WO2024089747A1

WO2024089747A1 - Mounting machine

Info

Publication number: WO2024089747A1
Application number: PCT/JP2022/039569
Authority: WO
Inventors: 将宜川口; 和也松山; 真吾青木; 聖誠松本
Original assignee: 株式会社Fuji
Priority date: 2022-10-24
Filing date: 2022-10-24
Publication date: 2024-05-02

Abstract

The present invention addresses the problem of suppressing components for which measurement is completed from still adhering to an opposing surface.　A mounting machine according to the present disclosure comprises: a camera that images a pair of opposing surfaces; an adhesion assessment unit that, on the basis of the result of imaging by the camera in a state in which a component is not gripped between the pair of opposing surfaces, assesses whether the component is adhering to either one of the pair of opposing surfaces; and a dropping process execution unit that, in cases in which the adhesion assessment unit has assessed that the component is adhering to either one of the pair of opposing surfaces, executes a prescribed component-dropping process in which vibration or air is imparted to the one of the pair of opposing surfaces.

Description

Placement machine

This disclosure relates to a placement machine equipped with a measuring device that measures the electrical characteristics of electronic components.

Patent Document 1 describes a placement machine equipped with a measuring device that measures the electrical characteristics of a component by clamping the component placed on the component placement section between a pair of opposing surfaces.

International Publication No. 2017/009987

overview

Problem to be solved

The pair of opposing surfaces grip the component by approaching each other and release the component by moving away from each other. After the electrical characteristics of the component are measured, the component is released from the gripping state of the pair of opposing surfaces and falls to be stored in a storage box. However, even after the pair of opposing surfaces move away from each other, the component may still be attached to one of the pair of opposing surfaces. If the component remains attached to one of the opposing surfaces, it will be difficult to obtain accurate electrical characteristics when the next part is measured. The objective of this disclosure is to prevent components that have completed measurement from remaining attached to the opposing surfaces.

Means for solving the problem

The mounting machine of the present disclosure is a mounting machine that mounts components on a circuit board, and includes a component holder that holds the components, a holder moving device that moves the component holder, a measuring device that measures electrical characteristics of the components placed on a component mounting section while the components are held by a pair of opposing surfaces, an opposing surface moving device that causes the pair of opposing surfaces to approach each other to hold the components and releases the components from the pair of opposing surfaces by moving the pair of opposing surfaces apart, a camera that images the pair of opposing surfaces, an attachment determination unit that determines whether the component is attached to one of the pair of opposing surfaces based on the image capture result of the camera while the pair of opposing surfaces are not holding the component, and a drop process execution unit that executes a predetermined component drop process that applies vibration or air to one of the pair of opposing surfaces when the attachment determination unit determines that the component is attached to one of the pair of opposing surfaces.
According to the placement machine of the present disclosure, if a component is attached to one of the pair of opposing surfaces after the component is released from gripping, the camera detects the attachment and executes a component drop process, which promotes the drop of the component attached to the opposing surface and prevents the component from continuing to be attached.

1 is a perspective view of a main portion of a measuring device included in a mounting machine according to an embodiment of the present disclosure. FIG. FIG. 2 is a cross-sectional view of a main part of the measuring device. FIG. 2 is a partial plan view of the measuring device. FIG. 2 is an air circuit diagram included in the measuring device. 2 is a block diagram conceptually showing the periphery of a control device of the placement machine. FIG. 5 is a flowchart showing an electrical characteristic acquisition program stored in a storage unit of the control device. FIG. 8A is a diagram showing the initial state of the measuring device, (8B) a diagram showing the clamped state, (8C) a diagram showing the measuring state, and (8D) a diagram showing the discarded state. 2 is a diagram conceptually illustrating a configuration of a mounting head of the mounting machine. FIG. 4 is a flowchart showing a program for adhesion response control stored in a storage unit of the control device.

Embodiment

Below, a detailed description of an attachment machine including a measuring device, which is one embodiment of the present disclosure, is provided with reference to the drawings.

The mounting machine 1 shown in FIG. 2 mounts components on a circuit board, and includes a main body 2, a board transport and holding device 4, a component supply device 6, and a head moving device 8 as a holder moving device. The board transport and holding device 4 transports and holds a circuit board P (hereinafter referred to as board P) in a horizontal position. In FIG. 2, the transport direction of the board P is the x direction, the width direction of the board P is the y direction, and the thickness direction of the board P is the z direction. The y direction is the front-to-rear direction of the mounting machine 1, and the z direction is the up-to-down direction of the mounting machine 1. The x direction, the y direction, and the z direction are mutually orthogonal. The component supply device 6 supplies electronic components (hereinafter referred to as components) s to be mounted on the board P, and includes a plurality of tape feeders 14, etc. The head moving device 8 holds the mounting head 16 and moves it in the x direction, y direction, and z direction. The mounting head 16 is equipped with a suction nozzle 18 as an example of a component holder that picks up and holds the components s.

The mounting machine 1 further includes a main body camera 20 and a measuring device 22. The main body camera 20 captures an image of the component s held by the suction nozzle 18. Based on the image captured by the main body camera 20, it is determined whether the component s is to be mounted on the board P. The measuring device 22 measures the electrical characteristics of the component s. The electrical characteristics of the component s include L (inductance), C (capacitance), R (resistance, resistance value), X (reactance), Z' (impedance), etc., and the measuring device 22 measures one or more of these.

The measuring device 22 is provided in the main body of the substrate conveying and holding device 4 via a storage box 26. A waste passage 28 is provided between the storage box 26 and the measuring device 22. The parts s whose electrical characteristics have been measured are stored in the storage box 26 via the waste passage 28. As shown in Figures 1 and 3, a base part 30 is engaged with the storage box 26 so that it can be raised and lowered. A measuring table 29 is detachably held on the base part 30 by a fastening part 31 including, for example, a bolt and a nut (hereinafter, a fastening part broadly refers to a member that fastens two members). In addition, a through hole 29a that can communicate with the waste passage 28 is provided in the measuring table 29, and a through hole 30a that can communicate with the waste passage 28 is provided in the base part 30 (see Figures 3 and 4).

As shown in Figs. 1, 3, and 4, the measuring device 22 includes the measuring table 29 and base 30, a holding table 32 capable of holding the component s, a pair of probes 37 consisting of a stator 34 and a mover 36, a holding table moving device 40 for moving the holding table 32, a mover moving device 41 (see Fig. 1) as an opposing surface moving device for moving the mover 36 toward and away from the stator 34, and a measuring unit 42 (see Fig. 4) for measuring the electrical characteristics of the component s. In this embodiment, the component s has electrodes on both ends and can be held by the pair of probes 37, and is, for example, a square chip. The opposing surface moving device (mover moving device 41) can be said to be a device for changing the separation distance between the

opposing surfaces

34f and 36f by moving at least one of the

opposing surfaces

34f and 36f.

The holder 32 includes a component placement section 44 and a placement section holder 46 that holds the component placement section 44. A V-shaped groove 44c is formed in the component placement section 44 as a groove section, and the component s is placed in the V-shaped groove 44c. The V-shaped groove 44c extends in the y direction.

The stator 34 has an opposing surface 34f facing the mover 36, and the mover 36 has an opposing surface 36f facing the stator 34. The

opposing surfaces

34f, 36f face each other. The part s is gripped by this pair of

opposing surfaces

34f, 36f. The stator 34 is held by a stator holder 55. The stator holder 55 is fixed to the measurement table 29. The mover 36 is held integrally by the mover holder 56 so as to be movable. The mover holder 56 is provided so as to be movable relative to the measurement table 29. The mover 36 is configured so as to be able to move towards and away from the stator 34.

The opposing surface 36f of the mover 36 is formed in a shape that allows it to enter the V-groove 44c formed in the upper surface of the holding table 32. In other words, the opposing surface 36f is formed in a roughly triangular shape that corresponds to the V-groove 44c. Therefore, the mover 36 advances along the V-groove 44c and can grip the part s placed in the V-groove 44c together with the stator 34.

As shown in FIG. 3, the mover 36 has a front end 36a including an opposing surface 36f, and an intermediate portion 36b connected to the front end 36a. The lower end of the front end 36a is located lower than the lower end of the intermediate portion 36b. As a result, the front end 36a is close to the inner surface of the V-groove 44c, but the intermediate portion 36b is relatively far away from the inner surface of the V-groove 44c.

As shown in FIG. 4, a coaxial cable portion 58 is connected to the stator holder 55 via a bracket 57, and a coaxial cable portion 60 is connected to the mover holder 56 via a bracket 59. The

coaxial cable portions

58 and 60 are connected to the measuring unit 42.

As shown in FIG. 3, an air passage 70 is formed in the movable member 36. The air passage 70 is connected to air

cylinders

72, 74 as fluid pressure cylinders via an intermediate passage 70b. The air passage 70 is formed, for example, in the upper part of the movable member 36. An opening 70a of the air passage 70 is formed so as to face the opposing surface 34f of the stator 34. In other words, the opening 70a is configured so that when air is discharged from the opening 70a, the air is directed toward the opposing surface 34f. The opening 70a is provided on the upper front surface of the movable member 36. An ionizer 76 is provided in the intermediate passage 70b. The ionizer 76 ionizes the air by generating a corona discharge. The air passage may be provided in the stator 34 instead of or in addition to the part including the movable member 36. In this case, for example, the opening of the air passage provided in the upper part of the stator 34 is formed so as to face the opposing surface 36f of the movable member 36. The location of the air passage and its opening is not limited to the mover 36 or the stator 34.

As shown in FIG. 5, the air cylinder 72 is the driving source of the holding table moving device 40. The mounting portion holder 46 of the holding table 32 is connected to the piston rod 72p of the air cylinder 72. A selected one of the air source 78, the air passage 70, and the filter (atmosphere) is connected to the

air chambers

72a and 72b of the air cylinder 72 partitioned by the piston rod 72p via the solenoid valve device 80. For example, air is supplied from the air source 78 to the air chamber 72a, and the air in the air chamber 72b is discharged to the filter, causing the piston rod 72p and the mounting portion holder 46 (holding table 32) to move backward. In addition, air is supplied from the air source 78 to the air chamber 72b, and the air in the air chamber 72a is discharged from the opening 70a via the air passage 70, causing the piston rod 72p and the mounting portion holder 46 (holding table 32) to move forward. The solenoid valve device 80 controls the connection of the

air chambers

72a and 72b, thereby controlling the movement of the placement portion holder 46 (holding table 32).

The air cylinder 74 is the driving source of the movable member moving device 41. The movable member holder 56 is connected to the piston rod 74p of the air cylinder 74. The

air chambers

74a and 74b of the air cylinder 74, which are well partitioned in the piston rod 74p, are connected to a selected one of the air source 78, the air passage 70, and the filter (atmosphere) via the solenoid valve device 82. For example, air is supplied from the air source 78 to the air chamber 74a, and the air in the air chamber 74b is discharged to the filter, causing the piston rod 74p and the movable member holder 56 (movable member 36) to move forward. In addition, air is supplied from the air source 78 to the air chamber 74b, and the air in the air chamber 74a is discharged from the opening 70a via the air passage 70, causing the piston rod 74p and the movable member holder 56 (movable member 36) to move backward. The solenoid valve device 82 controls the connection of the

air chambers

74a and 74b, thereby controlling the position (movement, etc.) of the movable member holder 56 (movable member 36). When the holder 32 moves forward and when the movable member 36 moves backward, air is discharged from the opening 70a toward the stator 34.

The holding table 32 and the movable member holding body 56 are held by a pair of

guide rods

86, 87 extending in the y direction so that they can move relative to each other. The movable member holding body 56 is held movably relative to the measurement table 29 by a pair of guide rods 88, 89 (see Figure 1) that also extend in the y direction. As a result, the holding table 32 and the movable member holding body 56 are held by the measurement table 29 so that they can move relative to each other in the y direction.

In this embodiment, the mover 36 is configured to be able to move toward and away from the stator 34 in the y direction. The y direction is the gripping direction of the part s on the pair of opposing

surfaces

34f, 36f, and is also a direction perpendicular to the opposing

surfaces

34f, 36f. The V groove 44c extends in the y direction, and the x direction, which is horizontally perpendicular to the y direction, is the width direction of the V groove 44c. The x direction is also a direction parallel to the pair of opposing

surfaces

34f, 36f.

As shown in FIG. 3, a stopper 92 is provided on the stator 34 side of the mover holder 56, and a stopper 90 is provided on the portion of the measurement table 29 that holds the stator holder 55. The stopper 92 determines the approach limit between the mover holder 56 and the holding table 32 (mounting section holder 46). The stopper 90 determines the approach limit between the stator 34 (measurement table 29) and the holding table 32.

The holder 32 is configured to be movable by the holder moving device 40 between a position restricted by the stopper 90 and a position restricted by the stopper 92. When the holder 32 is in a position where it abuts against the stopper 90 and the pair of probes 37 are separated (when the movable element 36 is separated from the stator 34), at least a part of the holder 32 is located between the pair of probes 37, and the holder 32 is in a state close to the pair of probes 37. When the holder 32 is in a position where it abuts against the stopper 92, the holder 32 is not between the pair of probes 37, and is in a state where it is separated from at least one of the pair of probes 37 (the movable element 36) by a set distance or more. In this embodiment, most of the components of the measuring device 22 are manufactured from conductive materials and fastened to each other, and an earth wire (not shown) is provided to eliminate static electricity from the entire measuring device 22.

The placement machine 1 is equipped with a control device 200. As shown in FIG. 6, the control device 200 includes a controller 202 that is mainly a computer, and multiple drive circuits 204. The controller 202 includes a calculation unit 210 that includes one or more processors, a storage unit 212 that includes one or more memories, and an input/output unit 214 that includes multiple terminals.

The input/output unit 214 is connected to the board transport/holding device 4, the component supplying device 6, and the head moving device 8 via the drive circuit 204. The input/output unit 214 is also connected to the solenoid valve device 80 of the holder moving device 40, the solenoid valve device 82 of the mover moving device 41, and the switching device 91 described below. The input/output unit 214 is also connected to the main body camera 20, the measuring unit 42, the display 216, the mover position sensor 218, the holder position sensor 220, the nozzle height sensor 222, and the head camera 19 described below. The controller 202 is configured to be able to control the drive circuits 204, the

solenoid valve devices

80, 82, and the switching device 91.

The electrical characteristics of component s are measured by executing an electrical characteristic measurement program represented by the flowchart in FIG. 7. The

solenoid valve devices

80, 82 are controlled by the controller 202 based on the output signals of the mover position sensor 218 and the holder position sensor 220. The measurement results can be displayed on the display 216. In a steady state, the measuring device 22 is in the initial state shown in FIG. 8A. The mover 36 is at the retracted end position, and the holder 32 is at the advanced end position, i.e., in a position where it abuts against the stopper 90.

In step 1 (hereafter abbreviated as S1, the same applies to the other steps), it is determined whether or not a command to measure the electrical characteristics of part s has been issued. For example, when a changeover is being performed, if a command to measure the electrical characteristics of part s has been issued, the determination is YES.

In S2, the mounting head 16 is moved and the component s is released, so that the component s is placed in the V-groove 44c. In S3, the movable element 36 is advanced by the control of the solenoid valve device 82, and the component s is clamped by the movable element 36 and the stator 34, as shown in FIG. 8B. In S4, the holding table 32 is retreated by the control of the solenoid valve device 80 until it abuts against the stopper 92, as shown in FIG. 8C. The holding table 32 reaches a position where it does not come into contact with the component s and the movable element 36.

In S5, it is determined whether or not a set discharge time has elapsed since the component s was released by the suction nozzle 18 and placed in the V-groove 44c. The discharge time is the time during which the static electricity charged to the component s is removed, and is determined in advance. When the elapsed time reaches the discharge time, the determination in S5 becomes YES, and the electrical characteristics of the component s are measured in S6. The measurement results are then displayed on the display 216.

Then, in S7, the mover 36 is retracted, and the component s that was held between the mover 36 and the stator 34 is released. As the mover 36 retracts, air is supplied from the opening 70a to the opposing surface 34f of the stator 34 from above at an angle. This encourages the component s to fall even if it is attached to the opposing surface 34f. The attachment response control described below is executed, for example, after S7 or S8.

In S8, as shown in FIG. 8D, the holder 32 is moved backward. The space between the mover 36 and the stator 34 is connected to the disposal passage 28. Therefore, the dropped component s is stored in the storage box 26 via the disposal passage 28. Then, after the holder 32 is moved backward until it abuts against the stopper 92, in S9, the holder 32 is moved forward and positioned between the pair of opposing

surfaces

34f, 36f. The space above the V-groove 44c is now empty, and the placement machine 1 is now in a state in which the component s can be placed in the V-groove 44c, and is returned to the initial state shown in FIG. 8A. In addition, as the holder 32 moves forward, air containing ions is supplied to the opposing surface 36f of the mover 36, so that the opposing surface 36f can be de-electrified.

(Adhesion control)
As shown in FIG. 9, the mounting head 16 is provided with a head-side camera (hereinafter, abbreviated as "camera") 19. The camera 19 is configured to be able to capture an image of the pair of opposing

surfaces

34f, 36f. The camera 19 is a device for capturing an image of the component s on the tape feeder 14 when the suction nozzle 18 picks up the component s from the tape feeder 14 and confirming the position of the component s to be picked up. The head moving device 8 moves the mounting head 16 to integrally move the camera 19 and the suction nozzle 18. When the mounting head 16 is positioned on the component placement section 44 (e.g., the V-groove 44c), the camera 19 captures an image of the pair of opposing

surfaces

34f, 36f. The imaging range of the camera 19 is set to a range in which the pair of opposing

surfaces

34f, 36f can be captured even when the pair of opposing

surfaces

34f, 36f are separated from each other to the maximum extent.

The suction nozzle 18 picks up the component s by creating negative pressure inside the nozzle, and releases its hold on the component s by either ejecting air from the nozzle due to positive pressure or releasing the negative pressure and creating atmospheric pressure inside the nozzle. For example, a positive pressure source 94 and a negative pressure source 93 are connected to the suction nozzle 18 via a switching device 91. The switching device 91 is, for example, an electromagnetic valve device, and is controlled by a controller 202. The controller 202 connects the suction nozzle 18 to the negative pressure source 93 to have the suction nozzle 18 pick up the component s, and connects the suction nozzle 18 to the positive pressure source 94 to eject air from the suction nozzle 18 to release the component s. For example, the switching device 91 can be closed or connected to the atmosphere to stop the flow of air into and out of the suction nozzle 18.

The controller 202 executes adhesion response control at a predetermined timing (e.g., after S7 or S8 in FIG. 7). The adhesion response control includes adhesion determination processing and part drop processing. In other words, the controller 202 has an adhesion determination unit 231 and a drop processing execution unit 232 as functions for executing the adhesion response control.

The adhesion determination unit 231 determines whether the part s is attached to either one of the pair of opposing

surfaces

34f, 36f based on the image capture result of the camera 19 in a state where one of the opposing

surfaces

34f, 36f is not gripping the part s due to separation (adhesion determination process). If the part s has fallen, the part s is stored in the storage box 26 via the disposal passage 28. If the part s is attached to the opposing surface 34f of the stator 34 or the opposing surface 36f of the mover 36 and has not fallen, the part s attached to either one of the pair of separated opposing

surfaces

34f, 36f is imaged by the camera 19. In this case, the controller 202 can detect (recognize) that the part s is attached to the opposing surface 34f or the opposing surface 36f based on the image capture result of the camera 19. In this way, the controller 202 executes the adhesion determination process in response to the separation operation of the pair of opposing

surfaces

34f, 36f (for example, after S7 or S8 in FIG. 7).

When the adhesion determination unit 231 determines that the part s is attached to one of the pair of opposing

surfaces

34f, 36f, the drop process execution unit 232 executes a preset part drop process for dropping the part s using vibration or air blowing. Specific examples of part drop processes include a mover movement process as an opposing surface movement process in which the part s is dropped by vibration when the opposing surface moves, and an air blow process in which the part s is dropped by ejecting air onto the part s.

The mover movement process is a process in which the controller 202 controls the mover moving device 41 to move the mover 36 and drop the component s attached to the facing surface 36f of the mover 36 using the vibrations that occur when the mover 36 moves. The controller 202 (drop process execution unit 232) controls the mover moving device 41 to move the mover 36 in the mover movement process, which is one type of component drop process. If the component s is attached to the facing surface 36f of the mover 36, the vibrations that occur when the mover 36 moves encourage the component s to drop from the facing surface 36f.

One example of an air blow process is a process in which the mover 36 or the holder 32 is moved and air is ejected from the opening 70a of the air passage 70 toward the stator 34 (hereinafter referred to as the "first air blow process"). In the first air blow process, which is one of the component dropping processes, the controller 202 controls the mover moving device 41 or the holder moving device 40 to move the mover 36 or the holder 32. If a component s is attached to the facing surface 34f of the stator 34, the air from the first air blow process hits the component s, encouraging the component s to drop from the facing surface 34f.

If the air passages 70 and openings 70a are arranged so that air is ejected toward the opposing surface 36f (for example, if they are provided on the stator 34), the first air blow process encourages the component s to fall from the opposing surface 36f. Also, if the air passages 70 and openings 70a are provided on both the stator 34 side and the mover 36 side, the first air blow process encourages the component s to fall from the opposing

surfaces

34f, 36f.

Another example of the air blow process is a process in which the suction nozzle 18 is moved above the opposing surface 34f or the opposing surface 36f and air is ejected downward from the suction nozzle 18 (hereinafter referred to as the "second air blow process"). In the second air blow process, which is one of the component drop processes, the controller 202 controls the head moving device 8 to move the mounting head 16 above the opposing surface 34f or the opposing surface 36f, and controls the switching device 91 to connect the suction nozzle 18 to the positive pressure source 94. For example, the suction nozzle 18 ejects air on the opposing surface 34f and ejects air on the opposing surface 36f according to a predetermined order. This encourages the component s to drop from the opposing

surfaces

34f, 36f.

As shown in FIG. 10, the controller 202 starts adhesion response control after S7 or S8 in FIG. 7, and determines whether or not the component s is attached to the pair of opposing

surfaces

34f, 36f (S901). If the controller 202 determines that the component s is attached (S901: Yes), it executes a predetermined component drop process (S902). As the component drop process, the controller 202 executes one or more processes set among the mover movement process, the first air blow process, and the second air blow process. In this example, the controller 202 executes the mover movement process (S902). On the other hand, if the controller 202 determines that the component s is not attached (S901: No), it ends the adhesion response control.

After the mover movement process, the controller 202 checks again whether or not the component s is attached (S903). The mounting head 16 and the camera 19 are stopped at a position where the pair of opposing

surfaces

34f, 36f can be imaged. If the mounting head 16 has moved to another position, the mounting head 16 is moved to a position where the camera 19 can image the pair of opposing

surfaces

34f, 36f.

If the controller 202 determines that part s is attached (S903: Yes), it executes a predetermined part drop process, which in this example is a part drop process different from the previous part drop process (S904). In this example, the controller 202 executes a first air blow process as a part drop process different from the previous one (S904). On the other hand, if the controller 202 determines that part s is not attached (S903: No), it ends the attachment response control.

After the first air blow process, the controller 202 checks again whether or not the component s is attached (S905). If the controller 202 determines that the component s is attached (S905: Yes), it executes a predetermined component drop process, for example, a component drop process different from the previous and previous processes in this example (S906). In S906, the controller 202 executes, for example, a second air blow process as the component drop process. If the controller 202 determines that the component s is not attached (S905: No), it ends the attachment response control. Note that the controller 202 may execute the same component drop process in S902, S904, and S906. Furthermore, the order of execution of the mover movement process, the first air blow process, and the second air blow process is not limited to the above and can be set arbitrarily.

In this way, the mounting machine 1 of this embodiment is equipped with a suction nozzle (corresponding to a "component holder") 18 that holds the component s, a head moving device 8 (corresponding to a "holder moving device") that moves the suction nozzle 18, a measuring device 22 that measures the electrical characteristics of the component s placed on the component placement section 44 while it is held by the pair of opposing

surfaces

34f, 36f, a mover moving device 41 (corresponding to an "opposing surface moving device") that brings the pair of opposing

surfaces

34f, 36f closer together to hold the component s on the pair of opposing

surfaces

34f, 36f and releases the component s from the pair of opposing

surfaces

34f, 36f by separating the pair of opposing

surfaces

34f, 36f, and a camera 19 that captures an image of the pair of opposing

surfaces

34f, 36f.

Furthermore, the mounting machine 1 of this embodiment is equipped with an attachment determination unit 231 that determines whether or not the component s is attached to either one of the pair of opposing

surfaces

34f, 36f based on the image capture result of the camera 19 when the component s is not being held by either one of the pair of opposing

surfaces

34f, 36f, and a drop process execution unit 232 that executes a predetermined component drop process that applies vibration or air to one of the pair of opposing

surfaces

34f, 36f when the attachment determination unit 231 determines that the component s is attached to either one of the pair of opposing

surfaces

34f, 36f. In other words, the controller 202 of the placement machine 1 of this embodiment is configured to execute an adhesion determination process that determines whether or not the component s is attached to one of the pair of opposing

surfaces

34f, 36f based on the image capture result of the camera 19 when the component s is not being held by the pair of opposing

surfaces

34f, 36f, and a predetermined component drop process that applies vibration or air to one of the pair of opposing

surfaces

34f, 36f when the adhesion determination process determines that the component s is attached to one of the pair of opposing

surfaces

34f, 36f.

With this configuration, if the part s is attached to one of the pair of opposing

surfaces

34f, 36f after the grip of the part s is released, the camera 19 detects the attachment and executes a part drop process. This promotes the drop of the part s attached to the opposing

surfaces

34f, 36f, and prevents the part s from continuing to be attached.

The mounting machine 1 of the present disclosure also includes

air cylinders

72, 74 that supply air to the air passage 70 when operated, and an opening 70a provided at the end of the air passage 70 so as to face one of the pair of opposing

surfaces

34f, 36f. The opening 70a is configured to discharge the air supplied from the

air cylinders

72, 74 toward one of the pair of opposing

surfaces

34f, 36f. The suction nozzle 18 is configured to suck the component s by connecting to the negative pressure source 93, and to discharge air by connecting to the positive pressure source 94. The controller 202 (drop process execution unit 232) is configured to execute one or more pre-set processes among the movable piece moving process, the first air blow process, and the second air blow process as the component drop process. The movable piece moving process is a process in which the movable piece moving device 41 moves the pair of opposing

surfaces

34f, 36f away from or toward each other. The first air blow process is a process in which the

air cylinders

72, 74 are operated to discharge air from the opening 70a. The second air blow process is a process in which the suction nozzle 18 is moved to a position facing one of the pair of opposing

surfaces

34f, 36f, and air is ejected from the suction nozzle 18 by connecting the suction nozzle 18 to the positive pressure source 94.

The mover movement process causes the opposing surface 36f to vibrate as the mover 36 moves, encouraging the component s attached to the opposing surface 36f to fall. The first air blow process encourages the component s to fall by air expelled from the opening 70a of the air passage 70. The second air blow process allows the suction nozzle 18 to move, so the target of the air blow can be selected, and the component fall promotion effect can be achieved for either of the pair of opposing

surfaces

34f, 36f.

In addition, in this embodiment, after the part drop process is executed by the drop process execution unit 232, the adhesion determination unit 231 determines whether or not the part s is attached to either one of the pair of opposing

surfaces

34f, 36f based on the image capture result of the camera 19. When the adhesion determination unit 231 determines that the part s is attached to either one of the pair of opposing

surfaces

34f, 36f, the drop process execution unit 232 executes a part drop process different from the previous one. With this configuration, the drop of the part s is encouraged by multiple types of part drop processes, and there is a high possibility that a more effective part drop process will be executed for the opposing

surfaces

34f, 36f.

In addition, in this embodiment, the holder moving device is the mounting head 16 on which the component holder is installed, and the camera 19 is provided on the mounting head 16. This allows the existing camera to be used for the adhesion determination process, and prevents cost increases due to the addition of new components. Furthermore, the

air cylinders

72, 74 are at least one of a drive source for changing the separation distance between the pair of opposing

surfaces

34f, 36f, and a drive source for moving the component placement section 44. This also allows the existing air blow mechanism to be used for the component dropping process, and prevents cost increases due to the addition of new components.

(others)
The camera 19 may be installed on a location other than the mounting head 16, for example, on a fixed member. The pair of opposing

surfaces

34f, 36f may both be configured to move. The pair of opposing

surfaces

34f, 36f may be provided on a device other than the measuring device 22. The component holder is not limited to the suction nozzle 18. The groove shape of the component placement portion 44 is not limited to a V-shape.

In addition, the controller 202 (adhesion determination unit 231) may determine to which of the pair of opposing

surfaces

34f, 36f the part s is attached in the adhesion determination process. In other words, the controller 202 may be configured to identify the opposing

surfaces

34f, 36f to which the part s is attached based on the image capture results of the camera 19. The controller 202 can, for example, analyze the image capture results of the camera 19 and identify the opposing

surfaces

34f, 36f to which the part s is attached from the position of the part s and the positions of the opposing

surfaces

34f, 36f in the image data.

In this case, the controller 202 (drop process execution unit 232) executes a part drop process that is effective for the opposing

surfaces

34f, 36f that have been identified as having part s attached. For example, if it is determined that part s is attached to opposing surface 34f, the first air blow process described above or the second air blow process on opposing surface 34f is executed as the part drop process. Also, for example, if it is determined that part s is attached to opposing surface 36f, the mover movement process described above or the second air blow process on opposing surface 36f is executed as the part drop process.

In addition to the aspects described in the above embodiments, the present disclosure can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art.

1...Placement machine, 16...Placement head (component holder moving device), 18...Suction nozzle (component holder), 19...Head side camera (camera), 22...Measuring device, 231...Adhesion determination unit, 232...Drop processing execution unit, 34f, 36f...Facing surface, 41...Mover moving device (facing surface moving device), 70...Air passage, 70a...Opening, 72, 74...Air cylinder, 94...Positive pressure source, 93...Negative pressure source.

Claims

A mounting machine for mounting components on a circuit board, comprising:
A component holder for holding the component;
a holder moving device for moving the component holder;
a measuring device for measuring electrical characteristics of the component placed on the component placement unit while the component is held by a pair of opposing surfaces;
an opposing surface moving device that causes the pair of opposing surfaces to approach each other to grip the part and that causes the pair of opposing surfaces to move away from each other to release the part;
A camera for capturing images of the pair of opposing surfaces;
an adhesion determination unit that determines whether the component is attached to one of the pair of opposing surfaces based on an image capturing result of the camera in a state in which the pair of opposing surfaces is not gripping the component;
a drop process execution unit that executes a predetermined part drop process that applies vibration or air to one of the pair of opposing surfaces when the adhesion determination unit determines that the part is attached to one of the pair of opposing surfaces;
An installation machine comprising:
The drop process execution unit causes the pair of opposing surfaces to move apart or approach each other by the opposing surface moving device as the part drop process.
The placement machine according to claim 1 .
an air cylinder that supplies air to an air passage when actuated;
an opening provided at an end of the air passage so as to face one of the pair of opposing surfaces, the opening discharging air supplied from the air cylinder toward one of the pair of opposing surfaces;
Further equipped with
the drop process execution unit, as the part drop process, operates the air cylinder to eject air from the opening;
The placement machine according to claim 1 .
the component holder is a suction nozzle that sucks the component when connected to a negative pressure source and ejects air when connected to a positive pressure source;
the drop process execution unit, as the component drop process, moves the suction nozzle to a position facing one of the pair of facing surfaces, connects the suction nozzle to the positive pressure source, and causes air to be discharged from the suction nozzle;
The placement machine according to claim 1 .
an air cylinder that supplies air to an air passage when actuated;
an opening provided at an end of the air passage so as to face one of the pair of opposing surfaces, the opening discharging air supplied from the air cylinder toward one of the pair of opposing surfaces;
Further equipped with
the component holder is a suction nozzle that sucks the component when connected to a negative pressure source and ejects air when connected to a positive pressure source;
The drop processing execution unit performs the part drop processing as follows:
an opposing surface moving process in which the pair of opposing surfaces is moved away from or toward each other by the opposing surface moving device;
a first air blowing process for blowing air from the opening by operating the air cylinder;
and performing one or more preset processes among a second air blow process in which the suction nozzle is moved to a position facing one of the pair of opposing surfaces, the suction nozzle is connected to the positive pressure source, and air is discharged from the suction nozzle.
The placement machine according to claim 1 .
the adhesion determination unit determines whether or not the component is attached to one of the pair of opposing surfaces based on an image capturing result of the camera after the component drop process is executed by the drop process execution unit;
the drop process execution unit executes the component drop process different from the previous process when the adhesion determination unit determines that the component is attached to one of the pair of opposing surfaces.
The placement machine according to claim 5.
the holder moving device is a mounting head on which the component holder is installed,
The camera is provided on the mounting head.
The placement machine according to any one of claims 1 to 6.
The air cylinder is at least one of a drive source for changing the distance between the pair of opposing surfaces and a drive source for moving the component placement unit.
The placement machine according to claim 3 or 5.