WO2022009409A1

WO2022009409A1 - Component mounting device

Info

Publication number: WO2022009409A1
Application number: PCT/JP2020/026977
Authority: WO
Inventors: 浩二河口
Original assignee: 株式会社Fuji
Priority date: 2020-07-10
Filing date: 2020-07-10
Publication date: 2022-01-13
Also published as: JP7510505B2; JPWO2022009409A1

Abstract

This component mounting device 10 is a device for mounting a component on a substrate S using a mounting head 18. The component mounting device 10 comprises: a nozzle holder provided in the mounting head 18 and extending in a vertical direction; a nozzle 42 attached to a lower end of the nozzle holder to be vertically slidable with respect to the nozzle holder; a nozzle raising/lowering mechanism that can vertically move the nozzle 42; and a control device that sets a tolerance of a force including the sliding resistance between the nozzle holder and the nozzle 42 according to mounting conditions, obtains a measured value of the force to determine whether or not the measured value falls within the tolerance, and determines that the nozzle 42 is defective when the measured value does not fall within the tolerance.

Description

Component mounting device

This specification discloses a component mounting device.

Conventionally, in a component mounting device having a sliding portion inside a nozzle, a device that measures the sliding resistance at the time of nozzle replacement or the like to judge the quality of the nozzle is known. For example, in the component mounting device described in Patent Document 1, the sliding resistance between the suction nozzle and the nozzle holder is measured, and if the sliding resistance exceeds a preset set value, the sliding state is changed. Judge as defective.

International Publication No. 2017/029704 Pamphlet

However, in such a component mounting device, the set value is set to a constant value so as not to interfere with the mounting regardless of the size of the component to be mounted and other mounting conditions. Therefore, for example, for a nozzle with a large load applied when mounting a component on a board, even if the sliding resistance exceeds the set value, it can be mounted without any problem, but it is determined that the nozzle is defective and the nozzle is replaced. Was sometimes needed.

The present disclosure has been made to solve such a problem, and the main purpose is to appropriately judge the quality of the nozzle according to the mounting conditions.

The component mounting device of the present disclosure is
A component mounting device that mounts components on a board using a mounting head.
A nozzle holder provided on the mounting head and extending in the vertical direction,
A nozzle attached to the lower end of the nozzle holder so as to be slidable up and down with respect to the nozzle holder,
A nozzle elevating mechanism that can move the nozzle up and down,
The allowable range of the force including the sliding resistance between the nozzle holder and the nozzle is set according to the mounting conditions, the measured value of the force is acquired, and whether or not the measured value falls within the allowable range is determined. A control device for determining that the nozzle is defective if the measured value does not fall within the allowable range.
It is equipped with.

In this component mounting device, the allowable range of the force including the sliding resistance between the nozzle holder and the nozzle was set according to the mounting conditions, and the measured value of the force was acquired and the measured value did not fall within the allowable range. If so, the nozzle is judged to be defective. Therefore, the quality of the nozzle can be appropriately determined as compared with the case where the allowable range is uniformly set regardless of the mounting conditions.

The perspective view of the component mounting apparatus 10. Explanatory drawing of the mounting head 18. Sectional drawing of nozzle 42. The appearance explanatory view of the nozzle 42. It is an operation explanatory view of the nozzle 42, (a) shows before the descent, (b) shows after descent. Explanatory drawing which shows the electrical connection of a controller 78. The figure which shows an example of the upper limit value information 79. The figure which shows an example of the production job data 82a. A flowchart showing a component mounting process routine. The figure which shows an example of the production job data 182a. The figure which shows an example of the upper limit value information 179. Front view of the suction unit 200.

A preferred embodiment of the present disclosure will be described below with reference to the drawings. 1 is a perspective view of the component mounting device 10, FIG. 2 is an explanatory view of the mounting head 18, FIG. 3 is a sectional view of the nozzle 42, FIG. 4 is an external view of the nozzle 42, and FIG. 5 is an operation explanatory view of the nozzle 42. 6 is an explanatory diagram showing an electrical connection of the controller 78, FIG. 7 is a diagram showing an example of production job data 82a, and FIG. 8 is a diagram showing an example of production job data 82a. In this embodiment, the left-right direction (X-axis), the front-back direction (Y-axis), and the up-down direction (Z-axis) are as shown in FIG.

As shown in FIG. 1, the component mounting device 10 includes a board transfer unit 12, a mounting head 18, a nozzle 42, a mark camera 64, a parts camera 66, a component supply unit 70, a nozzle stocker 90, and various types. It includes a controller 78 (see FIG. 6) that executes control.

The board transport unit 12 transports the board S from left to right by conveyor belts 16 and 16 (only one of which is shown in FIG. 1) attached to a pair of front and

rear support plates

14 and 14, respectively. Further, the substrate transfer unit 12 fixes and supports the substrate S by lifting the substrate S from below by a support pin 17 arranged below the substrate S and pressing it against the

roof portions

14a and 14a of the

support plates

14 and 14. The fixing of the substrate S is released by lowering the pin 17.

The mounting head 18 can move in the XY plane. Specifically, the mounting head 18 moves in the left-right direction as the X-axis slider 20 moves in the left-right direction along the

guide rails

22 and 22, and the Y-axis slider 24 moves in the left-right direction along the

guide rails

26 and 26. As it moves in the front-back direction, it moves in the front-back direction. As shown in FIG. 2, the mounting head 18 has a support cylinder 19 that supports the nozzle holder 30 so as to be rotatable and vertically movable. The nozzle holder 30 is a member extending in the vertical direction, has a rotation transmission gear 30a and a flange 30b at the upper part, and holds a nozzle 42 at the lower part. The rotation transmission gear 30a meshes with the drive gear 32 of the nozzle rotation motor 31. Therefore, when the nozzle rotation motor 31 rotates, the nozzle holder 30 rotates around the axis. The flange 30b is sandwiched between the upper piece and the lower piece of the first engaging portion 33a provided on the first arm 33 extending in the vertical direction. The first arm 33 is connected to a mover of the first linear motor 34. The stator of the first linear motor 34 is fixed to the mounting head 18. Therefore, when the mover of the first linear motor 34 moves up and down, the first arm 33 moves up and down along the guide member 35 that guides the movement in the up and down direction, and at the same time, the first arm 33 moves up and down to the first engaging portion 33a. The sandwiched flange 30b and eventually the nozzle holder 30 move up and down. A pair of inverted J-shaped guide grooves 30c (see FIG. 4) are provided on the lower end side surface of the nozzle holder 30 at positions facing each other. As shown in FIGS. 2 and 3, the upper annular projection 30d and the lower annular projection 30e are provided on the side surface of the nozzle holder 30 with a gap between them. The nozzle holder 30 is covered with a lock sleeve 36. Since the diameter of the upper opening of the lock sleeve 36 is smaller than the diameter of the upper annular projection 30d and the lower annular projection 30e of the nozzle holder 30, the lock sleeve 36 can move up and down without falling off from the nozzle holder 30. There is. A lock spring 37 is arranged between the upper end surface of the lock sleeve 36 and the upper annular projection 30d of the nozzle holder 30.

The nozzle 42 uses pressure to attract the component P to the tip of the nozzle and release the component P adsorbed to the tip of the nozzle. As shown in FIGS. 3 and 5, the nozzle 42 is elastically supported on the upper end surface of the nozzle sleeve 44, which is a nozzle fixture, via a nozzle spring 46. The nozzle 42 has a ventilation passage 42a extending in the vertical direction inside. Negative pressure or positive pressure can be supplied to the ventilation passage 42a. The nozzle 42 has a flange 42c that protrudes horizontally from a position slightly above the suction port 42b that attracts the component P, a spring receiving portion 42d that protrudes horizontally from the upper end, and a step provided on the way from the upper end to the flange 42c. It has a surface 42e. Of the nozzle 42, the portion from the stepped surface 42e to the spring receiving portion 42d is a shaft portion 42f having a small diameter. A pair of elongated holes 42g extending in the vertical direction are provided on the side surface of the shaft portion 42f so as to face each other. The nozzle sleeve 44 is attached to the nozzle 42 so that it can move up and down relative to the shaft portion 42f of the nozzle 42. The nozzle sleeve 44 is integrated with a pin 44a penetrating in the radial direction. The pin 44a is inserted through a pair of elongated holes 42g of the nozzle 42. Therefore, the nozzle 42 can slide in the extending direction of the elongated hole 42g, that is, in the vertical direction with respect to the pin 44a. The nozzle spring 46 is arranged between the upper end surface of the nozzle sleeve 44 and the spring receiving portion 42d of the nozzle 42.

The nozzle sleeve 44 is a component constituting the nozzle holder 30, and is detachably fixed to the guide groove 30c of the nozzle holder 30 with the nozzle 42 elastically supported. The pin 44a provided on the nozzle sleeve 44 is fixed so as to be sandwiched between the end of the guide groove 30c and the lower end of the lock sleeve 36 urged downward by the lock spring 37. In fixing the nozzle sleeve 44 elastically supporting the nozzle 42 to the nozzle holder 30, first, the pin 44a of the nozzle sleeve 44 is moved upward along the guide groove 30c (see FIG. 4) of the nozzle holder 30. .. Then, the pin 44a hits the lower end of the lock sleeve 36. After that, while lifting the lock sleeve 36 with the pin 44a against the elastic force Fs of the lock spring 37, the nozzle 42 is rotated with the nozzle sleeve 44 with respect to the lock sleeve 36 so that the pin 44a enters along the guide groove 30c. Let me. Then, the pin 44a finally moves downward through the horizontal portion of the guide groove 30c to reach the end of the guide groove 30c. At this time, the pin 44a is in a state of being pressed against the end of the guide groove 30c by the lock sleeve 36 urged downward by the lock spring 37. As a result, the nozzle sleeve 44 is locked to the nozzle holder 30 via the pin 44a. When removing the nozzle sleeve 44 elastically supporting the nozzle 42 from the nozzle holder 30, the procedure may be the reverse of the fixing procedure.

Returning to FIG. 2, the stator of the second linear motor 50 is fixed to the lower end of the first arm 33. A second arm 51 is connected to the mover of the second linear motor 50. The second arm 51 includes a second engaging portion 52 made of a cam follower at the tip of the arm, and a load cell 53 for detecting a load in the middle of the arm. The second engaging portion 52 is arranged at a position facing the upper surface of the flange 42c of the nozzle 42. When the mover of the second linear motor 50 moves downward, the second engaging portion 52 of the second arm 51 presses the flange 42c downward against the elastic force Fs of the nozzle spring 46, so that the nozzle 42 moves downward with respect to the pin 44a of the nozzle sleeve 44, that is, the nozzle holder 30 (see the two-dot chain line in FIG. 3). After that, when the mover of the second linear motor 50 moves upward, the force for pressing the flange 42c downward weakens, so that the nozzle 42 moves upward with respect to the pin 44a, that is, the nozzle holder 30 due to the elastic force Fs of the nozzle spring 46. Moving.

Returning to FIG. 1, the mark camera 64 is installed at the lower end of the X-axis slider 20 so that the imaging direction faces the substrate S, and is movable as the mounting head 18 moves. The mark camera 64 captures a reference mark for positioning a substrate (not shown) provided on the substrate S, and outputs the obtained image to the controller 78.

The parts camera 66 is installed between the parts supply unit 70 and the board transfer unit 12 at substantially the center of the length in the left-right direction so that the image pickup direction faces upward. The parts camera 66 captures an image of the component P adsorbed by the nozzle 42 passing above the component camera 66, and outputs the image obtained by the imaging to the controller 78.

The parts supply unit 70 includes a reel 72 and a feeder 74. The reel 72 is wound with a tape formed so that recesses accommodating the component P are arranged along the longitudinal direction. The feeder 74 sends the component P of the tape wound around the reel 72 to a predetermined component supply position. The tape wound around the reel 72 has a film covering the component P, but the film is peeled off when the component supply position is reached. Therefore, the component P arranged at the component supply position is in a state where it can be adsorbed by the nozzle 42.

The nozzle stocker 90 is a member that stocks a plurality of nozzles 42, and is arranged next to the parts supply unit 70. The nozzle 42 is replaced with one suitable for the type of the substrate S on which the component P is mounted and the type of the component P.

As shown in FIG. 6, the controller 78 is configured as a microprocessor centered on the CPU 78a, and includes a ROM 78b for storing a processing program, an HDD 78c for storing various data, a RAM 78d used as a work area, and the like. Further, an input device 78e such as a mouse or a keyboard and a display device 78f such as a liquid crystal display are connected to the controller 78. The controller 78 is connected to the feeder controller 77 built in the feeder 74 and the management computer 80 so as to be capable of bidirectional communication. Further, the controller 78 includes a substrate transfer unit 12, an X-axis slider 20, a Y-axis slider 24, a nozzle rotation motor 31, first and second

linear motors

34 and 50, a pressure adjusting device 43 for the nozzle 42, and a mark camera 64. It is connected to the parts camera 66 so that a control signal can be output. Further, the controller 78 is connected so as to be able to receive the detection signal from the load cell 53 and the image signal from the mark camera 64 and the parts camera 66. For example, the controller 78 recognizes the position (coordinates) of the board S by processing the image of the board S captured by the mark camera 64 and recognizing the position of the reference mark. Further, the controller 78 determines whether or not the component P is attracted to the nozzle 42 based on the image captured by the parts camera 66, and determines the shape, size, suction position, and the like of the component P.

The upper limit value information 79 is stored in the HDD 78c. As shown in FIG. 7, the upper limit value information 79 stores a condition related to the mounting load (a type of mounting condition) and an upper limit value of the allowable range of the sliding resistance Fr in association with each other. The sliding resistance Fr is the resistance when the nozzle 42 slides with respect to the nozzle sleeve 44, and the mounting load is the load when the nozzle 42 presses the component P against the substrate S. Further, the condition regarding the mounting load is a condition including a set load which is a target value of the mounting load determined for each component and a load accuracy which is a degree of an allowable error with respect to the set load. The upper limit of the allowable range of the sliding resistance Fr is set larger as the set load is larger. Further, the upper limit of the allowable range of the sliding resistance Fr is set larger as the load accuracy is lower, that is, the degree of the allowable error with respect to the set load is larger. Here, the state in which the degree of error allowed with respect to the set load is small, for example, a state in which an error of about ± 20% with respect to the set load is allowed is referred to as high load accuracy, and with respect to the set load. The state in which the degree of allowable error is large, for example, an error of about ± 60% with respect to the set load is allowed, is referred to as the load accuracy is Low.

As shown in FIG. 6, the management computer 80 includes a personal computer main body 82, an input device 84, and a display 86, and can input signals from the input device 84 operated by the operator, and various types of signals can be input to the display 86. Images can be output. The production job data 82a is stored in a memory (not shown) of the personal computer main body 82. As shown in FIG. 8, the production job data 82a stores the order in which the component P is mounted in the component mounting device 10 and the mounting conditions in association with each other. The mounting conditions include conditions relating to the type of component P and the mounting load. The conditions regarding the mounting load include the set load and the load accuracy.

Next, the operation in which the controller 78 of the component mounting device 10 mounts the component P on the board S based on the production job will be described. FIG. 9 is a flowchart of the component mounting processing routine. The program of the component mounting processing routine is stored in the HDD 78c of the controller 78.

When the CPU 78a of the controller 78 starts this routine, the CPU 78a first acquires the mounting condition (step S110). Specifically, in the CPU 78a, if the mounting order is # 001, the type of component P is A, the set load is 0.5 [N], the load accuracy is Low, and if the mounting order is # 010, the type of component P is A. , The set load is 0.5 [N], the load accuracy is High, and so on, the type, set load, and load accuracy of the component P corresponding to the mounting order of the component P are acquired from the production job data 82a.

Next, the CPU 78a sets an allowable range (step S120). Specifically, if the set load is 0.5 N and the load accuracy is Low, the upper limit of the sliding resistance Fr is 0.005 [N], and if the set load is 0.5 N and the load accuracy is High, sliding. The upper limit value of the resistance Fr is 0.01 [N] ..., And the upper limit value of the sliding resistance Fr corresponding to the set load and the load accuracy acquired in step S110 is acquired from the upper limit value information 79.

Next, the CPU 78a acquires the measured value of the sliding resistance Fr (step S130). Specifically, the CPU 78a controls a power supply (not shown) to gradually increase the supply current to the second linear motor 50 and lower the second engaging portion 52 to resist the elastic force Fs of the nozzle spring 46. The nozzle 42 is lowered with respect to the nozzle sleeve 44 of the nozzle holder 30. Then, the CPU 78a acquires the amount of descent (stroke length L) of the second engaging portion 52 based on the detection value of a sensor (not shown) provided in the second linear motor 50, and is based on the detection value of the load cell 53. The acting force F (the sum of the sliding resistance Fr between the nozzle 42 and the nozzle sleeve 44 and the elastic force Fs of the nozzle spring 46) is acquired. Then, the spring constant of the nozzle spring 46 is multiplied by the stroke length L to obtain the elastic force Fs. Then, the elastic force Fs is subtracted from the acting force F to acquire the measured value of the sliding resistance Fr.

Next, the CPU 78a determines whether the nozzle 42 is good or bad (S140). Specifically, the CPU 78a determines whether or not the measured value of the sliding resistance Fr acquired in step S130 exceeds the upper limit of the allowable range of the sliding resistance Fr acquired in step S120. If the measured value of the sliding resistance Fr exceeds the upper limit of the allowable range of the sliding resistance Fr, the CPU 78a determines that the nozzle 42 attached to the nozzle sleeve 44 of the nozzle holder 30 is defective. On the other hand, if the measured value of the sliding resistance Fr does not exceed the upper limit of the allowable range of the sliding resistance Fr, the CPU 78a determines that the nozzle 42 attached to the nozzle sleeve 44 of the nozzle holder 30 is good. do.

If it is determined in step S140 that the nozzle 42 attached to the nozzle sleeve 44 of the nozzle holder 30 is defective, the CPU 78a notifies the nozzle defect (step S150). Specifically, the CPU 78a causes the display device 78f to display that the nozzle is defective, and ends the component mounting processing routine.

On the other hand, if it is determined in step S140 that the nozzle 42 is good, the CPU 78a moves the nozzle 42 to the feeder 74 (step S160). Specifically, the CPU 78a moves the nozzle 42 to the component supply position of the feeder 74 that supplies the predetermined component P in the component supply unit 70 by controlling the X-axis and Y-

axis sliders

20 and 24.

Next, the CPU 78a attracts the component P to the tip of the nozzle 42 (step S170). Specifically, the CPU 78a moves the nozzle holder 30 downward by lowering the mover of the first linear motor 34. At the same time, the CPU 78a moves the nozzle 42 to the lowermost end with respect to the nozzle holder 30 by lowering the mover of the second linear motor 50 before the tip of the nozzle 42 comes into contact with the component P. After that, when the CPU 78a determines that the tip of the nozzle 42 has come into contact with the component P based on the detection signal from the load cell 53, the CPU 78a raises the mover of the second linear motor 50 so that the reaction force becomes equal to the set pressing force. Let me. Thereby, the component P can be prevented from being damaged by the nozzle 42. Further, the CPU 78a controls the pressure adjusting device 43 so that a negative pressure is supplied to the suction port 42b when the tip of the nozzle 42 comes into contact with the component P. As a result, the component P is attracted to the tip of the nozzle 42.

Next, the CPU 78a images the component P with the component camera 66 (step S180). Specifically, the CPU 78a controls the second linear motor 50 so that the second engaging portion 52 of the second arm 51 is separated above the flange 42c, and the component P is at a predetermined height. It controls the first linear motor 34. In parallel with this, the CPU 78a controls the X-axis and Y-

axis sliders

20 and 24 so that the center position of the nozzle 42 coincides with a predetermined reference point in the imaging region of the parts camera 66, and the center of the nozzle 42. When the position coincides with the reference point, the component P is imaged by the component camera 66. The CPU 78a grasps the position of the component P with respect to the reference point by analyzing the captured image.

Next, the CPU 78a moves the nozzle 42 onto the substrate S (step S190). Specifically, the CPU 78a controls the X-axis and Y-

axis sliders

20 and 24 to move the nozzle 42 above the predetermined position on the substrate S on which the component P is mounted.

Next, the CPU 78a mounts the component P at a predetermined position on the substrate S under predetermined mounting conditions (step S200). Specifically, the CPU 78a controls the nozzle rotation motor 31 so that the posture of the component P becomes a predetermined posture based on the captured image. Further, the CPU 78a moves the nozzle holder 30 downward by lowering the mover of the first linear motor 34. At the same time, the CPU 78a lowers the mover of the second linear motor 50 to lower the nozzle 42 with respect to the nozzle holder 30 before the component P attracted to the tip of the nozzle 42 abuts on the substrate S. Move to the bottom. After that, when the CPU 78a determines that the component P has come into contact with the substrate S based on the detection signal from the load cell 53, the CPU 78a raises the mover of the second linear motor 50 so that the reaction force becomes equal to the set pressing force. As a result, the component P can be prevented from being damaged by the collision with the substrate S. Then, the CPU 78a controls the first linear motor 34 and the second linear motor 50 so that the mounting load of the component P falls within the range of the load accuracy with respect to the set load. If the load accuracy is Low, the permissible error with respect to the set load is large, so that the mounting load tends to fall within the range of the load accuracy with respect to the set load even if the speed of the nozzle 42 toward the substrate S is large. Therefore, the speed can be set large. On the other hand, if the set load is High, the error allowed for the set load is small, and therefore, if the speed at which the nozzle 42 is directed toward the substrate S is high, it is difficult for the mounting load to fall within the range of load accuracy with respect to the set load. Therefore, the speed is set low. Then, the CPU 78a controls the pressure adjusting device 43 so that a positive pressure is supplied to the tip of the nozzle 42. As a result, the component P is separated from the nozzle 42 and mounted at a predetermined position on the substrate S.

Next, the CPU 78a determines whether or not the mounting of the component P to be mounted on the board S is completed (step S200), and if not, executes the processing after step S110 for the component P to be mounted next. , End this routine when completed.

Here, the correspondence between the components of the present embodiment and the components of the present disclosure will be clarified. The component mounting device 10 of the present embodiment corresponds to the component mounting device of the present disclosure, the nozzle holder 30 provided with the nozzle sleeve 44 corresponds to the nozzle holder, the nozzle 42 corresponds to the nozzle, and the second linear motor 50, the second linear motor 50, The 2 arm 51 and the second engaging portion 52 correspond to the nozzle elevating mechanism, and the controller 78 corresponds to the control device. Further, the load cell 53 corresponds to the measuring device, the nozzle spring 46 corresponds to the elastic body, and the nozzle stocker 90 corresponds to the nozzle stocker.

In the component mounting device 10 described in detail above, the allowable range of the sliding resistance Fr between the nozzle sleeve 44 and the nozzle 42 is set based on the mounting conditions, and the measured value of the sliding resistance Fr is acquired and the measured value is obtained. If it does not fall within the allowable range, the nozzle 42 is determined to be defective. Therefore, the quality of the nozzle 42 can be appropriately determined as compared with the case where the allowable range is uniformly set regardless of the mounting conditions.

Further, in the component mounting device 10 of the present embodiment, the mounting condition is a condition relating to the mounting load at the time of component mounting. In FIG. 7, since the upper limit of the allowable range is set larger as the set load is larger, it is difficult to determine the defect of the nozzle 42 used for mounting the component P having a larger set load even if the sliding resistance Fr is large. .. Further, for example, the lower the load accuracy, that is, the larger the degree of error allowed for the set load, the larger the upper limit of the allowable range is set, so that it is used for mounting the component P whose load accuracy is set low. Nozzle 42 to be defective is less likely to be determined as defective.

It is needless to say that the present disclosure is not limited to the above-described embodiment, and can be implemented in various embodiments as long as it belongs to the technical scope of the present invention.

For example, in the above-described embodiment, the mounting condition is a condition relating to the mounting load, and the upper limit of the allowable range of the sliding resistance Fr is set according to the condition relating to the mounting load, but the present invention is not limited to this. For example, as shown in FIG. 10, the personal computer main body 82 may store the production job data 182a stored in association with the order in which the parts P are mounted and the types of the parts P, and the HDD 78c may store the parts. The upper limit value information 179 stored in association with the type of P and the upper limit value of the allowable range of the sliding resistance Fr may be stored. Further, as shown in FIG. 11, the CPU 78a acquires the type of the component P corresponding to the mounting order of the production job data 182a, and allows the sliding resistance Fr corresponding to the type of the component P acquired from the production job data 182a. The upper limit value of the range may be acquired from the upper limit value information 179, and the allowable range may be set. By doing so, the allowable range is set according to the type of the component P to be mounted, and the nozzle 42 which is not suitable for mounting the component P is easily determined to be defective. Further, the mounting condition is a condition relating to the descending speed or the acceleration of the nozzle at the time of mounting the component, and the upper limit value of the allowable range of the sliding resistance Fr may be set according to the condition.

In the above-described embodiment, the quality of the nozzle 42 is determined using the sliding resistance Fr, but the present invention is not limited to this. For example, the quality of the nozzle 42 may be determined by using the total of the sliding resistance Fr and the elastic force Fs. In this way, the total of the sliding resistance Fr and the elastic force Fs of the nozzle spring 46 is the acting force F when the nozzle 42 is pressed against the elastic force Fs of the nozzle spring 46, so that it can be measured relatively easily. can do.

In the above-described embodiment, after the nozzle 42 is determined to be defective in step S140, the defect of the nozzle 42 is notified and the mounting processing routine is terminated, but the present invention is not limited to this. For example, the nozzle stocker 90 accommodates a plurality of nozzles 42 whose sliding resistance Fr has been measured in advance, and after the nozzle 42 is determined to be defective in step S140, the sliding resistance Fr is within the allowable range from the nozzle stocker 90. You may select the nozzle 42 to enter. Further, in the above-described embodiment, after the nozzle 42 is attached to the nozzle sleeve 44, the quality of the nozzle 42 is determined, but the present invention is not limited to this. For example, the nozzle stocker 90 accommodates a plurality of nozzles 42 whose sliding resistance Fr is measured in advance, and the CPU 78a receives the sliding resistance from the nozzle stocker 90 before mounting the nozzle 42 on the nozzle sleeve 44. Nozzle 42 may be selected in which Fr does not exceed the upper limit of the allowable range of sliding resistance Fr. By doing so, since the nozzle 42 determined to be good is used, it is less likely that the mounting of the component P will be hindered.

In the above-described embodiment, the detected value of the load cell 53 is acquired as the measured value of the acting force F, but the present invention is not limited to this. Since the acting force F corresponds to the current supplied to the second linear motor 50, for example, the measured value of the acting force F may be obtained by measuring the current supplied to the second linear motor 50. ..

In the above-described embodiment, the load cell 53 provided on the second arm 51 is used for measuring the sliding resistance Fr, but the present invention is not limited to this. For example, the component mounting device 10 is not provided with the load cell 53, and a load measuring device provided as a device different from the component mounting device 10 may be used for measuring the sliding resistance Fr.

In the above-described embodiment, as shown in FIG. 3, the nozzle 42 is elastically supported by the nozzle sleeve 44 provided at the lower end of the nozzle holder 30, but the present invention is not limited to this. For example, as in the suction unit 200 shown in FIG. 12, the slide portion 242a of the nozzle 242 is slidably attached to the nozzle holder 230, and the nozzle spring 246 is provided between the nozzle holder 230 and the suction portion 242b. It may be provided.

In the above-described embodiment, only one nozzle holder 30 for detachably holding the nozzle 42 is provided as the mounting head 18, but the present invention is not limited to this. For example, a plurality of such nozzle holders 30 may be provided around a rotor having a vertical axis as a rotation center at equal angular intervals. For the composition, refer to Pamphlet Figure 6 of International Publication No. 2014/080472.

In the above-described embodiment, the quality determination of the nozzle 42 is performed every time the mounting order of the parts P changes, but the determination is not limited to this. For example, the quality of the nozzle 42 may be determined each time the nozzle 42 is replaced, the quality of the nozzle 42 may be determined every set time (for example, every two hours), or the quality of the component P may be determined. The quality of the nozzle 42 may be determined each time the mounting conditions change.

Here, the parts supply device of the present disclosure may be configured as follows. For example, the component mounting device of the present disclosure may include a measuring device for measuring a force including a sliding resistance between the nozzle holder and the nozzle. The measuring device may be provided as a part of the component mounting device, or may be provided as a device different from the component mounting device.

In the component mounting device of the present disclosure, the mounting condition may be a condition relating to a mounting load at the time of component mounting. The mounting load means the load when the nozzle presses the component against the substrate. Further, the condition regarding the mounting load means a condition including a set load which is a target value of the mounting load determined for each component and a load accuracy which is a degree of an allowable error with respect to the set load. In this way, the permissible range is set according to the conditions regarding the mounting load at the time of component mounting. Therefore, for example, if the upper limit of the allowable range is increased as the set load is larger, it becomes difficult to determine a defect of the nozzle used for mounting a component having a large set load even if the sliding resistance is large. Further, for example, if the load accuracy is low, that is, the degree of the allowable error with respect to the set load is large, and the upper limit of the allowable range is set to be large, the nozzle used for mounting the component with the low load accuracy can be used. It becomes difficult to judge the defect.

In the component mounting device of the present disclosure, the mounting condition may be the type of the component to be mounted. By doing so, the allowable range is set according to the type of the component to be mounted, and the quality of the nozzle is determined according to the type of the component to be mounted. Therefore, a nozzle that is not suitable for mounting the component is likely to be defective.

The component mounting device of the present disclosure includes an elastic body provided between the nozzle holder and the nozzle, and the force may be the sum of the sliding resistance and the elastic force of the elastic body. In this way, the total of the sliding resistance and the elastic force of the elastic body becomes the acting force when the nozzle is pressed against the elastic force of the elastic body, so that it can be measured relatively easily. Since the elastic force of the elastic body can be calculated from the spring constant and the stroke length of the elastic body, the value obtained by subtracting the elastic force from the acting force is the sliding resistance.

In the component mounting device of the present disclosure, the force may be the sliding resistance itself.

The component mounting device of the present disclosure includes a nozzle stocker for accommodating a plurality of the nozzles whose force has been measured in advance, and the control device has the allowable range of the force from the nozzle stocker when mounting the component. You may select the nozzle to enter. In this way, the nozzles judged to be good are used, so that the mounting of the parts is less likely to be hindered.

The present invention can be used for a component mounting device, a component mounting system incorporating a component mounting device, or the like.

10 component mounting device, 12 board transfer unit, 14 support plate, 14a roof, 16 conveyor belt, 17 support pin, 18 mounting head, 19 support cylinder, 20 X-axis slider, 22 guide rail, 24 Y-axis slider, 26 guide Rail, 30 nozzle holder, 30a rotation transmission gear, 30b flange, 30c guide groove, 30d upper annular protrusion, 30e lower annular protrusion, 31 nozzle rotation motor, 32 drive gear, 33 first arm, 33a first engagement part , 34 1st linear motor, 35 guide member, 36 lock sleeve, 37 lock spring, 42 nozzle, 42a ventilation path, 42b suction port, 42c flange, 42d spring receiving part, 42e step surface, 42f shaft part, 42g slotted hole, 43 pressure regulator, 44 nozzle sleeve, 44a pin, 46 nozzle spring, 50 second linear motor, 51 second arm, 52 second engaging part, 53 load cell, 64 mark camera, 66 parts camera, 70 parts supply unit, 72 reel, 74 feeder, 77 feeder controller, 78 controller, 78a CPU, 78b ROM, 78c HDD, 78d RAM, 78e input device, 78f display device, 79,179 upper limit information, 80 management computer, 82 personal computer body, 82a, 182a production job data, 84 input device, 86 display, 90 nozzle stocker, 200 suction unit, 230 nozzle holder, 242 nozzle, 242a slide part, 242b suction part, 246 nozzle spring, F acting force, Fr sliding resistance, Fs elasticity Force, L stroke length, P parts, S board.

Claims

A component mounting device that mounts components on a board using a mounting head.
A nozzle holder provided on the mounting head and extending in the vertical direction,
A nozzle attached to the lower end of the nozzle holder so as to be slidable up and down with respect to the nozzle holder,
A nozzle elevating mechanism that can move the nozzle up and down,
The permissible range of the force including the sliding resistance between the nozzle holder and the nozzle is set according to the mounting conditions, the measured value of the force is acquired, and whether or not the measured value falls within the permissible range is determined. A control device for determining that the nozzle is defective if the measured value does not fall within the allowable range.
A component mounting device equipped with.
The component mounting device according to claim 1.
A component mounting device including a measuring device for measuring a force including a sliding resistance between the nozzle holder and the nozzle.
The mounting condition is a condition relating to a mounting load at the time of component mounting.
The component mounting device according to claim 1 or 2.
The mounting condition is the type of the component to be mounted.
The component mounting device according to any one of claims 1 to 3.
The component mounting device according to any one of claims 1 to 4.
An elastic body provided between the nozzle holder and the nozzle is provided.
The force is the sum of the sliding resistance and the elastic force of the elastic body.
Component mounting device.
The force is the sliding resistance itself.
The component mounting device according to any one of claims 1 to 4.
The component mounting device according to any one of claims 1 to 6.
A nozzle stocker for accommodating a plurality of the nozzles whose forces have been measured in advance is provided.
The control device selects a nozzle from which the force falls within the allowable range from the nozzle stocker when mounting the component.
Component mounting device.