WO2020070809A1

WO2020070809A1 - Work machine

Info

Publication number: WO2020070809A1
Application number: PCT/JP2018/036938
Authority: WO
Inventors: 寛之大嶋; 龍平神尾
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2018-10-02
Filing date: 2018-10-02
Publication date: 2020-04-09
Also published as: JPWO2020070809A1; CN112789959B; JP7075498B2; CN112789959A

Abstract

This work machine comprises a work head for performing mounting work for selectively mounting components that constitute an electric circuit and components that do not constitute the electric circuit.

Description

Work machine

{Circle over (1)} The present invention relates to a work machine for performing a work of mounting components constituting an electric circuit.

The following patent document describes an example of a working machine for performing a work of mounting components constituting an electric circuit.

JP-A-8-236984 JP-A-11-298137

In the working machine, there are cases where not only parts constituting the electric circuit but also parts not constituting the electric circuit are mounted. The present invention has been made in view of such circumstances, and an object of the present invention is to appropriately perform a work of mounting components forming an electric circuit and a work of mounting components not forming an electric circuit. It is.

解決 In order to solve the above problems, the present specification discloses a working machine including a work head that performs a mounting operation for selectively mounting components forming an electric circuit and components not forming an electric circuit.

According to the present disclosure, the work head performs the mounting operation of selectively mounting the components forming the electric circuit and the components not forming the electric circuit. This makes it possible to suitably perform the work of mounting the components that form the electric circuit and the work of mounting the components that do not form the electric circuit.

It is a perspective view which shows an electronic component mounting machine. It is a perspective view which shows a carrier. It is sectional drawing which shows a suction nozzle. It is a block diagram showing a control device. FIG. 5 is a perspective view showing the carrier with the component cover mounted thereon. FIG. 4 is a perspective view showing the carrier in a state where the electric component is mounted. FIG. 3 is a perspective view showing a carrier in a state where an electric component and a component cover are placed.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings as an embodiment for carrying out the present invention.

FIG. 1 shows an electronic component mounting machine 10 according to an embodiment of the present invention. The electronic component mounting machine 10 is a device for performing an operation of mounting an electrical component on a carrier. The electronic component mounting machine 10 includes a transfer device 20, a moving device (see FIG. 4) 22, a mounting head 24, a supply device 26, a part camera 28, a mark camera (see FIG. 4) 30, a nozzle station 32, and the like. , A cover mounting table 34, and a control device (see FIG. 4) 36.

The transport device 20 includes a pair of conveyor belts 50 and an electromagnetic motor (see FIG. 4) 52 that rotates the conveyor belt 50. The pair of conveyor belts 50 are disposed so as to extend in the X-axis direction substantially at the center of the base 53 in the Y-axis direction. The carrier 54 is supported by the pair of conveyor belts 50, and is conveyed in the X-axis direction by driving the electromagnetic motor 52. Further, the transport device 20 has a clamp device (see FIG. 4) 56. The clamp device 56 fixedly holds the carrier 54 supported by the conveyor belt 50 at a predetermined working position (the position where the carrier 54 is shown in FIG. 1). Further, the transport device 20 has a suction device (see FIG. 4) 57. The suction device 57 is disposed between the pair of conveyor belts 50, and suctions the electric components placed on the carrier 54 from the lower surface side of the carrier 54 held by the clamp device 56.

Specifically, the carrier 54 has a generally rectangular flat plate shape as shown in FIG. 2, and the carrier 54 has a plurality of component mounting portions 60 for mounting electrical components (see FIG. 5) 58. Individual, formed. Further, a plurality of through holes 62 penetrating in the up-down direction is formed in each of the plurality of component mounting portions 60. Then, at a position where the carrier 54 is held by the clamp device 56, the suction device 57 communicates with each of the plurality of through holes 62 from the lower surface side of the carrier 54. Thus, the electric component 58 placed on the carrier 54 is sucked by the suction device 57 from the lower surface side of the carrier 54. Further, a plurality of magnets 66 are embedded in the upper surface of the carrier 54 so as to sandwich each of the plurality of component mounting portions 60 in the carrier 54. As a result, a component cover (see FIG. 1) 67, which will be described in detail later, is fixed to the carrier 54 by the magnet 66.

The moving device 22 has a slider (not shown) to which the mounting head 24 is attached, an X-axis direction slide mechanism (not shown), and a Y-axis direction slide mechanism (not shown). The X-axis direction slide mechanism moves the slider in the X-axis direction by the operation of an electromagnetic motor (see FIG. 4) 68, and the Y-axis direction slide mechanism moves the slider in the Y-axis direction by the operation of an electromagnetic motor (see FIG. 4) 69. Move to Thereby, the mounting head 24 is moved to an arbitrary position on the base 53 by the moving device 22.

The mounting head 24 is for mounting the electric component 58, and has a suction nozzle 70 provided on the lower end surface. The suction nozzle 70 is described in Japanese Patent Application No. 2016-552779 filed earlier by the present applicant, and will be briefly described. As shown in FIG. 3, a suction nozzle 70 is provided at a lower end of a generally cylindrical housing 72. The pad 74 is held so as to be movable in the vertical direction. The suction pad 74 is formed of an elastically deformable material, and the lower end of the suction pad 74 has a trumpet shape. The interior of the suction pad 74 is hollow, and the hollow interior of the suction pad 74 communicates with a positive / negative pressure supply device (see FIG. 4) 78 via an air passage 76. When the negative pressure is supplied to the air passage 76 by the positive / negative pressure supply device 78, the electric component 58 is suction-held by the suction pad 74. Further, the suction pad 74 moves upward by the supply of the negative pressure to the air passage 76. At this time, the outer edge of the suction pad 74 is supported by the housing 72 at the lower end. Thereby, the elastic deformation of the suction pad 74 when the electric component 58 is suction-held is suppressed, and the suction holding of the electric component 58 by the suction pad 74 is ensured. Then, when a slight positive pressure is supplied to the air passage 76 by the positive / negative pressure supply device 78, the holding by the suction pad 74 is released, and the electric component 58 is separated. The mounting head 24 has a nozzle elevating device (see FIG. 4) 80 for raising and lowering the suction nozzle 70. The nozzle head elevating device 80 allows the mounting head 24 to position the electric component 58 to be held in the vertical direction. change. In addition, the suction nozzle 70 can be attached to and detached from the mounting head 24 with a single touch, and can be replaced with a different type of suction nozzle.

The supply device 26 is provided at the end in the Y-axis direction, as shown in FIG. 1, and is a device for supplying the electric component 58 placed on the tray 82. The supply device 26 has a tray storage (not shown) and a tray moving device 84. A plurality of trays 82 are stored in the tray storage. Then, the tray 82 stored in the tray storage is pulled out to the component supply position (the position where the tray 82 is shown in FIG. 1 is illustrated) by the operation of the tray moving device 84, and the tray 82 is pulled out of the tray 82 at the component supply position. The component is supplied to the mounting head 24.

The parts camera 28 is arranged next to the supply device 26 with the base camera 53 facing upward. Thus, by moving the mounting head 24 above the part camera 28, the part camera 28 can capture an image of the electric component 58 held by the suction nozzle 70. Further, the mark camera 30 is fixed to a slider on which the mounting head 24 of the moving device 22 is attached, facing downward, and moves to an arbitrary position by the operation of the moving device 22. Thereby, the mark camera 30 can image an arbitrary position on the base 53.

The nozzle station 32 is disposed next to the supply device 26 on the side opposite to the part camera 28 and has a nozzle tray 88. The nozzle tray 88 contains a plurality of types of suction nozzles having different nozzle diameters. Then, in the nozzle station 32, the exchange of the suction nozzle mounted on the mounting head 24 with the suction nozzle accommodated in the nozzle tray 88 is automatically performed.

The cover mounting table 34 is provided so as to face the supply device 26 with the transport device 20 interposed therebetween. The cover mounting table 34 has a flat plate shape, and its upper surface is a space where the three component covers 67 can be mounted without overlapping.

{Circle around (4)} As shown in FIG. 4, the control device 36 includes a controller 100 and a plurality of drive circuits 102. The plurality of drive circuits 102 are connected to the

electromagnetic motors

52, 68, 69, the clamp device 56, the suction device 57, the positive / negative pressure supply device 78, the nozzle elevating device 80, and the tray moving device 84. The controller 100 includes a CPU, a ROM, a RAM, and the like, is mainly composed of a computer, and is connected to a plurality of drive circuits 102. Thereby, the operations of the transport device 20, the moving device 22, and the like are controlled by the controller 100. Further, the controller 100 is also connected to the image processing device 108. The image processing device 108 is a device for processing image data captured by the parts camera 28 and the mark camera 30. Thereby, the controller 100 acquires various information from the imaging data.

In the electronic component mounting machine 10, the carrier 54 to which the electric component 58 is not mounted is carried in with the component cover 67 mounted thereon by the above-described configuration. Then, in the electronic component mounting machine 10, the component cover 67 is removed, and the electric component 58 is mounted on the carrier 54 from which the component cover 67 has been removed. Thereafter, when the mounting operation of the electric component 58 is completed, the component cover 67 is placed on the carrier 54 on which the electric component 58 is mounted, and the carrier 54 is carried out.

Specifically, as shown in FIG. 1, the component cover 67 is a generally square flat plate, and the length of one side of the component cover 67 is slightly smaller than the length of the short side of the carrier 54. It has been shortened. The length of the long side of the carrier 54 is slightly longer than three times the length of one side of the component cover 67. Thus, the three component covers 67 can be placed on the upper surface of the carrier 54 in the longitudinal direction of the carrier 54. The component cover 67 has four square exposure holes 110 in a 2 × 2 arrangement. The exposure hole 110 is slightly smaller than the electrical component 58 to be mounted on the carrier 54. Then, the three component covers 67 are placed on the carrier 54 on which the electric component 58 is not mounted so that the component placement portion 60 is exposed via the exposure hole 110. The component cover 67 is formed of a magnetic material such as iron, and is fixed by a magnet 66 embedded on the upper surface of the carrier 54.

３Thus, the three component covers 67 are placed on the carrier 54 on which the electric components 58 are not mounted, and the carrier 54 in that state is carried into the electronic component mounting machine 10. Note that the carrier 54 shown in FIG. 1 has twelve component placement parts 60 formed thereon so that three component covers 67 can be placed thereon. The carrier 54 shown in FIG. Eight mounting portions 60 are formed, and two component covers 67 can be mounted thereon. Therefore, FIG. 5 shows the carrier 54 in a state where the two component covers 67 are mounted on the carrier 54 on which the eight component mounting portions 60 are formed. Then, when the carrier 54 is carried into the electronic component mounting machine 10, the carrier 54 is transported to a work position by a command of the controller 100, and the carrier 54 is fixedly held by the clamp device 56 at that position. At this time, the through-hole 62 formed in the carrier 54 communicates with the suction device 57, and air is sucked from the through-hole 62 by the operation of the suction device 57. Further, the mounting head 24 moves above the carrier 54 in accordance with a command from the controller 100, and the component cover 67 placed on the carrier 54 is suction-held by the suction nozzle 70. Subsequently, the component cover 67 held by the suction nozzle 70 is transferred from the carrier 54 to the cover mounting table 34 by the operation of the moving device 22.

Then, when the three component covers 67 are transferred from above the carrier 54 onto the cover mounting table 34, the mark camera 30 is moved above the carrier 54 from which the component cover 67 has been removed by a command from the controller 100. It moves and images the carrier 54. As a result, the imaging data is analyzed in the controller 100, and information on the holding position of the carrier 54 and the like is obtained. In the supply device 26, the tray on which the electric components 58 are placed is pulled out to the component supply position by the operation of the tray moving device 84 in accordance with a command from the controller 100.

Then, the mounting head 24 moves above the tray 82 according to a command from the controller 100, and holds the electric component 58 by suction by the suction nozzle 70. After the component cover 67 is held by the suction nozzle 70 and is transferred from the carrier 54 to the cover mounting table 34, the suction nozzle 70 mounted on the mounting head 24 is not replaced. The part 58 is held. That is, each of the electric component 58 and the component cover 67 is held by the same suction nozzle 70 mounted on the mounting head 24.

Next, the mounting head 24 moves above the parts camera 28 according to a command from the controller 100, and the parts camera 28 images the electric component 58 held by the suction nozzle 70. As a result, the image data is analyzed by the controller 100, and information on the holding posture and the holding position of the component is obtained. Then, the mounting head 24 moves above the carrier 54 in accordance with a command from the controller 100, and corrects the held electric component 58 in terms of the holding position of the carrier 54, the holding posture of the electric component 58, and the like. As shown, it is mounted on the component mounting part 60 of the carrier 54. At this time, since the air is sucked from the through hole 62 in the component placement unit 60, the electric component 58 mounted on the component placement unit 60 is fixed by the suction of the air, and the displacement is prevented.

(5) When the work of mounting the electric component 58 on the carrier 54 is completed, the component cover 67 transferred on the cover mounting table 34 is returned onto the carrier 54. That is, the mounting head 24 moves above the cover mounting table 34 in accordance with a command from the controller 100, and the component cover 67 mounted on the cover mounting table 34 is suction-held by the suction nozzle 70. Subsequently, the component cover 67 held by the suction nozzle 70 is transferred onto the carrier from above the cover mounting table 34 by the operation of the moving device 22. At this time, the component cover 67 is placed on the carrier 54 on which the electric component 58 is mounted so that the electric component 58 is exposed through the exposure hole 110 although a part of the outer periphery is covered (FIG. 7). reference). As a result, the component cover 67 is fixed to the carrier 54 by the magnet 66, and the outer edge of the electric component 58 mounted on the carrier 54 is pressed by the edge defining the exposure hole 110 of the component cover 67. As described above, in one electronic component mounting machine 10, after the component cover 67 is once removed from the top of the carrier 54, the electrical component 58 is mounted on the carrier 54, and again, The parts cover 67 is attached to the. That is, the component cover 67 is attached to and detached from the carrier 54, and the electric component 58 is attached to the carrier 54.

When the three component covers 67 are returned from above the cover mounting table 34 onto the carrier 54, the operation of the suction device 57 is stopped, and the suction of the electric components 58 is released. Subsequently, the clamp of the carrier 54 by the clamp device 56 is released, and the carrier 54 is carried out of the electronic component mounting machine 10. At this time, since the electric component 58 mounted on the carrier 54 is pressed by the component cover 67, the position of the electric component 58 when the carrier 54 is carried out even when suction is released when the carrier 54 is carried out. Deviation is prevented.

The carrier 54 carried out of the electronic component placement machine 10 is carried into, for example, a different electronic component placement machine located downstream of the electronic component placement machine 10 and the component cover 67 placed on the carrier 54 is exposed. As shown in FIG. 7, some other electric component 120 is mounted on the electric component 58 through the hole 110. Thereby, a product including the electric component 58 is manufactured. Incidentally, the component cover 67 prevents displacement of the electric component 58 when the carrier 54 is conveyed, or mounting displacement caused by a force applied to the electric component 58 when another electric component 120 is mounted on the electric component 58. Although it may be electrically connected to the carrier, it does not constitute an electric circuit. Therefore, the component cover 67 is removed from above the carrier 54 after the manufacture of a product constituting an electric circuit including the electric component 58 is completed. In addition, the carrier 54 is used for transporting the electric component 58 in manufacturing a product constituting an electric circuit. When a product including the electric component 58 is manufactured, the product is transferred from the carrier 54. Removed. Therefore, the electric component 58 forms an electric circuit alone or together with another electric component 120 mounted on the electric component 58.

As described above, in the electronic component mounting machine 10, the mounting operation of the electric component 58 and the mounting and dismounting of the component cover 67 are selectively performed by the mounting head 24 of one electronic component mounting machine 10. Accordingly, it is not necessary to provide a dedicated mounting head for each of the electric component 58 and the component cover 67, and cost and space can be reduced. Furthermore, in the maintenance work, maintenance needs to be performed only on one mounting head 24 instead of the dedicated mounting heads of the electric component 58 and the component cover 67, and the maintenance work can be reduced. .

The electric component 58 is a component that forms an electric circuit, and the component cover 67 is a component that does not form an electric circuit. Therefore, the above description is based on the case where the mounting head 24 of one electronic component mounting machine 10 selectively performs the mounting operation of the components constituting the electric circuit and the attaching / detaching operation of the components not forming the electric circuit. This is an example. The electrical component 58 is a component that is electrically conductive, and the component cover 67 is a component that is not electrically conductive with the electrical component 58 when configuring an electrical circuit. Therefore, in the above description, the mounting head 24 of one electronic component mounting machine 10 selectively performs the mounting operation of a component that is electrically conductive and the mounting and dismounting process of a component that is not electrically conductive to the electrical component 58. It can also be said that this is an example of the case where the processing is executed. In other words, the electric component 58 is a component that constitutes a product manufactured by one or more working machines including the electronic component mounting machine 10, and the component cover 67 is one or more working machines including the electronic component mounting machine 10. Are parts that do not constitute a product manufactured by For this reason, in the above description, the mounting head 24 of one electronic component mounting machine 10 selectively mounts components that make up a product to be manufactured and attaches and detaches components that do not make up a product to be manufactured. It can also be said that this is an example of the case where it is executed.

Further, in the electronic component mounting machine 10, the suction nozzle can be automatically attached to and detached from the mounting head 24. For example, it is possible to replace the suction nozzle with a suction nozzle having a different nozzle diameter. The electric component 58 and the component cover 67 are selectively held by the suction nozzle 70. As a result, it is possible to save the time required for the operation of replacing the suction nozzle, and it is possible to reduce the cycle time.

Incidentally, in the above embodiment, the electronic component mounting machine 10 is an example of a working machine. The mounting head 24 is an example of a working head. The electric component 58 is an example of a component constituting an electric circuit. The component cover 67 is an example of a component that does not form an electric circuit. The suction nozzle 70 is an example of a component holder.

The present invention is not limited to the above-described embodiment, and can be implemented in various modes with various changes and improvements based on the knowledge of those skilled in the art. Specifically, for example, in the above embodiment, the component cover 67 is mounted on the carrier 54 so as to cover a part of the electric component 58, thereby preventing the electric component 58 from being misaligned. If a member such as the cover 67 is placed so as to overlap with the electric component 58, the electric component 58 can be prevented from being misaligned. For example, a plate-shaped member may be placed so as to cover the entirety of the electrical component 58, and a massive member may be placed on a part of the upper surface of the electrical component 58. The fixing of the component cover 67 to the carrier 54 is not limited to a magnetic material or a magnet. For example, a component using a viscous substance or a component made of a soft material such as rubber may be used. Further, the component cover 67 may be formed using a material having a high specific gravity for the electrical component 58. Further, the carrier 54 may be employed as a component constituting an electric circuit without removing the carrier 54 from the electric component 58 finally.

In the above embodiment, the mounting operation of the electric component 58 and the attaching / detaching operation of the component cover 67 are selectively performed by the same suction nozzle 70 mounted on the mounting head 24. Accordingly, the work of mounting the electric component 58 and the work of attaching and detaching the component cover 67 may be selectively executed. That is, for example, the component cover 67 is held by a suction nozzle having a large nozzle diameter, and the electric component 58 is held by a suction nozzle having a small nozzle diameter which is automatically replaced from a plurality of types of holding tools provided in the nozzle station. Is also good.

In the above-described embodiment, one electronic component mounting machine 10 includes one mounting head 24, and the electrical component 58 and the component cover 67 are held by the one mounting head 24. One electronic component mounting machine may include two or more mounting heads, and the electrical component 58 and the component cover 67 may be held by one of the two or more mounting heads. Further, the electric component 58 and the component cover 67 may be individually held by two or more mounting heads. When the electrical component 58 and the component cover 67 are held by two or more mounting heads, the same type of suction nozzle is mounted on two or more mounting heads, and the same type of suction nozzle is mounted. Thereby, the electric component 58 and the component cover 67 may be held. On the other hand, different types of suction nozzles may be mounted on two or more mounting heads, and the electrical component 58 and the component cover 67 may be held by the different types of suction nozzles. Further, the work may be performed while the electric component 58 and the component cover 67 are simultaneously held by two or more mounting heads. By using a plurality of mounting heads, work can be performed while holding various types of electric components and component covers, which leads to a reduction in cycle time. Further, each of two or more mounting heads may be attached to one moving device and move at the same time, or one electronic component mounting machine may be provided with a plurality of moving devices, and each mounting head may be mounted. May be moved individually. Further, the mounting head of one electronic component mounting machine may perform a mounting operation of a component constituting the electric circuit and a removing operation of a component not forming the electric circuit.

In the above embodiment, the electric component 58 is mounted on the carrier 54, but the electric component 58 may be mounted on a circuit board or the like. As described above, when the electric component 58 is mounted on the circuit board and the like, and the circuit board and the electric component 58 are electrically connected, an electric circuit is configured by the circuit board and the electric component 58.

Further, for example, in the above-described embodiment, the mounting operation of the electric component 58 and the mounting operation of the component cover 67 are selectively performed by the suction nozzle 70, but the holding tool that holds the component by two or more claw members is used. The so-called chuck may selectively perform the work of mounting the electric component 58 and the work of mounting the component cover 67. In such a case, if a protrusion or the like to be gripped by the chuck is formed on the component cover 67 or the like, the holding is easy.

The electric component 58 and another electric component 120 used in the above embodiment may be different types of electric components or the same type of electric components.

10: Electronic component mounting machine (working machine) 24: Mounting head (working head) 電気 58: Electric component (component forming electric circuit) 67: Component cover (component not forming electric circuit) 70: Suction nozzle (holding tool)

Claims

(4) A work machine having a work head for performing a mounting work for selectively mounting parts constituting an electric circuit and parts not constituting an electric circuit.
The working head is
2. The mounting device according to claim 1, wherein a holder for holding the component is replaceable, and a component that forms the electric circuit and a component that does not form the electric circuit are held by the same holder and the mounting operation is performed. Working machine.
The working head is
2. The mounting device according to claim 1, wherein a holder that holds the component is replaceable, and a component that forms the electric circuit and a component that does not form the electric circuit are held by different holders, and the mounting operation is performed. Work machine.
The working head is
The work machine according to any one of claims 1 to 3, wherein a mounting operation is performed to mount a component that forms the electric circuit and a component that does not form the electric circuit so as to overlap with each other.