WO2023032129A1 - Appareil d'installation, système de montage de composants, et palette de transport - Google Patents

Appareil d'installation, système de montage de composants, et palette de transport Download PDF

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Publication number
WO2023032129A1
WO2023032129A1 PCT/JP2021/032315 JP2021032315W WO2023032129A1 WO 2023032129 A1 WO2023032129 A1 WO 2023032129A1 JP 2021032315 W JP2021032315 W JP 2021032315W WO 2023032129 A1 WO2023032129 A1 WO 2023032129A1
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WO
WIPO (PCT)
Prior art keywords
pallet
conveyor
storage
nozzle
delivery
Prior art date
Application number
PCT/JP2021/032315
Other languages
English (en)
Japanese (ja)
Inventor
祐介 小林
Original Assignee
ヤマハ発動機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to DE112021007907.7T priority Critical patent/DE112021007907T5/de
Priority to JP2023544917A priority patent/JP7472407B2/ja
Priority to CN202180100010.0A priority patent/CN117581647A/zh
Priority to PCT/JP2021/032315 priority patent/WO2023032129A1/fr
Publication of WO2023032129A1 publication Critical patent/WO2023032129A1/fr

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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • H05K13/086—Supply management, e.g. supply of components or of substrates
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0408—Incorporating a pick-up tool
    • H05K13/0409—Sucking devices

Definitions

  • the present invention relates to a technique for setting up components to be used in a component mounter that implements component mounting for mounting components on a board.
  • a component mounter uses a nozzle that picks up the component to mount the component on the board. Further, the nozzles are properly used according to the size and shape of the parts to be picked up. Therefore, when the type of board on which components are to be mounted by the component mounter is changed, the work of setting up the nozzles for the component mounter is appropriately performed.
  • Patent Literature 1 discloses a nozzle management device that prepares nozzles on a nozzle pallet, and by using such a nozzle management device, the work required for setup can be simplified.
  • the components such as nozzles used for component mounting are required to be delivered accurately to the component mounters that use the components in order to implement component mounting.
  • the nozzles (used members) are merely prepared in the nozzle tray, which is insufficient to meet such demands.
  • the present invention has been made in view of the above problems, and it is an object of the present invention to enable the components used in a component mounter to be accurately delivered to the component mounter.
  • a setup apparatus has a substrate conveyor for transporting substrates, and is arranged in series with the substrate conveyor of a component mounter for mounting components on substrates supported by the substrate conveyor. and a material storage for storing used materials different from components and substrates used in the component mounter, and the pallet transport section stores used materials taken out from the material storage. is transferred to the substrate conveyor.
  • the present invention (the setup device) configured as described above includes a pallet transport section that delivers a transport pallet on which used members taken out from the component storage are placed to the substrate conveyor of the component mounter. Therefore, it is possible to accurately deliver the components used in the component mounter to the component mounter.
  • a transfer head for placing the used members taken out from the member storage on the transfer pallet is further provided, and the pallet transfer section transfers the transfer pallet on which the used members are placed by the transfer head to the substrate conveyor.
  • a setup device may be configured. In such a configuration, the parts to be used taken out from the component storage are placed on the transport pallet by the transfer head, and the transport pallet is transferred to the substrate conveyor of the component mounter by the pallet transport section. In this way, it is possible to accurately deliver the components used in the component mounter to the component mounter.
  • the setup device further includes a member take-out section for taking out and supporting the used members from the member storage, and the transfer head places the used members supported by the member take-out section on the transport pallet.
  • a member take-out section for taking out and supporting the used members from the member storage, and the transfer head places the used members supported by the member take-out section on the transport pallet.
  • the material storage stores a plurality of storage pallets on which used materials are placed, respectively, and the material takeout section supports the storage pallets taken out from the material storage and transports the transport pallets received from the pallet transport section.
  • a set-up device may be configured such that the transfer head moves the used member from the storage pallet supported by the member pick-up section to the transport pallet.
  • the storage pallet on which the used members are placed is stored in the parts storage, and the storage pallet taken out from the member storage by the member take-out section is supported by the member take-out section.
  • the used members placed on the storage pallet supported by the member take-out section are placed on the transport pallet by the transfer head, and the transport pallet is transferred to the board conveyor of the component mounter by the pallet transport section. In this way, it is possible to accurately deliver the components used in the component mounter to the component mounter.
  • the member extraction unit supports the storage pallet taken out from the member storage and has a support conveyor that supports the transport pallet received from the pallet transport unit, and an elevator that moves the support conveyor in the vertical direction.
  • a setup device may be configured. In such a configuration, the transfer head only needs to move the used members from the storage pallet supported by the support conveyor to the transport pallet, and the operation of the transfer head can be simplified. Furthermore, by having such a support conveyor and an elevator, the following configuration can be achieved.
  • the setup device may be configured to take out one storage pallet from the material storage to the support conveyor. With such a configuration, it is possible to accurately take out one target storage pallet from among the plurality of storage pallets stored in the parts storage to the support conveyor.
  • the member take-out section may configure a setup device so that the conveying pallet is received from the pallet conveying section to the support conveyor while the pallet conveying section and the support conveyor are at the same height by an elevator. With such a configuration, the conveying pallet can be accurately received from the pallet conveying section to the support conveyor.
  • the pallet conveying section has a delivery conveyor arranged adjacent to the member taking-out section, and a delivery conveyor arranged in series with the substrate conveyor and arranged between the delivery conveyor and the substrate conveyor. conveys the transfer pallet from the transfer conveyor to the substrate conveyor, and the transfer conveyor is displaced between a first position for transferring the transfer pallet to the delivery conveyor and a second position for transferring the transfer pallet to the member picking section.
  • a setup device may be configured to do so.
  • the delivery conveyor conveys the transport pallet on which the materials to be used are placed from the material take-out section to the delivery conveyor.
  • the transfer conveyor is displaced between the first position and the second position. Therefore, the delivery conveyor can be displaced to a position suitable for delivery of the transport pallet to the member take-out part and delivery of the transport pallet to the delivery conveyor, respectively, so that delivery of the transport pallet can be accurately executed.
  • the setup device may be configured to further include a maintenance section that performs maintenance on the used members transported by the transfer head from the member pick-up section.
  • a maintenance section that performs maintenance on the used members transported by the transfer head from the member pick-up section.
  • the setup device may be configured to further include a door for opening and closing the component storage.
  • the operator can access the material storage by opening the door, thereby appropriately replenishing the used materials stored in the material storage.
  • a component mounting system comprises the above-described setup device, and a component mounter having a substrate conveyor for transporting a substrate and mounting a component on a substrate supported by the substrate conveyor by means of a mounting head.
  • the pallet transport section and the board conveyor of the component mounter are arranged in series to transfer the transport pallet. receive. Therefore, it is possible to accurately deliver the components used in the component mounter to the component mounter.
  • a transport pallet according to the present invention is a member that holds a used member different from a component and a substrate, and is used in a component mounter that has a substrate conveyor for transporting a substrate and mounts components on a substrate supported by the substrate conveyor.
  • a holding part and a base part having a mounting surface to be mounted on a substrate conveyor are provided.
  • FIG. 1 is a block diagram showing an example of a component mounting system according to the present invention
  • FIG. The top view which shows the structure of a setup apparatus typically.
  • the side view which shows the structure of a setup apparatus typically.
  • the top view which shows an example of a component mounter typically.
  • FIG. 4 is a partial cross-sectional view schematically showing the configuration of a pallet;
  • FIG. 4 is a partial cross-sectional view schematically showing the configuration of a pallet;
  • FIG. 4 is a diagram schematically showing the configuration and operation of a pallet operation section of the mounter;
  • FIG. 4 is a diagram schematically showing the configuration and operation of a pallet operation section of the mounter;
  • FIG. 4 is a diagram schematically showing an example of a pallet transport mode that can be executed on a circuit board production line;
  • FIG. 4 is a diagram schematically showing an example of a pallet transport mode that can be executed on a circuit board production line;
  • FIG. 4 is a diagram schematically showing an example of a pallet transport mode that can be executed on a circuit board production line;
  • FIG. 4 is a diagram schematically showing an example of a pallet transport mode that can be executed on a circuit board production line;
  • FIG. 4 is a diagram schematically showing the configuration and operation of a pallet operation section of the mounter;
  • FIG. 4 is a diagram schematically showing an example of a pallet transport mode that can be executed on a circuit board production line;
  • FIG. 4 is a diagram schematically showing an example
  • FIG. 7 is a flow chart showing a first example of determination of a delivery mode executed in the flow chart of FIG. 6;
  • 4 is a diagram showing an example of scheduled-to-be-used nozzle information indicating nozzles to be used of a component mounter;
  • FIG. 5 is a diagram showing a first example of delivery target nozzle information indicating nozzles to be delivered to the component mounter;
  • the figure which shows the flowchart which shows an example of the preparation method of the command with respect to a setup apparatus and a mounter.
  • FIG. 10 is a flow chart showing a second example of determination of delivery mode executed in the flow chart of FIG. 9;
  • FIG. 10 is a flowchart showing a first example of recovery mode determination executed in the flowchart of FIG. 9;
  • FIG. FIG. 10 is a diagram showing a second example of delivery target nozzle information indicating delivery target nozzles for the component mounting machine;
  • FIG. 5 is a diagram showing an example of recovery target nozzle information indicating recovery target nozzles from a component mounter;
  • FIG. 10 is a flow chart showing a third example of determination of delivery mode executed in the flow chart of FIG. 9;
  • FIG. FIG. 10 is a flowchart showing a second example of recovery mode determination executed in the flowchart of FIG. 9;
  • FIG. The flowchart which shows the 4th example of the delivery mode determination. 16 is a flowchart showing an example of collection mode determination executed in response to the delivery mode determination of FIG.
  • 4 is a flowchart showing a first example of line setup management for managing setup in each board production line of the component mounting system; 4 is a flowchart showing a first example of command reception processing executed by the setup device; 4 is a flowchart showing a first example of command reception processing executed by the mounter; 4 is a flowchart showing a second example of command reception processing executed by the mounter; 6 is a flowchart showing a second example of line setup management for managing setup in each board production line of the component mounting system; 6 is a flowchart showing a second example of command reception processing executed by the setup device; 4 is a flow chart showing an example of preparation for maintenance executed by a setup device; The flowchart which shows the 5th example of delivery mode determination.
  • FIG. 4 is a flow chart showing an example of detailed condition management of a delivery mode; The top view which shows the modification of a setup apparatus typically.
  • FIG. 4 is a diagram schematically showing how backup pins are used in a component mounter; 4 is a flowchart showing an example of backup pin delivery control;
  • FIG. 1 is a block diagram showing an example of a component mounting system according to the present invention.
  • the component mounting system 1 includes a plurality of board production lines L arranged in parallel with each other.
  • Each board production line L includes one set-up device 2 and a plurality of component mounters 3 arranged in series in the X direction parallel to the horizontal direction.
  • the X direction is the direction in which the board is transported in the board production line L.
  • FIG. 1 also shows a forward direction X1 in which the substrate is transported during substrate production, and a reverse direction X2 opposite to the forward direction X1.
  • the component mounting system 1 includes a server computer 100 that manages the board production line L.
  • This server computer 100 includes a computing unit 110 , a UI (User Interface) 120 , a communication unit 130 and a storage unit 140 .
  • the calculation unit 110 is a processor composed of, for example, a CPU (Central Processing Unit), and executes calculations in the server computer 100.
  • the UI 120 has an input device such as a mouse and a keyboard, and an output device such as a display. A worker can input data to the server computer 100 using an input device and check data output from the server computer 100 using an output device.
  • the communication unit 130 communicates with the setup device 2 and the component mounter 3 of each board production line L.
  • the storage unit 140 is a storage device such as a HDD (Hard Disk Drive) or SSD (Solid State Drive), and stores data and programs used by the server computer 100 .
  • FIG. 2A is a plan view schematically showing the configuration of the setup device
  • FIG. 2B is a side view schematically showing the configuration of the setup device.
  • 2A and 2B show an X direction, a Y direction parallel to the horizontal direction and orthogonal to the X direction, and a Z direction parallel to the vertical direction.
  • the setup device 2 includes a controller 200 that controls the entire device.
  • the controller 200 has a processor such as a CPU, an arithmetic device such as an FPGA (Field Programmable Gate Array), and a storage device such as an HDD or SSD, and communicates with the server computer 100 and the component mounter 3, and performs a setup device described later. 2 to control the operation.
  • a processor such as a CPU
  • an arithmetic device such as an FPGA (Field Programmable Gate Array)
  • a storage device such as an HDD or SSD
  • the setup device 2 includes a main housing 211 and a sub-housing 212 adjacent to the main housing 211 in the Y direction, and the controller 200 described above is arranged within the main housing 211 .
  • the main housing 211 and the sub-housing 212 communicate with each other, and a pallet P, which will be described later, can be moved between the main housing 211 and the sub-housing 212 .
  • the setup device 2 also includes a pallet stocker 22 arranged inside the main housing 211 .
  • the pallet storage 22 has a plurality of storage slits 221 arranged in the Z direction, and stores the pallet P inserted into each storage slit 221 . That is, the pallet storage 22 can store a plurality of pallets P arranged in the Z direction.
  • the pallet storage 22 has openings on both sides in the Y direction, through which the pallets P can be inserted into the storage slits 221 and taken out from the storage slits 221 .
  • a nozzle used in the component mounter 3 can be placed on the pallet P as described later.
  • the pallet storage 22 can store a pallet P on which nozzles are placed and an empty pallet P on which no nozzles are placed.
  • the main housing 211 is provided with a door 211A corresponding to the pallet storage 22, and the pallet storage 22 can be opened and closed by the door 211A. Therefore, the operator can perform operations such as inserting the pallet P into the pallet storage 22 and taking out the pallet P from the pallet storage 22 by opening the door 211A.
  • the setup device 2 includes a pallet pick-up section 23 arranged inside the main housing 211 .
  • the pallet pick-up section 23 is arranged between the pallet storage 22 and the sub-housing 212 in the Y direction.
  • the pallet takeout section 23 has a storage conveyor 24s and a transfer conveyor 24c arranged in the Y direction.
  • the storage conveyor 24 s is arranged adjacent to the pallet storage 22
  • the transfer conveyor 24 c is arranged adjacent to the sub-housing 212 .
  • Each of the storage conveyor 24s and the transfer conveyor 24c has a pair of belt conveyors 241 arranged in parallel in the Y direction.
  • Each of the storage conveyor 24s and the transport conveyor 24c drives the pallet P in the Y direction by rotating the belt conveyor 241 while supporting the pallet P by the belt conveyor 241 . Rotation of these belt conveyors 241 is controlled by the controller 200 .
  • the pallet take-out section 23 has a pallet extractor 243 arranged between a pair of belt conveyors 241 of the storage conveyor 24s.
  • the pallet drawer 243 has a hook that advances and retreats in the Y direction, and the pallet P can be drawn out from the pallet storage 22 by means of this hook. The movement of the hook of the pallet drawer 243 is controlled by the controller 200 .
  • the pallet take-out section 23 also has a support frame 231 that supports the storage conveyor 24s, the transfer conveyor 24c, and the pallet drawer 243, and an elevator 233 that drives the support frame 231 in the Z direction.
  • the elevator 233 raises and lowers the support frame 231, the storage conveyor 24s, the transfer conveyor 24c, and the pallet drawer 243 are raised and lowered.
  • the elevation by the elevator 233 is controlled by the controller 200 .
  • the storage conveyor 24s, the transfer conveyor 24c, the pallet drawer 243, and the support frame 2 are indicated by solid lines and broken lines, respectively, but this illustration indicates that two sets of these are provided. It is not intended to indicate multiple locations in which they may be located.
  • the setup device 2 also has a transfer unit 25 arranged inside the main housing 211 .
  • the transfer unit 25 has a transfer head 251 and a head drive mechanism 253 that drives the transfer head 251 in each of the X, Y and Z directions.
  • An air chuck 252 is attached to the lower end of the transfer head 251 , and the transfer head 251 grips and releases the nozzle by opening and closing the air chuck 252 .
  • the transfer head 251 can take out and place the nozzles on the pallet P supported by the storage conveyor 24s or the transport conveyor 24c.
  • the driving of the transfer head 251 by the head drive mechanism 253 and the gripping/releasing of the nozzle by the air chuck 252 of the transfer head 251 are controlled by the controller 200 .
  • An imaging camera 255 is attached to the transfer head 251 , and the controller 200 can identify the nozzle to be taken out by the transfer head 251 based on the image captured by the imaging camera 255 .
  • the setup device 2 includes a pallet transport section 26 arranged inside the sub-housing 212 .
  • the pallet transport section 26 has two delivery conveyors 27 arranged on both sides in the X direction, and a transfer conveyor 28 arranged between these delivery conveyors 27 .
  • the sub-housing 212 is provided with an opening 212A facing in the X direction corresponding to each delivery conveyor 27, and the end of each delivery conveyor 27 protrudes outside the sub-housing 212 through the opening 212A.
  • Each delivery conveyor 27 has a pair of belt conveyors 271 arranged in parallel in the X direction. Each delivery conveyor 27 drives the pallet P in the X direction by rotating the belt conveyor 271 while supporting the pallet P by the belt conveyor 271 . Therefore, the unloading conveyor 27 can carry out the pallet P from the opening 212A or carry in the pallet P from the opening 212A by the belt conveyor 271 .
  • the rotation of this belt conveyor 271 is controlled by the controller 200 .
  • the delivery conveyor 28 has a pair of belt conveyors 281 arranged in parallel, and drives the pallet P by supporting the pallet P by the belt conveyor 281 and rotating the belt conveyor 281 .
  • the transfer conveyor 28 is rotatable between a rotational position R1 indicated by a solid line and a rotational position R2 indicated by a broken line in FIG. 2A.
  • the rotational position R2 corresponds to a position obtained by rotating the rotational position R1 clockwise by 90 degrees in FIG. 2A. That is, the pallet conveying section 26 has a rotation driving section 261 that rotates the delivery conveyor 28, and the rotation driving section 261 selectively positions the delivery conveyor 28 at either the rotational position R1 or the rotational position R2.
  • the delivery conveyor 28 positioned at the rotational position R1 can drive the pallet P in the X direction, and can deliver the pallet P to and from the delivery conveyor 27 adjacent to the delivery conveyor 28 in the X direction.
  • the transfer conveyor 28 positioned at the rotational position R2 can drive the pallet P in the Y direction, and the transfer conveyor 24c (the pallet unloading section 23) adjacent to the transfer conveyor 28 in the Y direction. can be passed. Note that the rotation of the belt conveyor 281 and the driving of the belt conveyor 281 by the rotation driving section 261 are controlled by the controller 200 .
  • the delivery conveyor 28 when the delivery conveyor 28 is positioned at the rotational position R1, the delivery conveyor 27, the delivery conveyor 28, and the delivery conveyor 27 arranged in series can be used to transport the substrate B, which will be described later. Therefore, the board B can be supplied to the component mounter 3 via the delivery conveyor 27 , the transfer conveyor 28 and the delivery conveyor 27 of the setup device 2 .
  • the pallet take-out section 23 includes an inspection unit 291 and a cleaning unit 292 arranged inside the main housing 211 .
  • the inspection unit 291 inspects the state of the nozzles. Specifically, it is possible to inspect the appearance of the nozzle by imaging with a camera, and inspect the clogging of the nozzle based on the flow rate of the air supplied to the nozzle.
  • the cleaning unit 292 can clean the nozzles by, for example, ultrasonic cleaning. Transfer of nozzles to inspection unit 291 and cleaning unit 292 is performed by transfer head 251 . Specifically, the transfer head 251 transports the nozzles N between the pallet P supported by the storage conveyor 24s or the transport conveyor 24c and the inspection unit 291 or the cleaning unit 292 .
  • the setup device 2 includes a display 297 and a reader 298 attached to the outer wall of the main housing 211.
  • the display 297 displays various information such as the type and number of nozzles stored in the pallet storage 22 to the operator under the control of the controller 200 .
  • the reader 298 is an optical scanner that reads a pallet ID for identifying the pallet P attached to the pallet P.
  • FIG. For example, the operator causes the reader 298 to read the pallet ID of the pallet P to be stored in the pallet storage 22 by opening the door 211A.
  • the pallet ID thus read by the reader 298 is sent to the controller 200 . Thereby, the controller 200 can confirm the pallets P stored in the pallet storage 22 .
  • FIG. 2C is a diagram schematically showing an example of shipping preparations executed by the setup device. The operation of each step in FIG. 2C is executed under the control of the controller 200.
  • FIG. In step S ⁇ b>11 the storage conveyor 24 s is positioned at the same height as the pallet P to be taken out from the pallet storage 22 .
  • This pallet P is an empty pallet P on which no nozzles are placed.
  • step S12 the pallet drawer 243 draws the target empty pallet P onto the storage conveyor 24s.
  • the pallet P is transported to An empty pallet P is thus supported on the transport conveyor 24c.
  • steps S13, S14, and S15 are executed in order to sequentially place the nozzles to be delivered onto the empty pallet P. That is, the storage conveyor 24s is positioned at the same height as the pallet P on which the nozzles to be delivered are placed (step S13). Then, the pallet drawer 243 draws the pallet P onto the storage conveyor 24s. Thus, the pallet P on the transport conveyor 24c and the pallet P on the storage conveyor 24s are adjacent to each other in the Y direction. Then, the transfer head 251 moves the nozzle to be delivered from the pallet P on the storage conveyor 24s to the pallet P on the transport conveyor 24c. Subsequently, the storage conveyor 24s returns the pallet P from which the nozzles have been taken out to the pallet storage 22 (step S15). These steps S13, S14, and S15 are repeated until all the nozzles to be delivered are placed on the pallet P on the transport conveyor 24c. Then, when all the nozzles have been placed, steps S16 to S19 in FIG. 2D are executed.
  • FIG. 2D is a diagram schematically showing an example of nozzle delivery executed by the setup device. The operation of each step in FIG. 2D is executed under the control of the controller 200.
  • step S16 the transfer conveyor 24c conveys the pallet P toward the transfer conveyor 28 while the transfer conveyor 28 is positioned at the rotation position R2, and in step S17, the transfer conveyor 28 receives the pallet P from the transfer conveyor 24c.
  • step S18 the transfer conveyor 28 rotates from the rotational position R2 to the rotational position R1, and conveys the pallet P toward the delivery conveyor 27 while the transfer conveyor 28 is positioned at the rotational position R1. Then, the delivery conveyor 27 delivers the pallet P received from the transfer conveyor 28 to the component mounter 3, thereby delivering the nozzles placed on the pallet P to the component mounter 3 (step S19).
  • the pallet P transported from the component mounter 3 can be transported to the transport conveyor 24c. Furthermore, while the transport conveyor 24c and the storage conveyor 24s are positioned at the same height as the empty storage slit 221 in the pallet storage 22, the pallet P is directed toward the storage slit 221 by the transport conveyor 24c and the storage conveyor 24s. This pallet P can be recovered to the storage slit 221 by conveying it.
  • FIG. 3 is a plan view schematically showing an example of a component mounter.
  • This component mounter 3 mounts components on a board B brought into a work position (the position of the board B in FIG. 3) from the upstream side in the X direction (board transport direction), and mounts the board B on which the components are mounted. It is carried out from the working position to the downstream side in the X direction.
  • the component mounter 3 includes a controller 300 that controls the entire device.
  • the controller 300 has a processor such as a CPU, an arithmetic device such as an FPGA, and a storage device such as an HDD or SSD, and communicates with the server computer 100 and the component mounter 3 and controls the operation of the component mounter 3, which will be described later. Execute control.
  • This component mounter 3 includes a board conveyor 31 that conveys the board B in the X direction.
  • This substrate conveyor 31 has a pair of belt conveyors 311 arranged in parallel in the X direction. transport.
  • the board conveyor 31 carries in the board B to the work position and unloads the board B from the work position.
  • the component mounter 3 is provided with a pair of Y-axis rails 321 extending in the Y direction, a Y-axis ball screw 322 extending in the Y direction, and a Y-axis motor 323 for rotationally driving the Y-axis ball screw 322, and an X-axis rail extending in the X direction.
  • a shaft rail 324 is fixed to a nut of a Y-axis ball screw 322 while being supported by a pair of Y-axis rails 321 so as to be movable in the Y direction.
  • An X-axis ball screw 325 extending in the X-direction and an X-axis motor 326 that rotationally drives the X-axis ball screw 325 are attached to the X-axis rail 324 so that the head unit 33 can move along the X-axis rail 324 in the X direction. is fixed to the nut of the X-axis ball screw 325 while being supported by the Therefore, the Y-axis motor 323 rotates the Y-axis ball screw 322 to move the head unit 33 in the Y direction, or the X-axis motor 326 rotates the X-axis ball screw 325 to move the head unit 33 in the X direction. can.
  • Two component supply units 34 are arranged in the X direction on each side of the substrate conveyor 31 in the Y direction, and a feeder mounting carriage 35 is detachably attached to each component supply unit 34 .
  • a plurality of tape feeders 36 arranged in the X direction are detachably attached to the feeder attachment carriage 35 .
  • a component supply tape is attached to each tape feeder 36, and the component supply tape accommodates small pieces of components such as integrated circuits, transistors, and capacitors at predetermined intervals.
  • a component supply position 361 is provided at the tip of each tape feeder 36, and each tape feeder 36 intermittently feeds the component supply tape to the substrate conveyor 31 side, thereby feeding the components in the component supply tape to the component supply position. 361.
  • the head unit 33 has a plurality of mounting heads 331 arranged in the X direction.
  • Each mounting head 331 has an elongated shape extending in the Z direction (vertical direction), and can suck and hold a component by a nozzle N detachably attached to its lower end. That is, the mounting head 331 moves above the tape feeder 36 and the nozzle N picks up the component supplied to the component supply position 361 . Subsequently, the mounting head 331 moves above the board B at the working position and releases the suction of the component by the nozzle N, thereby mounting the component on the board B. FIG. Thus, the mounting head 331 picks up the component supplied to the component supply position 361 by the tape feeder 36 from the component supply tape and mounts the component on the board B.
  • the head unit 33 is attached with an image capturing camera 333 that captures an image below.
  • This image capturing camera 333 captures an image of, for example, a fiducial mark attached to the substrate B or a palette ID attached to a palette P, which will be described later, and transmits the image to the controller 200 .
  • the component mounter 3 also includes a nozzle stocker 37 arranged between the board conveyor 31 and the component supply section 34 .
  • the nozzle stocker 37 has a plurality of nozzle storage holes 371 , and the nozzles N are stored in the nozzle storage holes 371 by inserting the lower end portions of the nozzles N into the nozzle storage holes 371 .
  • the nozzle stocker 37 has a shutter that collectively opens and closes the plurality of nozzle housing holes 371 .
  • the nozzle stocker 37 prohibits the removal of the nozzle N from the nozzle storage hole 371 and the insertion of the nozzle N into the nozzle storage hole 371 by closing the shutter with respect to the nozzle storage hole 371 .
  • the nozzle stocker 37 permits removal of the nozzle N from the nozzle storage hole 371 and insertion of the nozzle N into the nozzle storage hole 371 by opening the shutter for the nozzle storage hole 371 .
  • the lower end of the mounting head 331 that is not engaged with the nozzle N is pushed into the nozzle N held in the nozzle storage hole 371 of the nozzle stocker 37, so that the mounting head 331 is engaged with the nozzle N.
  • the engagement between the mounting head 331 and the nozzle N is held by an elastic force such as a leaf spring. Further, the mounting head 331 is raised while the shutter of the nozzle stocker 37 is open, so that the nozzle N engaged with the mounting head 331 is removed from the nozzle storage hole 371 of the nozzle stocker 37 (nozzle attachment).
  • the nozzle N engaged with the lower end of the mounting head 331 descends into the nozzle storage hole 371 of the nozzle stocker 37, whereby the nozzle N is inserted into the nozzle storage hole 371. .
  • the mounting head 331 is lifted so that the lower end of the mounting head 331 is separated from the nozzle N held in the nozzle housing hole 371 , and the nozzle N is removed from the mounting head 331 . Removed (nozzle removal).
  • the nozzle N attached to the mounting head 331 can be replaced by performing such nozzle attachment and nozzle removal in combination.
  • the pallet P delivered from the setup device 2 toward the component mounter 3 is carried into the component mounter 3 .
  • the component mounter 3 includes a pallet operation section 38 that operates the pallet P. As shown in FIG. Subsequently, the palette P and the palette operation unit 38 will be specifically described with reference to FIGS. 4A to 4D.
  • the pallet P has a base plate 41 having a rectangular shape in plan view from the Z direction.
  • the base plate 41 has a storage plate portion 41A provided with a plurality of nozzle storage holes 411, and conveyor mounting portions 41B provided on both sides of the storage plate portion 41A in the Y direction.
  • the nozzle housing hole 411 passes through the base plate 41 in the Z direction and holds the nozzle N inserted from above.
  • the storage plate portion 41A has a greater thickness than the conveyor mounting portion 41B and protrudes downward from the conveyor mounting portion 41B.
  • the bottom surface of each conveyor mounting portion 41B is a horizontal mounting surface 41C. Conveyed by conveyor 241 , 271 , 281 or 311 .
  • the pallet P has a shutter 43 attached to the upper surface of the base plate 41.
  • the shutter 43 has a plurality of engaging portions 431 corresponding to the plurality of nozzle housing holes 411 respectively.
  • the shutter 43 is movable in the X direction with respect to the base plate 41, and is positioned at an engaging position (the position of the shutter 43 in FIG. ) and a separation position where the engaging portion 431 is separated from the nozzle N accommodated in the nozzle accommodation hole 411 .
  • the engagement portion 431 prohibits the removal of the nozzle N from the nozzle housing hole 411 (that is, the shutter 43 is closed).
  • the shutter 43 is positioned at the separated position, removal of the nozzle N from the nozzle housing hole 411 is permitted (that is, the shutter 43 is opened).
  • Figs. 4C and 4D are diagrams schematically showing the configuration and operation of the pallet operation section of the component mounter.
  • the pallet operation unit 38 has a stopper 381 , an opening/closing cylinder 382 attached to the stopper 381 , and an elevating cylinder 383 supporting the stopper 381 and the opening/closing cylinder 382 .
  • the elevator cylinder 383 lifts and lowers the stopper 381 and the open/close cylinder 382 integrally, thereby moving them to a position overlapping the passage path of the pallet P (positions shown in FIGS. 4C and 4D) and downward from the passage path of the pallet P. Move to and from the retracted position.
  • the passage route of the pallet P is the route through which the pallet P conveyed in the X direction by the substrate conveyor 31 passes.
  • the pallet P can be conveyed in the X direction by the substrate conveyor 31 by retracting the stopper 381 and the opening/closing cylinder 382 from the passage path of the pallet P.
  • the pallet P can be stopped by bringing the stopper 381 into contact with the pallet P from the downstream side in the X direction.
  • the pallet operation section 38 has a single-axis robot 384 that drives an elevating cylinder 383 in the X direction.
  • This single-axis robot 384 can be composed of, for example, a linear motor or a ball screw.
  • the single-axis robot 384 drives the lifting cylinder 383 in the X direction, the stopper 381 and the opening/closing cylinder 382 supported by the lifting cylinder 383 move in the X direction. Therefore, the single-axis robot 384 can change the position where the pallet P is stopped by the stopper 381 .
  • the opening/closing cylinder 382 can operate the shutter 43 . That is, by driving the shutter 43 in the X direction by the opening/closing cylinder 382, the shutter 43 is positioned at either the engaged position (the position of the shutter 43 in FIG. 4C) or the separated position (the position of the shutter 43 in FIG. 4D). can.
  • the opening/closing cylinder 382 can drive the shutter 43 while gripping the shutter 43 by magnetic force, for example.
  • the nozzles N can be attached to and detached from the mounting head 331 in the same manner as the nozzle stocker 37 described above.
  • the nozzle N is engaged with the mounting head 331 by pushing the lower end of the mounting head 331 that is not engaged with the nozzle N into the nozzle N held in the nozzle housing hole 411 of the pallet P. Further, when the mounting head 331 is lifted while the shutter 43 of the pallet P is open (that is, positioned at the separated position), the nozzles N engaged with the mounting head 331 move out of the nozzle storage holes 411 of the pallet P. Taken out (nozzle attachment). On the other hand, when the shutter 43 of the pallet P is open, the nozzle N engaged with the lower end of the mounting head 331 descends into the nozzle storage hole 411 of the pallet P, whereby the nozzle N is inserted into the nozzle storage hole 411 .
  • the mounting head 331 is lifted from the nozzles N held in the nozzle housing holes 411 to the mounting head 331 . is released, and the nozzle N is removed from the mounting head 331 (nozzle removal).
  • the movement of the nozzle N between the nozzle stocker 37 and the pallet P can be executed by cooperation between the mounting head 331 and the pallet operation section 38 .
  • the delivery conveyor 27 of the setup device 2 and the board conveyor 31 of each component mounter 3 belonging to the same board production line L are arranged in series to transport one board. compose a line. Therefore, the pallets P carried out from the unloading conveyor 27 by the setup device 2 can be carried into the plurality of component mounters 3 in order.
  • a transport mode as shown in FIGS. 5A to 5D below can be executed.
  • Each transport mode shown below is a part of all transport modes that can be executed in the board production line L, and the board production line L can transport the pallet P in other transport modes.
  • FIGS. 5A to 5D are diagrams schematically showing an example of a pallet transport mode that can be executed on a substrate production line.
  • the delivery conveyor 27 and the board conveyor 31 adjacent to each other are simply represented by a pair of belt conveyors
  • the two board conveyors 31 adjacent to each other are simply represented by a pair of belt conveyors. Expressed on a conveyor belt.
  • one pallet P is transported to each of a plurality of component mounters 3. That is, the pallets P are sequentially transported from the downstream side in the X direction among the plurality of component mounters 3 arranged in series in the X direction. Specifically, in steps S ⁇ b>21 and S ⁇ b>22 , the pallet P is conveyed from the setup device 2 to the most downstream component mounter 3 among the plurality of component mounters 3 . Next, in steps S23 and S24, the pallet P is conveyed from the setup device 2 to the most downstream component mounter 3 in the X direction among the component mounters 3 to which the pallet P has not yet been carried. By repeating the transport of the pallet P in the same manner, the pallet P is transported to each of the plurality of component mounters 3 as shown in step S25.
  • the number of pallets P is smaller than the number of component mounters 3 to which pallets P are transported, and one pallet P is transported to two component mounters 3 .
  • the pallet P is conveyed from the setup device 2 to an odd-numbered component mounter 3 counted from the upstream side in the X direction.
  • each pallet P is conveyed from the odd-numbered component mounters 3 to the even-numbered component mounters 3 by being conveyed downstream in the X direction.
  • the number of pallets P is smaller than the number of component mounters 3 to which pallets P are transported, and one pallet P is transported to a plurality of component mounters 3 in order.
  • the pallet P carried out from the setup device 2 to the downstream side in the X direction is sequentially conveyed from the component mounter 3 on the upstream side in the X direction among the plurality of component mounters 3 (steps S41 to S45).
  • the number of pallets P is smaller than the number of component mounters 3 to which pallets P are transported, and one pallet P is transported to a plurality of component mounters 3 in order.
  • the pallet P is conveyed to the most downstream component mounter 3 in the X direction among the plurality of component mounters 3 (steps S51 and S52).
  • the pallet P is conveyed in order from the component mounter 3 on the downstream side in the X direction (steps S52 to S55).
  • the setup device 2 places the nozzles N used for component mounting on the board B on the pallet P and delivers them to the component mounter 3 . can be done. Then, the component mounter 3 can receive the nozzle N delivered from the setup device 2 by taking it out from the pallet P with the mounting head 331 (receiving operation). In such a receiving operation, the nozzles N placed on the pallet P can be moved to the nozzle stocker 37 and the nozzles N placed on the pallet P can be attached to the mounting head 331 . Therefore, in this embodiment, the nozzle N used for component mounting is set up by the component mounter 3 by delivering the nozzle N from the setup device 2 to the component mounter 3 . In particular, this setup is managed by sending commands from the server computer 100 to the setup device 2 .
  • FIG. 6 is a diagram showing a flowchart showing an example of a method of creating a command for a setup device
  • FIG. 7 is a flowchart showing a first example of determining the shipping mode executed in the flowchart of FIG.
  • the flowcharts of FIGS. 6 and 7 are individually executed for each of the plurality of board production lines L by the server computer 100.
  • FIG. 6 is a diagram showing a flowchart showing an example of a method of creating a command for a setup device
  • FIG. 7 is a flowchart showing a first example of determining the shipping mode executed in the flowchart of FIG.
  • the flowcharts of FIGS. 6 and 7 are individually executed for each of the plurality of board production lines L by the server computer 100.
  • FIG. 6 is a diagram showing a flowchart showing an example of a method of creating a command for a setup device
  • FIG. 7 is a flowchart showing a first example of determining the shipping mode executed in the flowchart of FIG
  • step S61 of command creation in Fig. 6 the delivery mode determination (Fig. 7) is executed.
  • delivery mode determination can be executed in a plurality of modes.
  • the basic mode of delivering nozzles N that are insufficient for component mounting to the component mounter 3 will be described.
  • step S101 of FIG. 7 the computing unit 110 of the server computer 100 allocates the pallet P used for shipping the nozzles N to the plurality of mounters 3.
  • the number of pallets P that can be used for shipping the nozzle N is equal to or greater than the number of component mounters 3 to which the nozzle N is to be shipped, and one pallet P is required for one component mounter 3.
  • An example of allocation will be used for explanation. Therefore, transportation of the pallet P to the component mounter 3 can be executed by the transportation mode of FIG. 5A described above. However, if the number of pallets P is small, one pallet P may be assigned to two or more component mounters 3, and the pallet P may be transported by the transport modes shown in FIGS. 5B to 5C. can be done.
  • the calculation unit 110 confirms the nozzles N owned by the component mounter 3 and the nozzles N that the component mounter 3 plans to use for subsequent component mounting. Specifically, the possessed nozzle information shown in FIG. 8A and the intended use nozzle information shown in FIG.
  • FIG. 8A is a diagram showing an example of possessed nozzle information indicating the possessed nozzles of a component mounter.
  • a plurality of component mounters 3 are distinguished by different reference numerals 3(1) to 3(4), and the same notation will be used appropriately below.
  • the owned nozzles refer to the nozzles N stored in the nozzle stocker 37 of the component mounter 3 and the nozzles N attached to the mounting head 331 of the component mounter 3 at present.
  • This possessed nozzle information indicates, for each nozzle N possessed by the component mounter 3, the type Nk of the nozzle N, the nozzle ID of the nozzle N, the adsorption rate of the nozzle N, and the number of shots of the nozzle N.
  • the nozzle ID is an identifier assigned to the nozzle N to identify the nozzle N.
  • FIG. the calculation unit 110 recognizes the nozzle ID of the nozzle N owned by the component mounter 3 by managing the nozzle ID of the nozzle N delivered to/collected from the component mounter 3 .
  • the pickup rate is the success rate of picking up components using the nozzle N
  • the number of shots is the number of times the component is mounted on the board B using the nozzle N. That is, the calculation unit 110 collects the pick-up rate and the number of shots from the mounter 3 via the communication unit 130 . Note that the pick-up rate and the number of shots are measured in the component mounter 3 and reset each time the nozzle N is cleaned, for example.
  • FIG. 8B is a diagram showing an example of scheduled use nozzle information indicating the scheduled use nozzles of the component mounter.
  • This scheduled use nozzle information indicates the type Nk of each nozzle N possessed by the mounter 3 .
  • the storage unit 140 stores a production plan indicating the types and number of component-mounted boards (boards B on which components are mounted) to be produced on the board production line L.
  • the nozzles N to be used by each component mounter 3 are obtained from the production plan, thereby obtaining information on nozzles to be used.
  • step S103 the calculation unit 110 obtains the difference between the nozzles N indicated by the information on the nozzles to be used and the nozzles N indicated by the information on the owned nozzles. Confirm about 3. In other words, the nozzles N that are indicated in the scheduled use nozzle information but not indicated in the possessed nozzle information are the missing nozzles.
  • step S104 the calculation unit 110 determines the insufficient nozzles N confirmed for the component mounter 3 as delivery target nozzles to be delivered to the component mounter 3, and creates delivery target nozzle information (FIG. 8C). ).
  • FIG. 8C is a diagram showing a first example of delivery target nozzle information indicating nozzles to be delivered to the component mounter.
  • the delivery target nozzle information includes the pallet ID of the pallet P to be conveyed to the component mounter 3, the type Nk of the nozzle N placed on the pallet P and delivered to the component mounter 3, and the nozzle ID of each component. Mounting machine 3 is shown. In this way, the delivery mode of the nozzle N is determined.
  • step S62 of FIG. 6 a shipping preparation command for causing the setup device 2 to prepare the pallet P on which the nozzle N is placed according to the shipping target nozzle information obtained in step 104 is sent to the computing unit 110. is created by and stored in the storage unit 140 .
  • FIG. 9 is a flow chart showing an example of a method of creating commands for a setup device and a component mounter
  • FIG. 11 is a flow chart showing a first example of recovery mode determination executed in the flow chart of FIG.
  • the flowcharts of FIGS. 9, 10 and 11 are individually executed for each of the plurality of board production lines L by the server computer 100.
  • FIG. 9 is a flow chart showing an example of a method of creating commands for a setup device and a component mounter
  • FIG. 11 is a flow chart showing a first example of recovery mode determination executed in the flow chart of FIG.
  • the flowcharts of FIGS. 9, 10 and 11 are individually executed for each of the plurality of board production lines L by the server computer 100.
  • step S71 of command creation in FIG. 9 the delivery mode determination (FIG. 10) is executed. Determining delivery mode in the selective replacement mode in which nozzles N that are insufficient for component mounting and nozzles N to be replaced for maintenance are delivered to the component mounter 3 will be described here.
  • steps S101 to S103 are executed for each mounter 3 in the same manner as in the above example. That is, pallets P are assigned to a plurality of mounters 3 (step S101). Then, based on the result of confirming the owned nozzles and the nozzles to be used in step S102, the missing nozzles N are confirmed.
  • the calculation unit 110 determines the time (operation time) that each mounter 3 can use for the receiving operation for the nozzle N delivered from the setup device 2 based on the production plan. Specifically, the operation time to be assigned to the receiving operation is determined within a range in which the next board production can be started at the scheduled time determined in the production plan.
  • step S106 the calculation unit 110 determines the number of nozzles N that can be received by the mounter 3 within the operation time determined in step S105 (receivable number). Calculate the number (maintainable number) by subtracting the insufficient number. Then, the calculation unit 110 selects the number of nozzles N that can be maintained from among the nozzles N possessed by the component mounter 3 as maintenance target nozzles based on the priority criteria (suction rate or number of shots).
  • the priority criteria suction rate or number of shots.
  • step S107 the calculation unit 110 determines the missing nozzles N confirmed for the component mounter 3 and the nozzles N selected as maintenance target nozzles (in other words, the maintenance nozzles to be replaced with the maintenance target nozzles).
  • Nozzle type N is determined as a delivery target nozzle to be delivered to the component mounter 3, and delivery target nozzle information is created (FIG. 12A).
  • FIG. 12A is a diagram showing a second example of delivery target nozzle information indicating delivery target nozzles for the component mounting machine. In the delivery target nozzle information in FIG. 12A, a status is added compared to that in FIG. 8C.
  • the recovery mode determination (selective exchange mode) in FIG. 11 is executed.
  • the calculation unit 110 confirms the nozzle N selected as the maintenance target nozzle in step S106 for each component mounter 3 .
  • the calculation unit 110 determines the nozzle N selected as the maintenance target nozzle as a recovery target nozzle to be recovered from the component mounter 3 to the setup device 2, and creates recovery target nozzle information (Fig. 12B).
  • FIG. 12B is a diagram showing an example of recovery target nozzle information indicating recovery target nozzles from the component mounter.
  • the recovery target nozzle information includes the pallet ID of the pallet P used to recover the recovery target nozzles N, and the type Nk and nozzle ID of the nozzles N placed on the pallet P and recovered from the component mounter 3.
  • the component mounter 3 is shown.
  • the pallet P used for recovering the nozzles N is the pallet P that is transported to the component mounter 3 for delivery of the nozzles N to the component mounter 3 having the nozzles N to be recovered.
  • the recovery mode of the nozzle N is determined.
  • step S73 of FIG. 9 a delivery preparation command for causing the setup device 2 to execute delivery preparation for preparing the pallet P on which the nozzle N is placed according to the delivery target nozzle information obtained in step 107 is sent to the computing unit 110. is created by and stored in the storage unit 140 . Further, in step S73, a recovery command for recovering the nozzle N from the component mounter 3 to the setup device 2 is created by the calculation unit 110 according to the recovery target nozzle information obtained in step S202, and stored in the storage unit 140. Saved.
  • FIG. 13 is a flow chart showing a third example of determination of the delivery mode executed in the flow chart of FIG. 9, and FIG. 14 is a flow chart showing a second example of collection mode determination executed in the flow chart of FIG.
  • the flowcharts of FIGS. 13 and 14 are individually executed for each of the plurality of board production lines L by the server computer 100.
  • step S71 of command creation in FIG. 9 the delivery mode determination (FIG. 13) is executed.
  • a delivery mode in a complete replacement mode in which nozzles N lacking in the execution of component mounting and nozzles N to be replaced for maintenance of all the nozzles N possessed by the component mounter 3 are delivered to the component mounter 3.
  • steps S101 to S103 are executed for each mounter 3 as in the above example. That is, pallets P are assigned to a plurality of mounters 3 (step S101). Then, based on the result of confirming the owned nozzles and the nozzles to be used in step S102, the missing nozzles N are confirmed.
  • step S108 the calculation unit 110 selects all the nozzles N owned by the mounter 3 as maintenance target nozzles. Then, in step S109, the calculation unit 110 determines the missing nozzles N confirmed for the mounter 3 and the nozzles N selected as the maintenance nozzles (in other words, the maintenance nozzles to be replaced with the maintenance nozzles). and the same type of nozzle N) as the delivery target nozzles to be delivered to the component mounter 3, and the delivery target nozzle information is created in the same manner as described above.
  • the recovery mode determination (full replacement mode) in FIG. 14 is executed.
  • the calculation unit 110 confirms the nozzle N selected as the maintenance target nozzle in step S108 for each component mounter 3.
  • step S202 the calculation unit 110 determines the nozzle N selected as the maintenance target nozzle as the recovery target nozzle to be recovered from the component mounter 3 to the setup device 2, and performs recovery target nozzle information as described above. to create In this way, the recovery mode of the nozzle N is determined.
  • step S73 of FIG. 9 a shipping preparation command for causing the setup device 2 to prepare the pallet P on which the nozzle N is placed according to the shipping target nozzle information obtained in step 109 is sent to the computing unit 110. is created by and stored in the storage unit 140 . Further, in step S73, a recovery command for recovering the nozzle N from the component mounter 3 to the setup device 2 is created by the calculation unit 110 according to the recovery target nozzle information obtained in step S202, and stored in the storage unit 140. Saved.
  • the delivery mode can be executed in each of the basic mode, selective exchange mode, and all exchange mode. At this time, only one of these modes may be executed, or a mode selected by the operator operating the UI 120 may be executed.
  • the latter can be configured, for example, as follows.
  • FIG. 15A is a flowchart showing a fourth example of determination of the shipping mode
  • FIG. 15B is a flowchart showing an example of collection mode determination executed in response to the determination of the shipping mode of FIG.
  • the delivery mode determination (mixed mode) of FIG. 15A it is determined in step S121 whether the mode selected by the operator is the basic mode. If the basic mode has been selected ("YES" in step S121), the basic mode is executed (step S122), and if the basic mode has not been selected ("NO" in step S121) ), the process proceeds to step S123.
  • step S123 it is determined whether the mode selected by the operator is the selective replacement mode. If the selective exchange mode is selected ("YES” in step S123), the selective exchange mode is executed (step S124), and if the selective exchange mode is not selected ("NO” in step S123). ), the process proceeds to step S125, and the full replacement mode is executed.
  • step S221 it is determined in step S221 whether the mode selected by the operator is the basic mode. Then, if the basic mode has been selected ("YES” in step S221), the flow chart of FIG. 15B is terminated, and if the basic mode has not been selected ("NO" in step S221), goes to step S223.
  • step S223 it is determined whether the mode selected by the operator is the selective replacement mode. If the selective exchange mode is selected ("YES" in step S223), the selective exchange mode is executed (step S224). If the selective exchange mode is not selected ("YES" in step S223) NO"), the flow advances to step S225 to execute the full replacement mode.
  • a delivery preparation command for the setup device 2 and a collection command for the component mounter 3 are created.
  • a flow of transmitting these commands to the setup device 2 or the component mounter 3 and executing an operation according to the commands will be described.
  • FIG. 16 is a flow chart showing a first example of line setup management for managing setup in each board production line of the component mounting system.
  • the flow chart of FIG. 16 is executed under the control of the computing section 110 of the server computer 100 .
  • the computing unit 110 predicts the completion time of the board production being executed for each of the plurality of board production lines L.
  • step S302 the computing unit 110 creates, for each of the plurality of board production lines L, a command (shipment preparation command/recovery command) for board production scheduled to be executed next to the board production currently underway. Creation of this command can be performed in the basic mode, the selective replacement mode, or the full replacement mode described above. Therefore, when creating commands in the basic mode, a delivery preparation command is created, and when creating commands in the selective exchange mode or all exchange mode, a delivery preparation command and a collection command are created. Further, in step S302, the time to send each command is determined based on the expected completion time of board production.
  • the calculation unit 110 calculates the preparation time required for preparation for shipping in the setup device 2 from the content of the preparation for shipping, and transmits a command at a time earlier than the expected completion time of board production by the time obtained by adding the margin time to the preparation time. Set the time.
  • step S303 the calculation unit 110 transmits the command (shipping preparation command/collection command) created in step S302 to the target devices (the setup device 2 and the component mounter 3). (step S304). Steps S303 and S304 are repeated until transmission of all commands created in step S302 is completed ("YES" in step S305).
  • FIG. 17 is a flow chart showing a first example of command reception processing executed by the setup device.
  • the controller 200 of the setup device 2 receives the delivery preparation command from the server computer 100 ("YES" in step S401)
  • the nozzle N indicated by the delivery preparation command is placed on the pallet P indicated by the delivery preparation command (step S402).
  • the process proceeds to step S404.
  • the operations specifically executed by the setup device 2 to prepare for shipping are as shown in steps S11 to S15 in FIG. 2C.
  • step S404 the controller 200 determines whether or not the pallet P on which the nozzles N are placed can be carried out from the setup device 2 to the component mounter 3 of the board production line L to which the setup device 2 belongs in preparation for delivery. It judges based on the operation status received from 3. Specifically, the controller 200 determines whether the component mounter 3 has received the pallet P based on the operation status of the component mounter 3 to which the pallet P is to be transferred (component mounting in progress, component mounting completed, board unloading completed, etc.). Check if you can run If the pallet can be accepted, it is determined that the pallet P can be carried out to the component mounting machine 3 ("YES" in step S404), and the pallet P is carried out from the setup device 2 to the component mounting machine 3.
  • the pallet P on which the nozzles N are placed is transported from the delivery conveyor 27 of the setup device 2 to the board conveyor 31 of the component mounter 3 in preparation for delivery, and then transferred to the component mounter 3. be brought in.
  • the operation specifically executed by the setup device 2 to take out the nozzle N is as shown in steps S16 to S19 in FIG. 2D.
  • FIG. 18A is a flowchart showing a first example of command reception processing executed by the mounter.
  • the controller 300 of the component mounter 3 stops the pallet P at a predetermined pallet stop position (step S502).
  • the controller 300 determines whether or not a recovery command has been received from the server computer 100. If the collection command has not been received (“NO” in step S503), the controller 300 uses the mounting head 331 to receive the nozzles N placed on the pallet P (receiving operation).
  • the controller 300 causes the mounting head 331 to select the recovery target nozzles indicated by the recovery command among the nozzles N possessed by the component mounter 3.
  • a moving operation for moving from the nozzle stocker 37 to the pallet P and a receiving operation are executed. Note that the move operation is executed in parallel with the receive operation. Specifically, when the mounting head 331 moves the nozzle N from the pallet P to the nozzle stocker 37 for the receiving operation, the mounting head 331 picks up the collection target nozzle from the nozzle stocker 37 and moves it to the pallet P. In other words, the receiving operation is performed on the outward path from the pallet P to the nozzle stocker 37 , and the moving operation is performed on the return path from the nozzle stocker 37 to the pallet P.
  • the pallet P is carried out from the component mounter 3 (step S506).
  • the destination of the pallet P from the component mounter 3 is the setup device 2 or another component mounter 3 .
  • FIG. 18B is a flowchart showing a second example of command reception processing executed by the mounter.
  • the server computer 100 transmits in advance the pallet information regarding the pallet P targeted by the delivery preparation command to the mounter 3 at the same time as transmitting the delivery preparation command to the setup device 2 .
  • This pallet information associates the pallet stop position at which the pallet P, which is the object of the application preparation instruction, is stopped in the mounter 3 and the arrangement (in other words, position) of the nozzle N on the pallet P with the pallet ID. is shown.
  • the controller 300 of the component mounter 3 temporarily stops the pallet P (step S507).
  • the palette ID is read based on the captured image of the palette ID.
  • the controller 300 causes the single-axis robot 384 to adjust the position of the stopper 381 according to the pallet stop position indicated by the pallet ID, and then causes the substrate conveyor 31 to start transporting the pallet P.
  • the pallet P comes into contact with the position-adjusted stopper 381 and stops at the pallet stop position indicated by the pallet ID (step S503).
  • the controller 300 receives the nozzles N while recognizing the type of the nozzles N based on the arrangement of the nozzles N on the palette P indicated by the palette ID.
  • FIG. 19 is a flow chart showing a second example of line setup management for managing setup in each board production line of the component mounting system.
  • the flowchart of FIG. 19 is executed under the control of the computing unit 110 of the server computer 100.
  • FIG. Here, the difference from the first example in FIG. 16 will be mainly described, and the common parts will be denoted by corresponding reference numerals and description thereof will be omitted as appropriate.
  • the computing unit 110 checks whether an interrupt request from the worker has been input to the UI 120 .
  • This interrupt request requests that a specific nozzle N be delivered from the setup device 2 to the mounter 3 due to an urgent reason such as breakage of the nozzle N, regardless of the delivery preparation command created in step S302. is. If there is an interrupt request while the delivery preparation command created in step S302 has not yet been transmitted ("YES" in step S306), the computing unit 110 instructs the setup device 2 to release the nozzle N indicated by the interrupt request. is transmitted, and the setup device 2 takes out the target nozzle N according to the instruction (step S307).
  • step S308 the calculation unit 110 confirms whether the nozzle N that was delivered in response to the interrupt request was the nozzle N scheduled to be delivered in response to the delivery preparation command created in step S302. Specifically, the confirmation in step S308 can be performed based on whether the nozzle ID of the former nozzle N and the nozzle ID of the latter nozzle N match. Then, if the nozzle N that has left the warehouse in response to the interrupt request is the nozzle N that is scheduled to leave the warehouse in response to the shipping preparation command (“YES” in step S308), the computing unit 110 issues the shipping preparation command. It is determined that it is necessary to recreate it, and the process returns to step S302. If not ("NO" in step S308), the process proceeds to step S303.
  • FIG. 20 is a flow chart showing a second example of command reception processing executed by the setup device.
  • the controller 200 receives the delivery preparation command ("YES" in step S401)
  • the controller 200 selects the component mounter 3 as the delivery destination of the nozzle N that is the target of the delivery preparation according to the delivery preparation command. It is checked whether there is a recovery target nozzle to be recovered from (step S406). Specifically, it is possible to confirm whether or not there is a nozzle to be collected based on whether or not there is a nozzle for maintenance among the nozzles N to be prepared for delivery.
  • step S406 If there are no recovery target nozzles ("NO” in step S406), the process proceeds to step S402. On the other hand, if there is a nozzle to be collected ("YES” in step S406), the setup device 2 collects the empty pallet P for collection before starting preparation for leaving the warehouse (steps S402 and S403). It is carried out to the component mounter 3 where the target nozzle exists (step S407). Then, the component mounting machine 3 to which this pallet P for recovery has been carried in, prior to taking out the nozzles N from the setup device 2, mounts the nozzles to be recovered on the pallet P, and then transfers the pallet P to the setup device. 2.
  • FIG. 21 is a flow chart showing an example of maintenance preparation executed by the setup device.
  • the controller 200 of the setup device 2 confirms whether or not the pallet P on which the collection target nozzles are placed has been collected from the component mounter 3 to the setup device 2 . After confirming the collection ("YES" in step S601), the controller 200 displays a screen on the display 297 for instructing the operator to perform maintenance (step S602).
  • the operator can input maintenance execution instructions to the UI 120. Further, when an execution instruction is input to the UI 120, the transfer head 251 of the setup device 2 moves the maintenance target nozzle from the pallet P collected from the component mounter 3 to the cleaning unit 292, and performs maintenance on the nozzle. Execute.
  • FIG. 22 is a flowchart showing a fifth example of determining the delivery mode.
  • steps S101 to S103 are executed for each mounter 3 as in the above example. That is, pallets P are assigned to a plurality of mounters 3 (step S101). Then, based on the result of confirming the owned nozzles and the nozzles to be used in step S102, the missing nozzles N are confirmed.
  • the computing unit 110 selects two component mounters that can divert the same nozzle N from among the plurality of component mounters 3 belonging to the same substrate production line L as the setup device 2 that prepares for delivery. Check if 3 exists. Specifically, "out of the plurality of component mounters 3, a nozzle N (divertible nozzle) that is owned by one component mounter 3 and is not scheduled to be used (nozzle N that is scheduled to be used by another component mounter 3) It is confirmed whether or not there is a nozzle N that satisfies the diversion condition such as "the nozzle N but not the owned nozzle N".
  • step S111 If there is a nozzle N that satisfies the diversion condition ("YES" in step S111), the nozzle N to be used by another component mounter 3 is not taken out from the setup device 2, but It is determined to move from the component mounter 3 to another component mounter 3 (step S112).
  • a pallet P is used to move the nozzle N from one component mounter 3 to another component mounter 3 .
  • the pallet P used for delivery to one component mounter 3 can be used.
  • step S112 in determining the delivery target nozzles for the other mounters 3, the nozzles N satisfying the diversion condition are excluded from the shortage of nozzles N confirmed for the other mounters 3. is determined as the nozzle to be delivered.
  • FIG. 23 is a flow chart showing an example of detailed condition management of the delivery mode.
  • the flowchart of FIG. 23 is executed by the computing unit 110 of the server computer 100 for the nozzle N determined as the nozzle to be delivered in the delivery mode determination, and the details of the optimal delivery mode are changed while the detailed conditions of the delivery mode are changed. to decide.
  • the calculation unit 110 confirms the delivery target nozzle.
  • the stop position variable Vs which is a variable indicating the position at which the pallet P used for the delivery of the delivery target nozzle stops in the delivery destination component mounting machine 3, is reset, and in step S703, the stop position variable Vs is incremented by one. do.
  • different stop position variables Vs indicate different pallet P stop positions.
  • the nozzle arrangement variable Va which is a variable indicating the positional variation of the nozzles to be delivered to the pallet P, is reset, and in step S705, the nozzle arrangement variable Va is incremented by one.
  • different nozzle placement variables Va indicate different placements of nozzles N with respect to pallet P, in other words, different combinations of nozzles N placement modes.
  • step S706 when the pallet P on which the nozzles N are mounted in the arrangement indicated by the nozzle arrangement variable Va is stopped at the position indicated by the stop position variable Vs in the component mounter 3 that is the delivery destination, the calculation unit 110 The time (operation time) required for the component mounting machine 3 to receive the nozzle N from the pallet P is predicted.
  • the calculations of steps S705 and S706 are repeated until the nozzle arrangement variable Va reaches a predetermined value Vax.
  • steps S703 to S707 are repeated until the stop position variable Vs reaches a predetermined value Vsx.
  • the operation time of the receiving operation is predicted for each of a plurality of combinations in which the arrangement of the nozzles N with respect to the pallet P or the stopping position of the pallet P is different.
  • the calculation unit 110 identifies the optimum combination of the arrangement of the nozzles N and the stop position of the pallet P that minimizes the operation time from among these combinations, and determines the arrangement indicated by this optimum combination. It is decided to place the nozzle N and to stop the pallet P at the stop position.
  • the contents of this decision are transmitted from the server computer 100 to the setup device 2 and the component mounter 3, and the setup device 2 arranges the nozzles N on the pallet P in the arrangement indicated by the optimum combination to prepare for delivery. stops the pallet P at the position indicated by the optimum combination.
  • the pallet P (conveyance pallet) on which the nozzles N (used members) taken out from the pallet storage 22 (member storage) are placed is transferred to the board conveyor of the component mounter 3. 31 is provided with a pallet transport unit 26. Therefore, the nozzle N used in the component mounter 3 can be delivered to the component mounter 3 accurately.
  • a transfer head 251 is provided for placing the nozzle N taken out from the pallet storage 22 on the pallet P, and the pallet transport section 26 transfers the pallet P with the nozzle N placed thereon by the transfer head 251 to the substrate conveyor. Hand over to 31.
  • the nozzle N taken out of the pallet storage 22 is placed on the pallet P by the transfer head 251 , and the pallet P is transferred to the substrate conveyor 31 by the pallet transport section 26 . In this way, the nozzle N used in the component mounter 3 can be delivered to the component mounter 3 accurately.
  • a pallet take-out unit 23 (member take-out unit) is provided for taking out and supporting the nozzle N from the pallet storage 22, and the transfer head 251 places the nozzle N supported by the pallet take-out unit 23 on the pallet P. do.
  • the nozzle N taken out from the pallet storage 22 by the pallet take-out part 23 is supported by the pallet take-out part 23 .
  • the nozzle N supported by the pallet takeout section 23 is placed on the pallet P by the transfer head 251 , and the pallet P is transferred to the substrate conveyor 31 of the component mounter 3 by the pallet transport section 26 . In this way, the nozzle N used in the component mounter 3 can be delivered to the component mounter 3 accurately.
  • the pallet storage 22 stores a plurality of pallets P (storage pallets) on which nozzles N are placed.
  • the pallet take-out unit 23 supports the pallet P (storage pallet) taken out from the pallet storage 22 and the pallet P (transport pallet) received from the pallet transport unit 26.
  • the transfer head 251 supports the pallet
  • the nozzle N is moved from one pallet P (storage pallet) supported by the takeout section 23 to the other pallet P (transport pallet). That is, one pallet P (storage pallet) on which the nozzles N are placed is stored in the pallet storage 22, and the other pallet P (storage pallet) taken out from the pallet storage 22 by the pallet take-out unit 23 is It is supported by the pallet take-out part 23 .
  • the nozzle N mounted on one pallet P (storage pallet) supported by the pallet take-out unit 23 is mounted on the other pallet P (conveyance pallet) by the transfer head 251, and this other pallet P ( (transport pallet) is transferred to the substrate conveyor 31 of the component mounter 3 by the pallet transport section 26 .
  • the nozzle N used in the component mounter 3 can be delivered to the component mounter 3 accurately.
  • the pallet take-out unit 23 includes a storage conveyor 24s that supports the pallet P (storage pallet) taken out from the pallet storage 22, a transport conveyor 24c that supports the pallet P (transport pallet) received from the pallet transport unit 26, It has an elevator 233 for moving these conveyors 24s and 24c (support conveyors) in the Z direction.
  • the transfer head 251 can move the nozzle N from one pallet P supported by the conveyors 24s and 24c to the other pallet P, thereby simplifying the operation of the transfer head 251. can be done.
  • the following configuration can be achieved.
  • a plurality of pallets P (storage pallets) are arranged in the Z direction.
  • the pallet unloading section 23 moves one pallet P out of the plurality of pallets P to the pallet storage 22 in a state in which the heights of one pallet P and the conveyors 24s and 24c are matched by the elevator 233. to the storage conveyor 24s.
  • the storage conveyor 24s With such a configuration, one of the pallets P stored in the pallet storage 22 can be accurately taken out to the storage conveyor 24s.
  • the pallet take-out unit 23 receives the pallet P from the pallet transport unit 26 to the transport conveyor 24c in a state in which the heights of the pallet transport unit 26 and the conveyors 24s and 24c are matched by the elevator 233. With such a configuration, the pallet P can be accurately received from the pallet transport section 26 to the transport conveyor 24c.
  • the pallet transport section 26 is arranged in series with the transfer conveyor 28 arranged adjacent to the pallet take-out section 23 and the substrate conveyor 31 of the component mounting machine 3 and arranged between the transfer conveyor 28 and the substrate conveyor 31. and an outgoing conveyor 27.
  • This delivery conveyor 27 conveys the pallet P from the delivery conveyor 28 to the substrate conveyor 31 .
  • the transfer conveyor 28 has a rotational position R1 (first position) at which the pallet P is transferred to and from the delivery conveyor 27, and a rotational position R2 (second position) at which the pallet P is transferred to and from the pallet takeout section 23. is displaced between In such a configuration, the delivery conveyor 28 conveys the pallet P on which the nozzle N is placed from the pallet take-out section 23 to the delivery conveyor 27 .
  • the delivery conveyor 28 is displaced between the rotational position R1 and the rotational position R2. Therefore, the delivery conveyor 28 is displaced to a position suitable for delivery of the pallet P to the pallet take-out part 23 and delivery of the transport pallet to the delivery conveyor 27, respectively, so that the delivery of the pallet P can be executed accurately.
  • an inspection unit 291 and a cleaning unit 292 are provided for performing maintenance on the nozzles N transported from the pallet take-out section 23 by the transfer head 251 .
  • maintenance can be performed on the nozzle N in the setup device 2, and the nozzle N can be kept in an appropriate state.
  • a door 211A for opening and closing the pallet storage 22 is also provided.
  • the operator can access the pallet storage 22 by opening the door 211A, thereby appropriately replenishing the nozzles N stored in the pallet storage 22 and the like.
  • the pallet P (transport pallet) includes a storage plate portion 41A (member holding portion) that holds the nozzle N, and a conveyor placement portion 41B (base portion) that has a placement surface 41C to be placed on the substrate conveyor 31.
  • a storage plate portion 41A member holding portion
  • a conveyor placement portion 41B base portion
  • the pallet P on which the nozzles N are placed in the setup device 2 can be carried out to the substrate conveyor 31 of the component mounting machine 3 and the nozzles N can be delivered to the component mounting machine 3 . Therefore, the nozzle N used in the component mounter 3 can be delivered to the component mounter 3 accurately.
  • the component mounting system 1 corresponds to an example of the "component mounting system” of the present invention
  • the setup device 2 corresponds to an example of the “planning device” of the present invention
  • the door 211A corresponds to an example of the "planning device” of the present invention.
  • the pallet storage box 22 corresponds to an example of the "member storage box” of the present invention
  • the pallet take-out unit 23 corresponds to an example of the "member take-out unit” of the present invention
  • the elevator 233 corresponds to an example of the "elevator” of the present invention
  • the storage conveyor 24s and the transfer conveyor 24c correspond to an example of the "support conveyor” of the present invention
  • the transfer head 251 corresponds to an example of the "transfer head” of the present invention.
  • the pallet conveying section 26 corresponds to an example of the "pallet conveying section” of the present invention
  • the delivery conveyor 27 corresponds to an example of the "delivery conveyor” of the present invention
  • the transfer conveyor 28 corresponds to the "delivery conveyor” of the present invention.
  • the inspection unit 291 and the cleaning unit 292 correspond to an example of the "maintenance section" of the present invention
  • the component mounter 3 corresponds to an example of the “component mounter” of the present invention
  • the board conveyor 31 corresponds to an example of the “component mounter” of the present invention.
  • the storage plate portion 41A corresponds to an example of the "member holding portion” of the present invention
  • the conveyor placing portion 41B corresponds to an example of the "base portion” of the present invention.
  • the mounting surface 41C corresponds to an example of the "mounting surface” of the present invention
  • the substrate B corresponds to an example of the “substrate” of the present invention
  • the pallet P corresponds to the "transfer pallet” or “storage pallet” of the present invention.
  • the rotational position R1 corresponds to an example of the "first position” of the present invention
  • the rotational position R2 corresponds to an example of the "second position” of the present invention.
  • the present invention is not limited to the above embodiments, and various modifications can be made to the above without departing from the spirit of the present invention.
  • the configuration of the setup device 2 can be changed as appropriate.
  • the setup device may be modified as shown in FIG. 24, for example.
  • FIG. 24 is a plan view schematically showing a modification of the setup device.
  • the orientation of the main housing 211 and the components housed therein is different by 90 degrees compared to the example of FIG. 2A.
  • the displacement direction of the delivery conveyor 28 of the pallet transport section 26 is not the rotation direction but the Y direction. That is, the delivery conveyor 28 is displaced between a position R1 aligned in series with the delivery conveyor 27 and a position R2 aligned in series with the transport conveyor 24c.
  • the delivery conveyor 28 delivers the pallet P to and from the delivery conveyor 27 at position R1, and delivers the pallet P to and from the transport conveyor 24c at position R2.
  • the arrangement of the setup device 2 in the substrate production line L may be changed as appropriate. That is, the setup device 2 does not necessarily have to be positioned at the end of the substrate production line L. That is, since the setup device 2 has the delivery conveyors 27 on both sides of the delivery conveyor 28 in the Y direction, the pallets P can be carried out to both sides in the Y direction. Therefore, the setup device 2 can be arranged between the two component mounters 3 arranged in the Y direction. Conversely, when the setup device 2 is arranged at the end of the board production line L, one of the two delivery conveyors 27 of the setup device 2 is not necessarily required.
  • FIG. 25 is a diagram schematically showing how backup pins are used in a mounter
  • FIG. 26 is a flow chart showing an example of backup pin delivery control.
  • the mounter 3 has a horizontally supported backup plate 39 on which backup pins BP are arranged.
  • the substrate B on the substrate conveyor 31 is supported from below by backup pins BP.
  • the calculation unit 110 confirms whether or not the backup pins BP are insufficient for each mounter 3 (step S801). Then, if there is a component mounter 3 with insufficient backup pins BP ("YES" in step S802), the calculation unit 110 determines that the component mounter 3 is to be a delivery target for the backup pins BP, A palette P is assigned to this (step S803). Further, the calculation unit 110 determines the number of backup pins BP to be delivered to the component mounter 3 (step S804), places this number of pallets P on the pallet P, and directs them to the target component mounter 3. A pin delivery command is issued to the setup device 2 so that the pin is delivered to the warehouse (step S805).

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

Abstract

La présente invention concerne un appareil d'installation 2 comprenant une unité de transport de palettes 26 destinée à transférer, vers un transporteur de substrat 31 d'une machine de montage de composants 3, une palette P (une palette de transport) sur laquelle est placée une buse N (un élément à utiliser) qui a été extraite d'un stockage de palettes 22 (un stockage d'éléments). En conséquence, il est possible de livrer avec précision, depuis le stockage jusqu'à la machine de montage de composants 3, la buse N qui doit être utilisée dans la machine de montage de composants 3.
PCT/JP2021/032315 2021-09-02 2021-09-02 Appareil d'installation, système de montage de composants, et palette de transport WO2023032129A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE112021007907.7T DE112021007907T5 (de) 2021-09-02 2021-09-02 Bereitstellungsvorrichtung, Bauelementmontagesystem und Transportpalette
JP2023544917A JP7472407B2 (ja) 2021-09-02 2021-09-02 段取り装置および部品実装システム
CN202180100010.0A CN117581647A (zh) 2021-09-02 2021-09-02 换产调整装置、元件安装系统及运送托盘
PCT/JP2021/032315 WO2023032129A1 (fr) 2021-09-02 2021-09-02 Appareil d'installation, système de montage de composants, et palette de transport

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/032315 WO2023032129A1 (fr) 2021-09-02 2021-09-02 Appareil d'installation, système de montage de composants, et palette de transport

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WO2023032129A1 true WO2023032129A1 (fr) 2023-03-09

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JP (1) JP7472407B2 (fr)
CN (1) CN117581647A (fr)
DE (1) DE112021007907T5 (fr)
WO (1) WO2023032129A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10242688A (ja) * 1997-03-03 1998-09-11 Sanyo Electric Co Ltd 電子部品供給装置
JP2007027233A (ja) * 2005-07-13 2007-02-01 Juki Corp 表面実装装置用ノズル交換台及び表面実装装置
WO2016059694A1 (fr) * 2014-10-16 2016-04-21 富士機械製造株式会社 Système de gestion de buse
JP2017152571A (ja) * 2016-02-25 2017-08-31 ヤマハ発動機株式会社 表面実装システムの吸着ノズル段取り方法、及び、表面実装システム

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2916637B1 (fr) 2012-10-30 2020-04-08 FUJI Corporation Appareil de gestion de buses

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10242688A (ja) * 1997-03-03 1998-09-11 Sanyo Electric Co Ltd 電子部品供給装置
JP2007027233A (ja) * 2005-07-13 2007-02-01 Juki Corp 表面実装装置用ノズル交換台及び表面実装装置
WO2016059694A1 (fr) * 2014-10-16 2016-04-21 富士機械製造株式会社 Système de gestion de buse
JP2017152571A (ja) * 2016-02-25 2017-08-31 ヤマハ発動機株式会社 表面実装システムの吸着ノズル段取り方法、及び、表面実装システム

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JP7472407B2 (ja) 2024-04-22
CN117581647A (zh) 2024-02-20
JPWO2023032129A1 (fr) 2023-03-09

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