device 46. Then, the control device 55 moves the mounting head 40 to the fourth position Pr4 and arranges the backup member at the target position Pt by the operation of the second lifting device 46. Here, the control device 55 rotates the rotary member during the period for holding the backup member from the current position Pc to the temporary placement position Pm and the period for holding the backup member from the temporary placement position Pm to the target position Pt. The rotation of the head 42 is restricted.

Further, in the arrangement changing process of the fifth aspect, the holding member 80 is maintained at a height lower than the rising end by either the first lifting device 45 or the second lifting device 46 during the period in which the backup member is held. . Thereby, when the holding member 80 holds the soft pin 70, interference between the support portion 74 positioned at the uppermost portion of the soft pin 70 and the mounting head 40 is prevented.

5-6. Combination of various modes of movement between angles As described above, various modes can be adopted for movement between angles in the arrangement changing process. Moreover, the control apparatus 55 may combine these aspects suitably. For example, when executing the arrangement changing process, the control device 55 first moves all movable ones of the pair of

guide rails

12 and 13 of the plurality of transport mechanisms 11 to the moving end in the Y direction, thereby causing the safety region Rs. May be secured large. In addition to these, the control device 55 performs control so as to switch the rotation direction of the rotary head 42 as appropriate, or performs control so that the movement locus Tm3 of the backup member when the rotary head 42 rotates falls within the predetermined range Ts. May be.

Further, the control device 55 may switch these modes based on various conditions. For example, in the movement between the angles of the arrangement change process, the control device 55 temporarily places the backup member at the temporary placement position Pm as in the fifth aspect, or rotates the rotary head 42 as in the first to fourth aspects. It is switched based on the type of the backup member.

In the present embodiment, when the backup member is of the first type (for example, hard pin 60), the control device 55 rotates the rotary head 42 to rotate the backup member as in the first to fourth aspects. It moves between the first specified angle Ap1 and the second specified angle Ap2. On the other hand, when the backup member is of the second type (for example, the soft pin 70), the control device 55 temporarily places the backup member at the temporary placement position Pm as in the fifth aspect. It moves between the first specified angle Ap1 and the second specified angle Ap2.

In the first to fourth aspects described above, since the rotation of the rotary head 42 is used for the movement between the angles in the arrangement changing process, the operations of the first lifting device 45 and the second lifting device 46 are not required for the movement between the angles. Thereby, there exists an advantage that the time required for the movement between angles can be shortened. Further, in the first aspect to the third aspect, the rotary head 42 can be rotated while the mounting head 40 is moved, and the movement between the angles can be performed.

On the other hand, the fifth aspect requires the operations of the first elevating device 45 and the second elevating device 46 to move between angles in the arrangement changing process, and the mounting head 40 needs to move to the temporary placement position Pm. However, since the backup member is maintained at a predetermined height and moved to the target position Pt without raising the syringe 43 to the rising end, there is an advantage that interference between the backup member and the mounting head 40 can be reliably prevented.

6). Backup Member Arrangement Change Process and Arrangement Change Method The backup member arrangement change process will be described with reference to FIG. The component mounting machine 1 executes an arrangement changing process when, for example, the type of board product to be produced changes. First, as shown in FIG. 9, the control device 55 acquires the current position Pc and the target position Pt of the backup member that is the object of the arrangement change (S11).

It should be noted that the current position Pc of the backup member is determined based on the result of image processing of the image data acquired by the past recording and the imaging of the board camera 52. The target position Pt is set based on the pin arrangement information M1 stored in the storage unit 56. Here, it is assumed that the current position Pc is in the first exclusive area Rp1, and the target position Pt is in the second exclusive area Rp2. Further, it is assumed that one holding member 80 is attached to the mounting head 40.

Next, the control device 55 causes the holding member 80 to hold the backup member at the current position Pc by the operation of the first lifting device 45 (S12, holding step). Specifically, the control device 55 moves the mounting head 40 and lowers the holding member 80 by the operation of the first lifting device 45. Then, after engaging the backup member with the holding member 80, the control device 55 raises the holding member 80 to a predetermined height by the operation of the first lifting device 45. As a result, the backup member is held by the holding member 80.

Subsequently, the control device 55 determines whether or not the current position Pc and the target position Pt acquired in S11 are inside different exclusive areas Rp1 and Rp2 (S13). When both the current position Pc and the target position Pt are outside the overlapping region Rd, and the current position Pc and the target position Pt are different private regions Rp1 and Rp2 (S13: Yes), the control device 55 It is determined whether or not the backup member is the first type (S14).

When the backup member is the hard pin 60, that is, the first type (S14: Yes), the control device 55 moves between angles by the rotation of the rotary head 42 (S15). At this time, the syringe 43 to which the holding member 80 is attached is raised to the rising end by the operation of the first lifting device 45 so that the rotation of the rotary head 42 is allowed. In addition, said movement between angles is performed by either of the illustrated 1st aspect to the 4th aspect, or these combination.

On the other hand, when the backup member is the soft pin 70, that is, the second type (S14: No), the control device 55 moves between the angles using the temporary placement position Pm regardless of the rotation of the rotary head. Perform (S16). At this time, the syringe 43 to which the holding member 80 is attached is raised to a predetermined height lower than the rising end by the operation of the first lifting device 45. In addition, said movement between angles is performed by the illustrated 5th aspect. As described above, the control device 55 switches the mode of movement between angles based on the type of the backup member (S14 to S16).

The holding member 80 that holds the backup member is moved from the first specified angle Ap1 to the second specified angle Ap2 by moving between the angles as described above. Thereafter, the control device 55 moves the mounting head 40 and arranges the backup member at the target position Pt by the operation of the second lifting device 46 (S17, arrangement step).

Further, when at least one of the current position Pc and the target position Pt of the current backup member is inside the overlapping area Pd, or when both the current position Pc and the target position Pt are inside the same exclusive areas Rp1, Rp2 ( (S13: Yes), the movement between angles by S14-S16 is omitted, and the arrangement step (S17) is executed. When the current position Pc or the target position Pt is in any of the exclusive regions Rp1, Rp2, when the backup member is moved up and down (S12, S17), the lifting device 45 corresponding to the exclusive regions Rp1, Rp2 46 is used. If all arrangement changes have not been completed (S18: No), the control device 55 repeats S11-S17.

7). Effects of Configuration of Embodiment In the component mounting machine 1 described above, the current position Pc is inside the first exclusive area Rp1 excluding the overlapping area in the first movable area Rm1, and the target position Pt is the second exclusive area Rp2. In the arrangement changing process inside, the backup member (hard pin 60, soft pin 70) at the current position Pc is held by the holding member 80 by the operation of the first lifting device 45, and then the second lifting device 46 is operated. A control device 55 for arranging a backup member at the target position Pt is provided.

In the above-described backup member arrangement changing method, the arrangement changing method is such that the current position Pc is inside the first exclusive area Rp1 excluding the overlapping area Rd in the first movable area Rm1, and the target position Pt is the second exclusive area. In the arrangement changing process inside the region Rp2, the holding step (S12) for holding the backup member (hard pin 60, soft pin 70) at the current position Pc in the holding member 80 by the operation of the first lifting device 45, and the holding step After (S12), the arrangement | positioning step (S17) which arrange | positions a backup member in the target position Pt by operation | movement of the 2nd raising / lowering apparatus 46 is provided.

According to such a configuration, even in the exclusive regions Rp1 and Rp2 in which the current position Pc and the target position Pt of the backup member are different in the arrangement changing process, the first lifting device 45 and the second lifting device 46 are used. Can be moved. Thereby, in the machine of the component mounting machine 1 provided with a some lifting apparatus, the area | region which can arrange | position a backup member can be expanded from the overlap area | region Rd to the area | region containing each exclusive area | region Rp1, Rp2. Therefore, the backup member can be arranged at a more suitable position. As a result, the quality of the board product produced by the mounting process can be improved.

8). Modifications of Embodiments 8-1. Arrangement Change Process In the embodiment, in the arrangement change process, the mode of moving the position of the backup member in the mounting head 40 by the rotation of the rotary head 42 based on the type of the backup member (from the first mode to the fourth mode of movement between angles). ) And a mode in which the position of the backup member is moved using the temporary placement position Pm (a fifth mode of movement between angles). On the other hand, the control device 55 may switch the mode of movement between angles based on other conditions of the type of the backup member. Further, the control device 55 may always move between angles in any manner.

In the arrangement changing process, when at least one of the current position Pc and the target position Pt of the backup member is in the overlapping region Rd, the rotation of the rotary head 42 is performed while the mounting head 40 is moved in the horizontal direction. May be. As a result, the backup member can be moved in the X direction as the rotary head 42 rotates, so that the moving distance of the mounting head 40 can be shortened. As a result, the time required for the arrangement changing process can be shortened. Note that the configuration in which the rotary head 42 is rotated while moving the mounting head 40 as described above can also be applied to a component mounting machine having a configuration in which no exclusive region exists regarding the region where the backup member can be arranged.

8-2. About Mounting Head 40 In the embodiment, the moving head formed by the head body 41 is the mounting head 40 used for the mounting process. On the other hand, the moving head may be a dedicated moving head for changing the arrangement of the backup member. For example, a configuration that does not include the rotary head 42 is also assumed for the moving head (mounting head 40) that is also used for the mounting process and the dedicated moving head. Specifically, the moving head includes a plurality of syringes provided so as to be movable up and down with respect to the head main body 41 and a plurality of lifting devices that lift and lower the plurality of syringes, respectively.

Also, a holding member 80 is attached to each syringe. Thereby, each movable area | region of a several raising / lowering apparatus will be in the state which does not overlap at least partially. In the case of a moving head having such a configuration (a mounting head or a dedicated moving head), the backup member can be moved between the plurality of holding members 80 using the temporary placement position Pm.

In the embodiment, the mounting head 40 includes two lifting devices (the first lifting device 45 and the second lifting device 46) arranged side by side in the X direction. In contrast, the mounting head may include a plurality of lifting devices arranged side by side in the Y direction. In such a configuration, the respective movable regions in which the plurality of lifting devices lift and lower the holding member are shifted in the Y direction. Even if it is such a structure, there exists an effect similar to embodiment by performing the arrangement | positioning change process which was illustrated in embodiment. Note that the mounting head may include three or more lifting devices. In such a configuration, the same effect as in the embodiment can be obtained by moving the backup member between the prescribed angles corresponding to each of the three or more lifting devices in the arrangement changing process.

8-3. About Backup Member and Holding Member 80 In the embodiment, the backup member is the hard pin 60 or the soft pin 70. On the other hand, various aspects can be adopted as the backup member. Specifically, the backup member may include a plurality of support portions that contact the lower surface of the substrate 90 and support the substrate 90. Further, the supported portion supported by the holding member 80 may be formed in one or more planes in addition to the engaging

portions

64 and 75 as illustrated in the embodiment. Such a holding member is held by suction by the suction nozzle 44 as the holding member 80.

1: component mounting machine, 2: base, 10: substrate transfer device, 11: transfer mechanism, 12, 13: (pair) guide rails, 14: conveyor belt, 15: backup device, 40: mounting head, 41: Head body, 42: rotary head, 43: syringe, 44: suction nozzle (holding member), 45: first lifting device, 46: second lifting device, 55: control device, 56: storage unit, 60: hard pin (second One type of backup member), 70: Soft pin (second type of backup member), 80: Holding member, 90: Substrate, Pc: Current position, Pt: Target position, Pm: Temporary placement position, Rm1: First movable Area, Rm2: second movable area, Rd: overlapping area, Rp1: first exclusive area, Rp2: second exclusive area, Rs: safety area , Ap1: first prescribed angle, Ap2: second prescribed angle, Lm1, Lm2, Lm3 :( backup member) moving trajectory, M1: pin placement information, M2: Safety area information

Claims

The base,
A head body provided to be movable in a horizontal direction with respect to the base;
A backup member disposed at a predetermined position in the machine and supporting the substrate from below;
A holding member that is provided in the head main body so as to be movable up and down, and holds the backup member in an arrangement change process for moving the backup member from a current position to a target position;
A first elevating device provided in the head body and elevating and lowering the holding member in a first movable region;
A second elevating device that is provided in the head main body and raises and lowers the holding member in a second movable region having an overlapping region that overlaps with the first movable region and a second exclusive region that does not overlap with the first movable region;
In the arrangement changing process, in which the current position is inside the first exclusive area excluding the overlapping area in the first movable area, and the target position is inside the second exclusive area, A control device for disposing the backup member at the target position by the operation of the second lifting device after the holding member holds the backup member at the current position by the operation of the device;
A component mounting machine comprising:
The component mounting machine further includes a rotary head that is provided so as to be rotatable around an R axis parallel to a vertical axis with respect to the head main body, and supports the holding member so as to be movable up and down with respect to the head main body.
The first lifting device lifts and lowers the holding member that is angled to a first specified angle around the R axis by rotation of the rotary head,
The second lifting device lifts and lowers the holding member that is angled to a second specified angle around the R axis by the rotation of the rotary head,
The control device moves the backup member held by the holding member between the first prescribed angle and the second prescribed angle by rotating the rotary head in the arrangement changing process. Item mounting machine of item 1.
When the control device moves the holding member between the first specified angle and the second specified angle as the rotary head rotates, the backup member held by the holding member is in-machine. A storage unit that stores a safe area that does not interfere with other members;
In the arrangement changing process, the control device rotates the rotary head after moving the head main body to the safe area, thereby moving the backup member between the first specified angle and the second specified angle. The component mounting machine according to claim 2, wherein the component mounting machine is moved at a position.
The component mounting machine is a pair of guide rails each extending in a first direction in which the board is conveyed and supporting a peripheral edge of the board, and at least one of the pair of guide rails is orthogonal to the first direction. A pair of guide rails provided on the base so as to be movable in a second direction;
In the arrangement changing process, the control device rotates the rotary head after moving at least one of the pair of guide rails to a predetermined position in the second direction, thereby holding the backup member held by the holding member. The component mounting machine according to claim 2 or 3, wherein the backup member is moved between the first specified angle and the second specified angle while preventing interference between the member and the pair of guide rails.
The control device includes a movement locus of the backup member when the holding member is moved between the first prescribed angle and the second prescribed angle as the rotary head rotates in the arrangement changing process. By rotating the rotary head in the rotational direction of the rotary head set based on the positional relationship with other members in the machine, interference between the backup member held by the holding member and the other members in the machine 5. The component mounting machine according to claim 2, wherein the backup member is moved between the first specified angle and the second specified angle while preventing.
The control device synchronizes with the rotation of the rotary head when the holding member is moved between the first specified angle and the second specified angle in accordance with the rotation of the rotary head in the arrangement changing process. Then, by moving the head body, the movement locus of the backup member held by the holding member is kept within a predetermined range, while preventing interference between the backup member and other members in the machine. The component mounting machine according to any one of claims 2 to 5, wherein the backup member is moved between the first specified angle and the second specified angle.
In the arrangement change process, the control device holds the backup member at the current position by one operation of the first lifting device and the second lifting device, and at the temporary placement position inside the overlapping region. The backup member is temporarily placed, and then the backup member at the temporary placement position is held by the other operation of the first lifting device and the second lifting device, and the backup member is disposed at the target position. The component mounting machine according to any one of 1-6.
The component mounting machine further includes a rotary head that is provided so as to be rotatable around an R axis parallel to a vertical axis with respect to the head main body, and supports the holding member so as to be movable up and down with respect to the head main body.
In the arrangement changing process, the control device holds the period for holding the backup member from the current position to the temporary placement position, and moves the backup member from the temporary placement position to the target position. The component mounting machine according to claim 7, wherein rotation of the rotary head during the holding period is restricted.
The first lifting device lifts and lowers the holding member that is angled to a first specified angle around the R axis by rotation of the rotary head,
The second lifting device lifts and lowers the holding member that is angled to a second specified angle around the R axis by the rotation of the rotary head,
In the arrangement change process, the control device moves the backup member held by the holding member between the first specified angle and the second specified angle, and moves the backup member to the temporary placement position. The component mounting machine according to claim 8, wherein whether to temporarily place the rotary head or rotate the rotary head is switched based on a type of the backup member.
The backup member includes a first type in which a held portion that comes into contact with the holding member when held by the holding member is positioned at the uppermost portion of the backup member, and the held portion is the uppermost portion of the backup member. And the second type located below
The control device moves the backup member between the first specified angle and the second specified angle by rotating the rotary head when the backup member is the first type, and the backup device 10. When the member is of the second type, the backup member is moved between the first specified angle and the second specified angle by temporarily placing the backup member at the temporary placement position. The component mounting machine described in 1.
In the component mounting machine, a placement changing method for moving the backup member from the current position to the target position,
The component mounting machine is
The base,
A head body provided to be movable in a horizontal direction with respect to the base;
The backup member disposed at a predetermined position in the machine and supporting the substrate from below;
A holding member that is provided in the head main body so as to be movable up and down, and holds the backup member in an arrangement change process for moving the backup member from a current position to a target position;
A first elevating device provided in the head body and elevating and lowering the holding member in a first movable region;
A second elevating device provided in the head main body and elevating and lowering the holding member in a second movable region having an overlapping region overlapping with the first movable region and a second exclusive region not overlapping with the first movable region; Prepared,
The arrangement changing method is:
In the arrangement changing process in which the current position is inside the first exclusive area excluding the overlapping area in the first movable area, and the target position is inside the second exclusive area,
A holding step of causing the holding member to hold the backup member at the current position by the operation of the first lifting device;
An arrangement step of arranging the backup member at the target position by the operation of the second lifting device after the holding step;
A method for changing the arrangement of the backup member.