WO2004047512A1 - 対基板作業機、対基板作業機用作業ヘッド、対基板作業システムおよび対基板作業機用作業ヘッド使用準備処理プログラム - Google Patents
対基板作業機、対基板作業機用作業ヘッド、対基板作業システムおよび対基板作業機用作業ヘッド使用準備処理プログラム Download PDFInfo
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- WO2004047512A1 WO2004047512A1 PCT/JP2003/014757 JP0314757W WO2004047512A1 WO 2004047512 A1 WO2004047512 A1 WO 2004047512A1 JP 0314757 W JP0314757 W JP 0314757W WO 2004047512 A1 WO2004047512 A1 WO 2004047512A1
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- Prior art keywords
- head
- work
- board
- information
- mounting
- Prior art date
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Classifications
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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
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/30—Assembling printed circuits with electric components, e.g. with resistor
- H05K3/303—Surface mounted components, e.g. affixing before soldering, aligning means, spacing means
- H05K3/305—Affixing by adhesive
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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
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
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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
- H05K13/087—Equipment tracking or labelling, e.g. tracking of nozzles, feeders or mounting heads
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49002—Electrical device making
- Y10T29/49117—Conductor or circuit manufacturing
- Y10T29/49124—On flat or curved insulated base, e.g., printed circuit, etc.
- Y10T29/4913—Assembling to base an electrical component, e.g., capacitor, etc.
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5136—Separate tool stations for selective or successive operation on work
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/5313—Means to assemble electrical device
- Y10T29/53174—Means to fasten electrical component to wiring board, base, or substrate
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/5313—Means to assemble electrical device
- Y10T29/53174—Means to fasten electrical component to wiring board, base, or substrate
- Y10T29/53178—Chip component
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/5313—Means to assemble electrical device
- Y10T29/53174—Means to fasten electrical component to wiring board, base, or substrate
- Y10T29/53183—Multilead component
Definitions
- Board-to-board work machine work head for board-to-board work machine, work-to-board work system and work-to-board work machine work preparation program
- the present invention relates to a board working machine that performs work on a circuit board on which circuit components are mounted and forms an electronic circuit, and more particularly to a board working machine that includes a work head that performs work.
- the board-to-board working machine is a working machine that performs work on circuit boards that make up electronic circuits.
- a solder printing machine an adhesive applicator, a component mounting machine, and an inspection work that inspects the results of these work
- As a type of board working machine there is a type that has a working head as a working body and performs a work by relatively moving a circuit board and the head, and an adhesive applying machine, a component mounting machine, and an inspection work. Many machines and the like are considered to have such an aspect.
- a component mounting machine employs a mounting head as a work head.
- the mounting head has a suction nozzle as a component holding device, and the component is taken out of the component supply device by the suction nozzle, and a circuit board is mounted. It is designed to be mounted on the surface of.
- Japanese Patent Application Laid-Open No. Hei 6-104596 discloses a technique for judging whether or not the attached nozzle is appropriate with respect to the attachment of a replaceable suction nozzle. Disclosure of the invention
- a component constituting a working head such as a suction nozzle, detachable or replaceable.
- a suction nozzle For example, regarding the replacement of the suction nozzle, if it is possible to remove it in accordance with the type of circuit board to be worked and the circuit components to be mounted, it will be useful for maintenance of the suction nozzle, etc. If possible, versatility of board-to-board working machine Will increase. However, no technology has been disclosed so far that makes the working head itself detachable or replaceable.
- the present invention has been made to improve at least one of the characteristics, such as convenience and versatility, required for a board working machine, and the present invention has the following aspects.
- a work preparation program for board-to-board working machine, work head for board-to-board working machine, board-to-board working system, and work-to-board working machine for board-to-board working machine is obtained.
- each aspect is divided into sections, each section is numbered, and if necessary, the other section numbers are cited. This is for the purpose of facilitating the understanding of the present invention, and it is to be understood that the technical features described in this specification and combinations thereof are limited to those described in the following sections. Should not be.
- two or more items are described in one section, it is not always necessary to adopt the items together. It is also possible to select and adopt only some items.
- a work for a board including a detachable work head, wherein a work set in advance on a circuit board is performed by operating the work head while the work head is mounted. Machine.
- the board working machine of the present invention is a board working machine having a work head, wherein the work head is configured to be detachable.
- the type of the board working machine is not particularly limited, and may be any board working having a work head.
- the present invention is applicable to various board working machines, such as a component mounting machine having a mounting head, an adhesive applicator having a coating head, and an inspection working machine having an inspection head.
- the “work head” is a component that performs a main work in the board working machine, and means, for example, one that is relatively moved between a circuit board and the board.
- the work head in the present invention is detachably mounted from the relative moving device.
- the working head itself is detachable, which is distinguished from the fact that the components constituting the working head are detachable.
- "Removable” means that it can be easily attached and detached, for example, it can be attached and detached without using tools. Put simply, it means that it can be attached and detached with one touch. Maintenance is easy if the work head is removable For example, the convenience of the work machine for substrates can be improved.
- the working machine for a substrate includes a board holding device for fixing and holding a circuit board, and a component supply device for supplying a circuit component, wherein the work head is configured to supply a circuit component supplied from the component supply device.
- a mounting head that holds and takes out and mounts the held circuit components on the surface of the circuit board fixed and held by the board holding device serves as a component mounting machine.
- the mode described in this section is a mode as a component mounter.
- the component mounter generally includes a component holding device such as a suction nozzle, and includes, for example, a mechanism for moving the device up and down, a mechanism for rotating the device, and the like.
- the board working machine of the present invention is particularly effective for a mounting head having such a lifting mechanism, a rotation mechanism, and the like, which can be attached and detached. This is because mounting heads with a powerful mechanism are precise and have a great advantage in the case where they can be separated, for example, they often perform maintenance.
- Component mounters often have an XY robot type head moving device that moves the work head along one plane, and when applying the present invention to a powerful component mounter, the work head is The head can be detached from the head moving device.
- Embodiments that can be exchanged for another work head are included in the embodiments described in this section.
- another work head can be attached and work can be performed, not only in terms of convenience but also work efficiency. But it is advantageous.
- This aspect includes a case where the work head can be replaced with a work head having the same configuration, and a case where the work head can be replaced with a work head having a different configuration.
- the plurality of working heads include ones having different configurations from each other, and one of the working heads having different configurations can be arbitrarily selected as the working head. Item).
- the mode described in this section is a mode that can be replaced with a working head having a different configuration.
- work heads with different types of work, such as a mounting head for performing component mounting work, a coating head for performing adhesive application work, and an inspection work.
- Work heads such as inspection heads to be performed can be exchangeable with each other. In this way, if the work heads can be exchanged for work heads having different configurations to the extent that the types of work to be performed are different, the work-to-substrate work machine can be given diversity in the target work.
- the versatility of is greatly improved.
- the mode described in this section is a work head that performs the same type of work, and includes a mode that can be replaced with a work head having a different configuration.
- the mounting head is the number of component holding devices such as suction nozzles, the mechanism for raising and lowering the component holding device, the difference in the shape and size of the target circuit components, the mounting speed
- component holding devices such as suction nozzles
- the mechanism for raising and lowering the component holding device the difference in the shape and size of the target circuit components
- the mounting speed There are different configurations depending on the purpose, such as differences.
- the aspect described in this section can be exchanged between work heads of the same type of work having such a different configuration, and even in the same type of work, the work mode can be variously changed. In this case, the versatility of the board working machine is improved.
- the work head includes a unique information recording medium on which unique information relating to the work head is recorded, and the work machine for a substrate is associated with the attached work head based on the unique information.
- the work machine for substrates according to any one of (1) to (4), including a head-related information recognition unit that recognizes head-related information that is information.
- head use preparation processing includes, for example, a change in software for driving the head, a calibration, and the like, and a determination as to whether or not the work head is suitable for use.
- the mode described in this section is a mode suitable for automatically performing such a head use preparation process.
- the head-related information in the mode of this section includes head configuration information, head status information, and the like, which will be described later.
- the work head itself has its own unique information. That is, the unique information referred to in this section is This is recorded information and can be called head storage information.
- This unique information includes information for obtaining head related information.
- information such as work head ID information indicating a work head ID and head format information indicating a work head format are applicable.
- the type of the specific information recording medium on which the specific information is recorded is not limited.For example, information that is electrically connected and recorded by, for example, a memory element such as a ROM or RAM or a dip switch. May be acquired.
- the information may be obtained by recognizing information by visual or optical means such as a bar code or a 2D code (also called a QR code), and may be a wireless communication function such as a tag chip.
- Various types of recording media such as a recording medium equipped with a magnetic recording medium and a recording medium utilizing magnetism, can be adopted.
- means capable of acquiring or recognizing information from the recording medium may be provided on the working machine body side.
- the head related information recognition unit recognizes the head related information based on the unique information.
- the head-related information may be recognized by creating the data by performing processing such as arithmetic operation on the basis of the unique information.
- some information may be acquired from the server and the information may be recognized as head-related information.
- the head-related information is included in the unique information as it is, and a mode that is recognized only by acquiring the information and being recognized is also included. In this case, the working head has the head-related information itself.
- the head-related information recognizing unit recognizes the head-related information as the head-related information on the configuration of the mounted work head.
- the mode described in this section is a mode of recognizing the head configuration data as the head-related information information.
- the head configuration parameters are various factors related to the configuration of the work head, and include, for example, information on the type of the work head, information on the deployed positions of various components of the work head, and the like.
- the type information of the working head includes, for example, the name indicating the type, the number of suction nozzles that can be mounted, the shape and type of suction nozzle that can be mounted, and the mounting speed. This is information that can specify the type of head.
- information on component deployment locations includes: For example, the position of the member holding the suction nozzle in the height direction in the mounting head, the arrangement position in the horizontal plane, and the like. This information is used to select the driver to operate the mounted work head and to determine whether the mounted head is suitable for use, as described later. Information, and information for determining a reference position for operating the mounting head.
- a driver storage unit that stores a work head driver that is software for enabling the mounted work head to operate
- a head storing a work head driver corresponding to the mounted work head based on the head configuration specification information recognized by the configuration specification information recognition unit in the driver storage unit.
- the operation of the board working machine is controlled by a control device mainly composed of a computer.
- Devices and devices such as work heads and feeders, require special software called drivers in order to be driven.
- the driver that activates the work head can be called a work head driver.
- a work head driver For each type of work head, there is a driver suitable for that work head. This is not a problem when the work head is not replaced, that is, when the conventional work machine is fixed and installed, but when the work head is replaceable, the work head depends on the installed work head. Further, in detail, it is necessary to select a driver according to the configuration of the working head.
- the mode described in this section is a mode in which the driver can be automatically selected according to the work head in such a case, and the work head can be easily replaced.
- the mode described in this section is one mode in which the head use preparation process can be automated in a substrate working machine in which the working head is replaceable.
- the component-specific information recognizing unit recognizes component element position information, which is position information relating to the operation of the component of the mounted work head, by the component-based work machine.
- the work head is a precision device, but may include manufacturing errors.
- the work head and its components are adjusted after the work head is assembled so that the above-mentioned errors do not affect the work accuracy. Is done.
- the work head itself is manufactured. The displacement of the mounting position affects the work accuracy.
- the mode described in this section is a mode that enables position adjustment of a work head performed to eliminate the influence of such errors and the like, that is, automation of a so-called calibration process.
- the suction nozzle is determined based on information such as the height direction of the member holding the suction nozzle, which is a component of the mounting head, in the mounting head, and the arrangement position in a horizontal plane. It is possible to adjust the relative movement command position of the mounting head and the relative movement command position of the mounting head.
- the head-related information recognizing unit includes a status information recognizing unit that recognizes, as the head-related information, head status information that is information on a status of the mounted work head (5).
- Item 14 The substrate working machine according to any one of items 8 to 8.
- the mode described in this section is a mode in which information on the state of the mounted work head is recognized based on the unique information of the work head.
- the status information includes, for example, a use state of the work head, a state related to work accuracy, and the like. This includes not only the state of the work head itself, but also the state in relation to the mounted board working machine, for example, compatibility.
- the status information can be used for the determination of suitability for use, which will be described later.
- the status information can be recognized by accessing and acquiring a database such as a production history and a maintenance history of the work head based on the unique information of the work head.
- the board working machine includes a head suitability determining unit that determines suitability of the mounted work head based on the head status information recognized by the status information recognition unit. Item).
- the mode described in this section is a mode in which the suitability of the working head is determined according to the state of the working head.
- the suitability of the work head means whether or not it is appropriate to perform the work using the attached work head.
- the mode described in this section includes, for example, the state of the work head itself. This includes cases where the work head cannot be used because it is bad, and the compatibility between the work head and the mounted work machine is poor and it is inappropriate to use the work machine.
- the determination as to whether or not the attached work head can be used is also included in the head use preparation process, and the mode described in this section is one mode in which the head use preparation process can be automated.
- the board working machine of the present invention may be implemented in a mode in which determination is made based on the head configuration data instead of based on head status information.
- the present invention can be implemented in a mode that is determined based on both the head status information and the head configuration specification information.
- An X-direction moving device that includes a work head mounted member to which the work head is mounted and moves the work head mounted member in the X direction that is a direction along a straight line; and the X direction.
- the length in the X direction of the work head and the work head mounted member is set to 60 mm or less.
- (13) The work machine for a substrate according to the above mode (11) or (12), wherein a total weight of the work head and the work head mounting member is 5 kg or less.
- a board image pickup device capable of picking up a reference mark attached to the surface of a circuit board is provided on the work head mounting member at a position in line with the mounted work head in the Y direction.
- a compact work machine for substrate and a work machine for substrate with a small load on the work head moving device are realized.
- the modes described in the above four sections can also be applied to a board working machine in which a work head is not provided detachably, that is, a work head is fixedly provided.
- the board working machine includes a board holding device for fixedly holding a circuit board, and a component supply device for supplying a circuit component, and the work head is supplied from the component supply device.
- the mounting head is used to hold and take out the circuit components to be mounted, and to make a force, and to mount the held circuit components on the surface of the circuit board fixed and held by the board holding device.
- Work head for board work machine is used to hold and take out the circuit components to be mounted, and to make a force, and to mount the held circuit components on the surface of the circuit board fixed and held by the board holding device.
- the work head for a board-to-board working machine according to the mode (21) or (22), wherein the work head includes a unique information recording medium on which unique information relating to the work head is recorded.
- the above various aspects related to the working head for a substrate working machine of the present invention are working heads suitable for the substrate working machine of the various aspects of the present invention. Since the description is the same as the above description, the description is omitted here.
- a work set in advance on the circuit board is performed by providing a detachable work head and operating the work head with the work head mounted.
- a board working system including a board working machine,
- the attached work head includes a unique information recording medium on which unique information relating to the work head is recorded, and the system associates the head related information, which is information related to the work head for each work head, with the pair.
- a head-related information external storage unit to be stored outside the board working machine; and the head-related information external storage unit based on the unique information.
- a head-to-board work system comprising: a head-related information recognizing unit that acquires and recognizes head-related information about a mounted work head.
- the board-to-board working system of the present invention is a system including a board-to-board working machine in which a work head is detachably provided, wherein the head-related information described above is obtained from a device external to the board-to-board working machine. .
- the description of the system described in this section will be omitted for parts that overlap with the above description.
- the head-related information external storage unit corresponds to, for example, a device mainly composed of a computer that performs a database function.
- the head-related information includes head configuration information, head status information, and the like, and the database can be properly used according to the type of the information.
- a database for storing the production history of the board working machine and the work head an apparatus device database for storing various kinds of information on the devices and devices constituting the board working machine, and the like are selectively used. Therefore, the number of the head related information external storage unit is not limited to one, but may be plural. Further, the head-related information recognition unit may be provided in the work machine for board, or may be provided in a device separate from the work machine for board. If the system is provided as a separate device, for example, if a management device mainly composed of a computer that plays the role of a host that manages and manages a plurality of board working machines is installed in the system, The management device may function as the separate device, and the device that performs the database function may function as the separate device.
- the work-to-board operation system of the present invention can be implemented in a mode in which the head-related information recognition unit includes at least one of the configuration item information recognition unit and the status information unit described above. Also, the present invention can be implemented in a mode including at least one of the above-described head suitability determination unit, head response unit, and position information acquisition unit. In such a case, those parts may be provided on the board working machine, or may be provided on the separate apparatus. Note that the system described in this section can be replaced with the work head described above, can be replaced between work heads of different configurations, and can be limited to a component mounting machine. Can also be implemented.
- the board work machine is detachably attached to the board work machine and the board work machine is attached to the circuit board.
- a program for preparing to use a work for a board-to-board working machine comprising: (42)
- the head-related information recognizing step is a step of recognizing, as the head-related information, head configuration specification information that is a specification relating to a configuration of the mounted work head.
- the head use preparation processing program stores the recognized head configuration information in a driver storage section in which a work head driver, which is software for enabling the mounted work head to operate, is stored.
- the head use preparation program according to claim 42 further comprising a head handling step of storing a work head driver corresponding to the attached work head based on the original information. .
- the head use preparation processing program converts the component element position information, which is the position information related to the work operation of the component of the mounted work head, based on the recognized head configuration specification information.
- the head related information recognizing step includes a status information recognition step of recognizing head status information which is information relating to a status of the mounted work head as the head related information.
- the head use preparation processing program includes a head suitability determination step for determining suitability of the mounted work head based on the recognized head status information.
- Various aspects of the work head use preparation processing program for a board working machine according to the present invention perform work using the mounted work head in a board working machine to which a work head is detachable. This is an aspect related to a program for automating the preparation process in the first step. Since the description overlaps with the above description, the description is omitted here.
- FIG. 1 is a perspective view showing the overall configuration of a board working machine according to an embodiment of the present invention.
- FIG. 2 is a perspective view showing a configuration of a work module constituting the board working machine.
- FIG. 3 is a perspective view showing the conveyor unit arranged in the work module.
- FIG. 4 is a perspective view showing the board working apparatus provided in the working module.
- FIG. 5 is a perspective view showing some of the mounting heads that can be mounted on the board working apparatus.
- FIG. 6 is a perspective view showing one of the mountable mounting heads.
- FIG. 7 is a perspective view for explaining a mechanism for mounting the mounting head to the head moving device.
- FIG. 8 is a sectional view showing a head fixing device for fixing a mounting head.
- Fig. 9 shows a block diagram related to the control of the module control device deployed in each work module.
- FIG. 10 is a schematic diagram showing a state in which the substrate working machine is arranged in a factory.
- FIG. 11 is a flowchart showing a head use preparation processing program executed when the work head is mounted.
- FIG. 12 is a flowchart showing a head-related information recognition processing routine in the head use preparation processing program.
- FIG. 13 is a flow chart showing a head appropriateness determination processing routine in the head use preparation processing program.
- Figure 14 shows the calibration processing routine in the head use preparation processing program. It is a flow chart showing a chin.
- FIG. 15 is a conceptual diagram for explaining a method of calculating the height position of the mounted mounting head.
- FIG. 16 is a conceptual diagram for explaining a method of measuring the rotation center of the mounting unit.
- FIG. 17 is a conceptual diagram for explaining a method of calculating the index rotation center of the mounting unit.
- FIG. 18 is a function block diagram for explaining functions of the module control device with respect to the head use preparation processing.
- FIG. 1 shows an overall perspective view of a board working machine according to an embodiment of the present invention.
- the board-to-board working machine 1 includes a base module 10, a plurality (eight) of working modules 12 arranged adjacent to each other and aligned on the base module 10, a base module 10 and a working module.
- the control module 13 includes a control module 13 as a work implement control device that is separate from the control module 13.
- the work modules 12 have substantially the same configuration in terms of hardware except for a work head described later, and the direction in which they are arranged is the direction in which the circuit board is transported.
- a direction in which the work modules 12 are arranged is referred to as a left-right direction, and a direction orthogonal thereto is referred to as a front-back direction. That is, the left front in the figure is the front, that is, the front side of the board working machine 1, and the right rear is the rear, that is, the back side.
- the left side of the board working machine 1 is the upstream side and the right side is the downstream side, and the circuit board is moved from the working module 12 located on the left to the working module 12 located on the right.
- the work modules 12 are sequentially transported toward each other, and the work for the board in each work module 12 is sequentially performed.
- Each work module 12 arranged on the board working machine 1 is assumed to have a function as a board working machine, and in the context of the present invention, the work module 12 Each of these can be thought of as a board working machine, but in the present embodiment, the board working machine is treated as an aggregate of the work modules 12.
- Each work module 12 is also capable of mounting work heads such as an adhesive application head and an inspection head. However, for simplicity of explanation, in this embodiment, work heads are used. It is assumed that only mounting heads for mounting circuit components such as electronic components are mounted as heads. Therefore, the working module 12 is a mounting module, and the board working machine 1 is a component mounting machine. In the following description, when emphasis is placed on component mounting, the board working machine 1 will be referred to as the component mounting machine 1 and the work module 12 will be referred to as the mounting module 12, and the names may be used properly.
- FIG. 2 is an enlarged view of a portion where the two mounting modules 12 are arranged, and the mounting module 12 on the right side is shown without an outer plate.
- each mounting module 12 is configured to include a frame 14 functioning as a module frame, and various devices disposed on the frame 14.
- a plurality of tape feeders each arranged side by side as a component supply device and each supplying a circuit component one by one at a predetermined component supply position (hereinafter, may be abbreviated as “feeder”). It has a conveyor unit 20 and a work head 21 as a board holding device that has the function of transporting the circuit board and holds and holds the circuit board in a predetermined work position.
- the work head 21 holds and takes out the circuit components supplied from the feeder 16 and mounts the circuit components on the circuit board fixed to the conveyor 20. It is a mounting head, and the work apparatus for substrate 22 functions as a mounting apparatus.
- the work head 21 is referred to as a mounting head 21 and the board working device 22 is referred to as a mounting device 22, and the names may be properly used.
- the mounting module 12 mainly includes a component imaging device between the group of a plurality of feeders 16 (hereinafter sometimes referred to as “feeder group”) 18 and the conveyor unit 20.
- Camera 24 (which is a CCD camera) functioning as a nozzle, a nozzle stocker 25 as a component holding device that stores a suction nozzle, which is a component holding device described later, and a nozzle tip height detector described later 27 are deployed.
- each mounting module 12 has a module control device 26 (see FIG. 9) for controlling itself, and the above devices and the like operate while being controlled by the module control device 26.
- each of the mounting modules 12 has an operation / display panel 28 as an input / output device at an upper portion, and this operation 'display panel 28 is connected to a module control device 26, and various commands and information are provided. It accepts operator input for information such as the status of the mounted module 12 and its components.
- Each of the plurality of feeders 16 is roughly divided into a feed mechanism section 40 and a reel holding section 42.
- the reel holding portion 42 holds a reel 46 on which a taped circuit component tape (which may be called electronic component taping in the case of an electronic component) is wound.
- the feed mechanism 40 has a drive source inside, and taping extending from the reel 46 is fed by the feed mechanism 40 by the component holding pitch in accordance with the operation of the mounting device 22, and The cover tape is peeled off, and the circuit components are supplied one by one at the component supply position. Since the feeder 16 and taping have a well-known mechanism and configuration, the description here is only to this extent.
- the conveyor unit 20 is mainly composed of a conveyor device, and includes two conveyor devices, a front conveyor 72 and a rear conveyor 74.
- the front conveyor 72 and the rear conveyor 74 each have two opposing conveyor rails 76, 78, 80, 82, each of which has a conveyor rail 76, 78, 80, 82.
- the conveyor unit 20 is provided in each of the plurality of mounting modules 12, and each of the conveyor units 20 is arranged on a straight line in the component mounting machine 1.
- the conveyor 20 of each mounting module 12 is capable of carrying a circuit board in cooperation with each other. You.
- these conveyor units 20 constitute a board transport device in the component mounter 1.
- the conveyor rails 78, 80, 82 other than the conveyor rail 76 can be moved in the front-rear direction by a conveyor width adjusting motor 88, so that the conveyor width can be adjusted freely and the front conveyor can be adjusted.
- the use of only one of the rear-side conveyor 74 and the rear-side conveyor 74 enables the transfer of a circuit board having a large width.
- the circuit board 86 transferred into the work area by controlling and driving the conveyor motor 84 is stopped at the work position which is the set stop position.
- the conveyor unit 20 has a circuit board support plate 90 (hereinafter sometimes abbreviated as “support plate”) 90 that can be moved up and down by a lifting device (not shown) at the lower part. Is provided with a support pin (not shown) that can be changed to an arbitrary position.When the support plate 90 is raised, the circuit board 86 is supported by the support pin and rises.
- the circuit board 86 is fixed in the above-mentioned working position by being disengaged from the conveyor belt and being sandwiched between a part of the conveyor rails 76, 78, 80, 82 and the support pins 90. You. To release the fixing, the support plate 90 may be lowered. With such a configuration, the conveyor unit 20 functions as a substrate holding device in the mounting module 12.
- the mounting device 22 includes a mounting head 21 and a head moving device 102 that moves the mounting head 21 substantially along one plane in the work area.
- the head moving device is a type of relative moving device that relatively moves the mounting head 21 and the circuit board held on the conveyor unit 20.
- the mounting head 21 will be described later in detail.
- the head moving device 102 is an XY robot type moving device, and a Y slide device 1 1 2 as a Y direction moving device for moving the mounting head 21 in the front-back direction (Y direction), and a left and right.
- An X slide device 114 as an X direction moving device for moving in the direction (X direction).
- the Y-slide device 1 12 is provided on the beam 1 16 that forms a part of the frame 14, and is driven by the Y-axis motor 1 18 to drive the Y-slide 120 via the Y-guide via the pole screw mechanism Move along 1 2 2
- the X slide device 1 14 is provided on the Y slide 120, and is driven by the X-axis motor 126.
- the X slide 128 is moved along the X guide 130 via the screw mechanism.
- the mounting head 21 is configured to be mounted on an X slide 128 as a work head mounted member. The mechanism for this mounting will be described later.
- the mounting head 21 is moved by the head moving device 102 across the feeder group 18 and the circuit board fixed in the conveyor unit 20.
- a mark camera 132 (which is a CCD camera) is provided below the X slide 128.
- the mark camera 132 functions as a board image pickup device, and picks up an image of a reference mark or the like attached to the surface of the circuit board.
- the mark camera 13 2 is moved by the head moving device 102 together with the mounting head 21.
- the mounting head 21 serving as a work head is detachable from the head moving device 102, and can be selected from a plurality of components having different configurations and can be attached. Have been.
- the mounting device 22 can replace the mounting head 21 with a different type.
- FIG. 5 shows three mounting heads 21 a, 21 b, and 21 c as an example of the work head 21 that can be mounted.
- the mounting head 21a shown in FIG. 5 (a) is provided with a plurality (eight) of mounting units 140 each having a generally axial shape, and these are index-rotated.
- the implementation of Head 2 is 1.
- the mounting unit 140 has a suction nozzle 144 as a component holding device for sucking and holding components at its lower end. .
- a suction nozzle 144 as a component holding device for sucking and holding components at its lower end.
- the mounting head 21a is a mounting head 21 that performs such an operation, and is a mounting head 21 suitable for high-speed mounting of relatively small circuit components. Although not shown, some mounting heads 21 of the same type as the mounting head 21a are provided with different numbers of mounting heads 140.
- the mounting head 2 1c shown in FIG. 5 (c) is a mounting head 21 equipped with one mounting unit 140, and the mounting unit 14 above the feeder 16 and the circuit board. By lowering 0, one circuit component is mounted in one round trip between the feeder 16 and the circuit board. Although the mounting speed of the mounting head 21 c is relatively slow, it can also be equipped with a relatively large suction nozzle 14 2, which enables mounting of large circuit components and specially shaped circuit components. Excellent mounting head 2 1.
- the mounting head 2 1b shown in FIG. 5 (b) is a mounting head having two mounting units 140, and is a medium-sized mounting head 21a and mounting head 21c. The mounting head 21 having characteristics.
- the mounting unit 140 on the front side has a plurality of suction nozzles 142 arranged radially around an axis perpendicular to the axis of the mounting unit 140.
- the suction nozzles 144 are structured so that the nozzles to be used are selected by being rotated around the axis thereof.
- the mounting module 12 can be mounted with one arbitrarily selected from the mounting head 21 described above or the like according to the type of mounting operation.
- the mounting head 21 mounted in FIGS. 2 and 4 is the mounting head 21a.
- the mounting head 21a is composed of a head body 280 serving as a skeleton of the head, various components and components arranged in various places of the head body 280, and their components. And a head cover 282 (see FIG. 5) for covering parts and the like.
- FIG. 6 shows a state where the head cover 282 is removed.
- the mounting head 2 1a has a plurality of, specifically, eight mounting units 140, and each mounting unit 140 holds a suction nozzle 144, which is a circuit component holding device, at a leading end thereof. are doing.
- each of the suction nozzles 14 2 It is connected to the negative pressure air and positive pressure air passages via the negative pressure selective supply device 292 (see Fig. 9).
- the negative pressure sucks and holds the electronic components at the tip, and a slight positive pressure is supplied. In this way, the held electronic components are detached.
- the mounting unit 140 having a generally axial shape is held on an outer peripheral portion of the unit holder 294 that rotates intermittently at a constant angular pitch so that the axial direction is the vertical direction.
- each mounting unit 140 is rotatable and movable in the axial direction.
- the unit holder 294 is driven by a ut holder rotation device 298 having a holder rotation motor 296, which is an electric motor (servo motor with encoder), as a drive source, and the mounting unit 154 is mounted.
- the mounting unit 140 is intermittently rotated by an intermittent rotation (sometimes referred to as an index rotation) by an angle equal to the arrangement angle pitch of the mounting units.
- an electric motor encoder motor with encoder
- each mounting unit 140 has a unit rotation motor 304 having a unit rotation motor 304 as an electric motor (servo motor with an encoder) as a driving source for the purpose of adjusting the mounting orientation of the circuit components held by suction. It is rotated by the device 306. It should be noted that the plurality of mounting units 140 have a structure that can be rotated simultaneously. The above is the main configuration of the mounting head 21a.
- the structures of the mounting heads 21b and 21c, which are the other mounting heads 21, are the same, but there are differences in structure depending on the configuration.
- the mounting head 21c has a configuration having only one mounting unit 140, and the unit holding body rotating device 29 at which the mounting head 21a is provided. Does not have 8.
- the mounting head 2 lb has two mounting units 140 and can be raised and lowered independently, it has two unit lifting devices.
- a nozzle selection device for selecting the suction nozzles 142 is provided in one of the mounting units 140.
- FIG. 7 shows a perspective view from the rear side of the mounting head 21 (FIG. 7 (a)) and a perspective view from the front side of the X slide 128 (FIG. 7 (b)).
- the rear part 330 of the head body 280 forms a mounting part
- the front part 332 of the X slide 128 forms a mounting part.
- the back part 330 of the head body has two legs 334 at the lower part, and an engagement block 336 at the upper part.
- the front portion 3 32 of the X slide 1 2 8 has a leg support portion 3 3 8 for supporting the leg 3 3 4 at the lower portion, and slightly above the leg support portion 3 3 It has two lower engaging rollers 340.
- a head fixing device 342 (see FIG. 4) for locking and fixing a part of the engagement block 336 is provided.
- an engagement hole 3 4 6 having two upper engagement rollers 3 4 4 for allowing the engagement block 3 3 6 to enter. I have.
- the leg 334 has a wedge-shaped tip, and is fitted to a V-shaped leg support 338. Thereby, the vertical position of the mounting head 21 is defined.
- the opposing side surfaces of the portion where the interval between the upper portions of the leg portions 334 is reduced are fitted to the outer peripheral surfaces of the two lower engagement rollers 3400 exactly, and the engagement block Both side surfaces of 3336 are fitted so as to fit between the two upper engaging rollers 344, and these define the position of the mounting head 21 in the left-right direction.
- FIG. 8 shows a cross section of the head fixing device 342.
- FIG. 8 (a) is a cross-section taken at the center in the left-right direction of the X slide 128, and
- FIG. 8 (b) is a cross-section taken along the plane AA in FIG. 8 (a).
- the head fixing device 3 4 2 engages the engaging pin 3 62 with the engaging roller 3 60 (see FIG. 7) provided on the upper part of the engaging block 3 36. It is a structure to make it.
- the head fixing device 3 4 2 includes a hook pin 3 6 2 supported vertically so as to be movable in a pin hole 3 6 4 provided at an upper portion of the front portion 3 3 2, and a hook pin 3 6 And a locking pin operating device 3 6 6 for raising and lowering 2.
- the latching pin actuator 336 is fixedly provided at one end of the rod 368, which is slightly flexible, and eccentric to the rod 368.
- Disc-shaped force plate 37 a rod-shaped rod support member 37 2 that rotatably supports the rod 36 8, and a port fixedly provided at the other end of the rod 36 8.
- the latching pin actuator 3336 is attached to the upper part of the front part 3332 of the X slide 128 on the rod support member 372 (see FIG. 7).
- a groove 376 having a width slightly larger than the outer diameter of the cam plate 370 is formed in the upper portion of the locking pin 362, and the cam plate 370 is engaged with the groove 376. ing.
- the grip 3 7 4 is rotated, the latch pin 3 6 2 moves up and down.
- the retaining pin actuator 36 6 has a bent rod support member 37 2 so that the grip 37 4 is positioned downward. It is.
- the locking roller 360 is locked.
- the state is maintained by the frictional force generated between the outer periphery of the force plate 370 and the lower surface of the groove 376, but in order to maintain the state more reliably, the locking pin is operated.
- the device 336 has a torsion spring 380, and the torsion spring 380 biases the rod 368 in the direction in which the locking pin 362 goes downward.
- the work module 12 can be provided with various work heads 21.All the work heads 21 have the same structure with respect to the mounting mechanism.
- the attached work head 21 can be detached with one touch, and any work head 21 can be attached with one touch.
- the work head 21 can be controlled by the module control device 26 in the mounted state.
- the working head 21 is provided with a memory chip 400 (see FIG. 5) as a unique information recording medium for recording its own unique information, and this memory chip 400 is also provided to the module control device 26. It is possible to connect.
- the memory chip 400 is a RAM chip packed with a battery, and is capable of rewriting various information. The information recorded on the memory chip 400 and the use of the information will be described later.
- the mounting head 21 of the present embodiment is a miniaturized working head.
- the width dimension (the length in the board transfer direction (the length in the X direction) in the mounted state is referred to as the width of the mounting head 21. x in FIG. 4) is small, and is set to 60 mm or less.
- the mounting head 21a which is an index rotation type mounting head, is used for mounting relatively small circuit components.
- the suction nozzles 142 are arranged such that the center thereof is located on one circumference, and the diameter of the circle is 40 mm or less.
- the width of the X-slide 128 on which the mounting head 21 is mounted is the same as the width of the mounting head 21.
- the mark camera 13 2 which is a substrate imaging device, is provided not on the mounting head 21 but on the X slide 128, but in a direction perpendicular to the width direction (Y Direction, that is, a direction perpendicular to the direction of movement of the X slide 128.). This also contributes to reducing the width of the X slide 128.
- the mounting module 12 of the present embodiment has a relatively small length, that is, a width in the board carrying direction. The reduced width of the X-slide and the width of the X-slide make the width-wise range in which circuit components can be mounted relatively large.
- the index rotating type mounting head 21a which is the heaviest of the three types of mounting heads 2la, 21b, 21c, weighs about 2kg. You. As described above, the fact that the mark camera 13 2 is separated from the mounting head 21 also contributes to the weight reduction of the mounting head 21. On the other hand, the total weight of the X slide 128 including the mark camera 132 is also about 2 kg, and therefore, the X slide in the head moving device 102, which is an XY robot type moving device, The weight of the combination of the mounting head 21 and the X-slide 12 8, which is the object to be moved by the device 1 14, is 5 kg or less. The load is relatively small. As a result, the mounting head 21 can be moved at a high speed, and the productivity of the mounting module 12 is high. In addition, since the mounting head 21 and the like are reduced in weight, the mounting apparatus 22 is realized with low vibration and energy saving.
- the board work machine 1 includes a module control device 26 provided for each work module 12 to control each work module 12, and a work machine control device for integrally controlling each work module 12. Although controlled by the control modules 13, a central part of the control of the work exists in each module control device 26.
- FIG. 9 shows a block diagram related to the control of the module control device 26, focusing on parts that are deeply related to the present invention.
- the module controller 26 is a controller mainly composed of a computer 410, and the computer 410 is composed of a PU (processing unit) 412, a ROM 414, a RAM 416, It has an input / output interface 418 and a bus 420 connecting them together.
- the input / output interface 4 18 is connected to each feeder 16 arranged as a feeder group 18, a conveyor unit 20, and a head moving device 102 through each drive circuit 42 2. It is connected.
- the module control device 26 has a head drive circuit 4 24 for driving the work head 21, through which the work head 21 is connected to the input / output interface. one Connected to the source 4 18.
- a component camera 24 and a mark camera 13 2 are connected to the input / output interface 4 18 via a control circuit 4 26, and perform image processing on the image data obtained thereby. It is captured via the image processing unit 428. Operation ⁇
- the display panel 28 and the external storage device 430 mainly composed of a hard disk are also connected to the input / output interface 418. Since the board working machine 1 operates by exchanging various signals with each of the plurality of working modules 12, the input / output interface 4 18 is connected to the input / output interface 4 18 via the communication circuit 4 3 2. The other working modules 1 and 2 are connected. Further, a control module 13 serving as a host of the module control device 26 is also connected via a communication circuit 432, so that communication of signals, information, and the like can be performed therebetween.
- the external storage device 430 stores a basic operation program of the work module 12, an application program such as a mounting program corresponding to a circuit board, and various data relating to the circuit board and circuit components.
- an application program such as a mounting program corresponding to a circuit board
- various data relating to the circuit board and circuit components In the case of mounting work, necessary items are transferred to the RAM 416 and stored therein, and the mounting work is performed based on the stored contents of the RAM 416.
- the block diagram in FIG. 9 shows a state in which the mounting head 2 1 a is attached as the work head 1 2, and the head drive circuit 4 2 4 is connected to a positive / negative pressure selective supply device 292, a holder rotating motor 2966, a unit elevating motor 300, a unit rotation motor 304, and the like.
- the actuator, drive source, etc., connected to the head drive circuit 424 differ depending on the type of the work head 12 to be mounted.
- the devices and devices such as the work head 12 are driven by a driver which is software for operating them.
- Dedicated drivers are prepared according to the configuration of devices and devices.
- the driver of the work head 12 is a work head driver, and there is a dedicated one for the mounting head 12a.
- Various drivers are stored in a driver storage unit which is a part of the external storage device 430. For example, when the mounting head 12a is mounted, a dedicated The head driver is read, and the driver is transferred to the RAM 416, and an operation program corresponding to the mounting head 12a is constructed. Further, the memory chip 400 included in the work head 12 is also connected to the input / output interface 418 so that information can be exchanged with the computer 410.
- the control module 13 as a work implement control device is mainly composed of a computer including PU, ROM, RAM, input / output interface, etc., an external storage device, an input device such as a keyboard, and a display. It has a communication function for exchanging various signals and data with each work module 12 and has a role of supervising and managing each work module 12. Also, it has a role as a database of various data required for the board working machine 1. The implementation programs and the like for each work module 12 are delivered from this control module 13. Further, as described below, the control module 13 also has a function of performing communication between the board working machine 1 and the outside.
- FIG. 10 schematically shows a state in which the substrate working machine 1 is arranged in a factory.
- three board-to-board working machines 1 of the same type are arranged.
- Each of the board-to-board working machines 1 is connected to each other so as to be able to exchange information, and is connected to various management computers (in the figure, two of fourty-four, fourty-two) are provided with various database functions. It is connected so that information can be passed.
- the board working machine 1 and the management computers 4440, 4422, etc. are also connected by the LAN4444.
- management computers such as those having a database function for work programs corresponding to circuit boards, and those having a database function for storing data relating to the specifications of various circuit components.
- the one shown in Fig. 10 is a production history management computer 440 having a database function for the production history of each board working machine 1, and information related to devices and devices such as work heads and feeders.
- An apparatus / device management computer 442 having a function as a database. From the viewpoint of replacing the work head 21, these two management computers 440 and 442 are head-related information that is information related to the work head 21 for each work head 21. This function functions as an external storage unit for storing head-related information outside of the board working machine 1.
- the production information of The information is sent to the production history management computer 440, including which operation the head 21 uses. Further, the inspection result information of the worked circuit board is also sent to the production history management computer 440, and the defect rate of each work head 21 is managed as one of the production histories.
- the production history management computer 440 and the device device management computer 442 will be described later in detail.
- a component mounting operation using one mounting module 12 on which the mounting head 21a is mounted will be briefly described.
- the circuit board transferred from the upstream side is stopped by the conveyor unit 20 at the set work position in the work area.
- the stopped circuit board is fixed and held by the conveyor 20 by raising and lowering the circuit board support plate 90 at that position by the elevating device.
- the head moving device 102 moves the mark camera 13 2 above the reference mark provided on the circuit board, and images the reference mark. A shift in the holding position of the held circuit board is detected from the image data.
- the mounting head 21 a is moved above the feeder group 18, and the circuit components are suction-held by the suction nozzles 142 in accordance with the set removal order.
- the mounting unit 140 located at the elevating station is positioned above the component removal position of the feeder 16 that supplies the circuit component to be held, and at that position, the mounting unit 140 is mounted. Is lowered, and a negative pressure is supplied to the suction nozzles 14 2 held at the ends thereof to suck and hold the circuit components.
- the mounting unit 140 is intermittently rotated, and the same component removal operation for the next mounting unit 140 is performed. In this way, the component removing operation (in many cases, eight times) is sequentially performed on the mounting unit 140 included in the mounting head 21a.
- the mounting head 21 a holding the circuit component is moved above the component camera 24. At that position, the component camera 24 captures the held circuit component in a single field of view and captures an image. Based on the obtained imaging data, the displacement of the holding position of each circuit component is detected. Subsequently, the mounting head 21a is moved to above the circuit board, and the circuit components held on the surface of the circuit board are placed according to the set mounting order. For details, first, the mounting unit located at the unit lift station The knit 140 is positioned above the proper placement position. At this time, the moving position of the mounting head 26 is optimized based on the detected positional deviation of the circuit board and the detected positional deviation of the circuit components.
- the mounting unit 140 is lowered by a predetermined distance, a positive pressure is supplied to the suction nozzles 144, and the held circuit components are placed on the surface of the circuit board. Subsequently, the mounting unit 140 is intermittently rotated, and the same mounting operation is performed for the next mounting unit 140. In this way, the component mounting operation is sequentially performed on the mounting unit 140 that holds the circuit components.
- the mounting orientation set for the circuit component holding the mounting unit 140 was detected. The circuit board is rotated to an appropriate rotational position based on the circuit board holding position shift amount and the circuit component holding position. Shift amount, whereby the mounting orientation of the circuit component is properly adjusted.
- the mounting head 21a is reciprocated between the feeder group 18 and the circuit board until mounting of all the planned circuit components is completed, and the component unloading operation and the component mounting operation are performed. It is repeated. After the mounting of all the circuit components is completed, the support plate 90 of the competition is lowered by the lifting device, and the fixed holding of the circuit board is released. The circuit board is transferred to the downstream side by the conveyor unit 20. In this way, the component mounting operation by the mounting module 12 scheduled on the circuit board is completed.
- the component mounting work by all the mounted modules 12 is completed, and the component mounting machine 1 for one circuit board is used.
- Component mounting is completed.
- the circuit board is sequentially conveyed from the upstream side to the downstream side over each of the plurality of mounting modules 12 and is sequentially transferred to each of the plurality of mounting modules 12 respectively.
- the component is mounted by executing the mounting work specified in.
- the plurality of circuit boards are successively carried into the upstream mounting module 12, so that the circuit boards are mounted on each of the circuit boards one after another, and the mounting is completed from the downstream mounting module 12. Are discharged one after another.
- the loading and unloading of the circuit board into and from the component mounter 1 is performed by the mounting modules 12 on the most upstream side and the most downstream side, respectively.
- a carry-in machine and a carry-out machine mainly consisting of a conveyor device may be arranged, and these may be used.
- the work module 12 can replace the work head 21.
- the work module 12 prepares to use the work head 21.
- the preparation processing accompanying the mounting of the work head 21 will be described with reference to an example in which the mounting head 21a is mounted.
- FIG. 11 shows a flowchart of the head use preparation processing program. Explaining the preparation process according to this flowchart, when the mounting head 21a is mounted, first, in step 1 (hereinafter, abbreviated as S1, the same applies to other steps), the mounting head 2 la is Recognized.
- step 1 hereinafter, abbreviated as S1
- S1 the same applies to other steps
- the head-related information such as the head configuration information relating to the configuration of the mounting head 21a and the head status information relating to the status is recognized, and the mounting head 2 la force The force that has such a configuration and the state of the state are recognized.
- the propriety of use of the mounting head 21a is determined based on the recognized head-related information. If it is determined that the use is inappropriate, the operator is notified and the preparation process ends. If determined to be appropriate, in S3, a work head driver suitable for the mounting head 21a is selected, and the mounting head 21a is made operable. Subsequently, in S4, the index rotation of the mounting unit 140 is adjusted based on the recognized head specification information.
- a predetermined suction nozzle 142 is attached to the tip of each mounting unit 140.
- calibration is performed in S6. To put it simply, the calibration is performed in order to deal with the mounting error of the mounting head 21a, etc. This is a process for adjusting and confirming the command value.
- the head use preparation process is performed according to the flow described above. The details of each process are described below for each process.
- the head related information recognition processing in S1 is performed according to a head related information recognition processing routine shown in a flowchart in FIG.
- the head storage information is specific information regarding the mounting head 21 a.
- the head storage information indicates the format of the head. Format data, the arrangement angle pitch data of each mounting unit 140 of the head (hereinafter sometimes referred to as “unit arrangement angle data”), the suction nozzle mounting part of each mounting unit 140 It contains data related to the configuration data such as height data for the reference position (hereinafter sometimes referred to as “unit height data”).
- the unit arrangement angle data and unit height data are a type of information on the arrangement positions of the components provided in the mounting head 21a.
- the equipment device management computer stores various information on various equipment and devices existing in the factory in a database.
- the read head ID data is transmitted to the device / device management computer 442 via the control module 13.
- the device / device management computer 4 4 2 searches using the head ID as a key, and transmits necessary information regarding the mounting head 2 1 a to the module controller 26 via the control module 13. . In this way, necessary information is read.
- the information acquired from the device management computer 442 includes unit arrangement angle data, unit height data, and the like, which are head configuration specification information.
- the device management computer 442 also stores information related to maintenance of various devices and devices in association with the head ID. Specifically, data on the date and time when the last maintenance was performed, the operation time of the device and device since the last maintenance (hereinafter referred to as “ Operating time after maintenance ”). In S12, the post-maintenance operation time information on the mounted mounting head 12a is read out as one of the head status information.
- the production history management computer 440 stores a database of production history information of various types of board working machines existing in the factory. This production history information includes data on the defect rate.
- the module control device 26 transmits the head ID data and the module ID data of the mounting module 12 on which the mounting head 21 a is mounted via the control module 13. , To the production history management computer 440.
- the production management computer 440 uses the head ID as a key from the information stored therein, and uses the head ID as a key to determine the defective rate of the mounting head 21a in a period of time preceding the current time by a predetermined time (hereinafter referred to as “the predetermined Data), and using the head ID and module ID as a key, the failure rate for the specified period when the module is mounted on the mounting module 12 or the specified period for the module Create data on the defect rate. Then, the production history computer 440 transmits the generated failure rate data for the predetermined period for the mounting head 21 a and the failure rate data for the module for the predetermined period to the control module.
- the predetermined Data a predetermined time preceding the current time by a predetermined time
- the production history computer 440 transmits the generated failure rate data for the predetermined period for the mounting head 21 a and the failure rate data for the module for the predetermined period to the control module.
- the failure rate information for a predetermined period and the failure rate information for a predetermined period with respect to the module, which are a kind of head status information, are thus read.
- the post-maintenance operation time data read in S12 and the failure rate data for a predetermined period and the failure rate data for a predetermined period in the module read in S13 are stored in RAM4.
- the information is stored in the head status information storage unit, which is a predetermined area of 16. This ends the recognition of the head status information.
- the head suitability determination processing in S2 is performed by executing a head suitability determination processing routine shown in the flowchart of FIG.
- a determination based on the head type is performed.
- a mounting program relating to component mounting work performed by the mounting module 12 is already stored in a mounting program storage unit, which is a predetermined area of the RAM 416.
- the mounted mounting head 21 a is in a format suitable for executing the mounting program. It is determined whether there is. If it is determined that the format is appropriate, the next S22 is executed. In S22, the mounting head 21a is determined based on the operation time after maintenance.
- the stored operating time after maintenance exceeds the predetermined usage time limit, it is determined that maintenance is necessary, and the use of the mounting head 21 a is stopped. Therefore, a determination is made that it is inappropriate. If it is within the usage time limit, it is determined that it is appropriate to allow use.
- the determination of S23 and S24 is made based on the marginal defective rate set for the circuit board on which the mounting operation is performed, and the value is a value specific to the circuit board. For example, when high-precision work is required, the marginal defect rate is set low. This marginal failure rate is described in a part of the mounting program and is read from the mounting program data.
- S3 If it is determined in S2 4 that it is appropriate, the following S3 is executed, but if it is determined that it is inappropriate in any of S21 to S24, , S25, the operator is notified that the mounting head 21a is inappropriate. Specifically, the notification is performed by displaying on the operation / display panel 28 a message indicating that the operation is inappropriate and the cause thereof. After the notification is made, the execution of the head use preparation processing program ends. The operator can take measures such as removing the mounting head 12a based on the notification, preparing a new mounting head 12 and mounting it.
- a driver is selected.
- various drivers corresponding to the various work heads 21 are stored in the external storage device 430.
- a driver corresponding to the format is selected, transferred to the RAM 416, stored in the driver storage unit, and stored in the RAM 416.
- An operation program corresponding to the mounting head 12a is constructed in the operation program area which is a predetermined area. As a result, the operation of the mounting head 12a can be controlled.
- one mounting unit 140 is set in advance as a reference unit.
- the unit is positioned at the position of the lifting station in the design.
- the rotation stop position of the unit holder 294 in this state is a stop position for positioning the reference unit at the elevating station.
- the unit holder 294 is rotated based on the recognized unit installation angle data, and the other mounting units are mounted.
- G 140 are sequentially located at the elevating station.
- the rotation stop position of the unit holder 294 when the mounting units 140 are located at the lifting / lowering station is detected, and the rotation stop position is determined as the rotation stop position of the holder, which is a predetermined area of the RAM 416.
- this adjustment is a measure to prevent the manufacturing error occurring for each mounting head 21 from affecting the accuracy in the mounting operation, and the mounting head based on the head configuration specification information. This is one of the adjustments of the operating position in 2a. Also, it can be said that this index rotation position adjustment is a kind of calibration processing.
- the suction nozzles 144 are attached to the mounting units 140 of the mounting heads 12a.
- the nozzle to be used is described in a part of the mounting program, and the suction nozzles 142 to be attached are determined according to the description.
- the mounting head 21a is moved above the nozzle stop force 25 described above, and the mounting unit 14 ° is lowered sequentially while rotating the index, so that the preset storage is achieved.
- the suction nozzles 144 accommodated in the position are attached to the specified mounting unit 140 while being held.
- the suction nozzles 14 2 are also managed by ID.
- the nozzle ID data is RAM 4 1 It is stored in the mounting nozzle information storage section, which is the predetermined area of No. 6.
- the length data (described later) of each of the attached suction nozzles 142 is also stored in association therewith.
- the calibration in S6 is performed by executing a calibration processing routine shown in a flowchart in FIG.
- the position of the tip of the suction nozzle 142 attached to the reference tube, which is one of the mounting units 140 is detected.
- the mounting head 21a is moved to a position where the reference unit is located above the nozzle height detector 27 with the reference unit positioned at the elevating station at the nozzle tip position. In this position, the reference unit is slowly lowered.
- the upper surface of the nozzle height detector 27 is attached to the mounting module 12
- the detector 27 has a structure for detecting that the suction nozzle 144 has come into contact with the upper surface.
- the reference unit descends until the tip of the suction nozzles 144 is located at the reference height position, and the descending stroke from the rising end of the reference unit is measured. That is, in this step, the lowering stroke of the reference cut is used as the detection value of the nozzle tip position.
- the head height position which is the height position at which the mounting head 21a is mounted
- Figure 15 shows a conceptual diagram for calculating the head height position.
- the reference height position mentioned above is H.
- the mounting height position of the mounting head 21a in the design is indicated by.
- the cut height data of each mounting unit 14 ° has already been stored in the RAM 416.
- the unit height data is based on the hypothetical reference nozzle (nozzle length 1: nozzle length is the suction of the mounting unit), assuming that the mounting head 21a is mounted at the mounting height position H, in the design. (The length from the nozzle mounting part to the nozzle tip) is attached, and the tip of the reference nozzle is at the reference height position H.
- L is for the reference unit.
- the actual nozzle length 1 of the attached suction nozzles 14 2 is already stored in the RAM 4 16 as described above, and the suction nozzles 14 The length of 2 is 1,.
- the actually measured descending stroke is L, ", it is understood that the mounting height position of the mounting head 21a is deviated from the designed position.
- the actual mounting height position of the head 2 1 a to the mounting is H 2
- the height of the mounted head is calculated by calculating the mounting error ⁇ .
- the calculated mounting error ⁇ is stored in the head mounting height error storage unit, which is a predetermined area of the RAM 416.
- each mounting unit 140 is adjusted.
- the unit height data L, to L8 of each mounting unit 140 already stored (subscripts:! To 8 indicate the number of the mounting unit, the same applies hereinafter) and attached to each Based on the nozzle lengths 1, 2 to 1 s of the suction nozzles 14 and the mounting error ⁇ ⁇ ⁇ calculated earlier, the command position for the subsequent lifting and lowering of each mounting unit 140 is determined. Will be.
- the rotation center of each mounting unit 140 is measured from the image data obtained by the component camera 24. It is expected that the suction nozzle 144 is not coaxial with the rotation center of the mounting unit 140 due to bending or the like. Therefore, as conceptually shown in FIG. 16, the tip position N 1 of the suction nozzle 144 at the rotation position serving as a reference of the mounting unit 140, which is obtained as a result of imaging, and the mounting unit 14
- the rotation center R of the mounting unit 140 is obtained from the tip position N2 of the suction nozzle 144 at a position where 180 is rotated 180 ° from the reference rotation position. Specifically, the midpoint of the line connecting N1 and N2 is recognized as the rotation center R.
- the center of the index rotation of the mounting unit 140 on the design is set to the light of the component camera 24 in order to fit all of the mounting unit 140 within one field of view of the component camera 24.
- the mounting head 21a is moved to a position located on the axis. At that position, the mounting unit 140 located at the lift station is rotated, and its rotation center R is measured by the method described above. With the position of the mounting head 21 a fixed, the mounting unit 140 is sequentially index-rotated, and the rotation center of each mounting unit 140 is measured. At this time, each mounting unit 140 is raised and lowered during imaging so that the height of the tip of the suction nozzle 142 of each mounting unit 140 is adjusted to the height at the lowest position. The position is adjusted and imaging is performed.
- the component camera 24 is arranged so that the tip height of the suction nozzle 144 at this time is near the deepest position within the depth of field of the component camera 24.
- FIG. 17 is a conceptual diagram for explaining the calculation of the index rotation.
- the unit arranged angle data theta ⁇ 0 8 has already been stored, based on the distribution ⁇ data 0, 0 8, expand the measured rotation center R in one plane It is possible to do.
- R, to Rs shown in FIG. 17 are the rotation centers of the mounting units 140 expanded on one plane, From these rotation centers R 1 to R 8 , the index rotation center O ′ is approximately calculated by geometric calculation.
- the calculated position of the index rotation center O ' is compared with the position of the index rotation center O when the mounting head 21a is mounted at a design position.
- it is shifted by ⁇ in the left-right direction and by ⁇ in the front-rear direction.
- the mounting error ( ⁇ , ⁇ ), which is the deviation amount, is stored in the index rotation center position error storage unit of the RAM 416.
- the rotation center of each mounting unit 140 based on the center ⁇ ' can be calculated. Its actual rotation center deviation of the mounting unit 140 from the rotation center of the calculated ( ⁇ ,, Ay ⁇ ( ⁇ 8 , ⁇ ys) but will be described later. Sought, the deviations of the mounting head 2 la Used to adjust the movement position.
- the rotation center measured in S66 is a rotation center obtained based on data obtained by imaging the tip of the suction nozzle 142 at a different height position from that in S64.
- imaging was performed with the suction nozzle 142 positioned near the deepest part within the depth-of-field range of the component lens 24.
- imaging was performed near the shallowest part. That is, imaging is performed at a position where the tip position of the suction nozzle 142 is lower than the previous position.
- the specific measurement method is the same as that in the case of S64, and therefore the description is omitted.
- each mounting unit 140 having a different elevation position is obtained by the two measurements.
- the mounting Interview - Tsu DOO 140 of the previous deviation (delta X], ⁇ y ⁇ ( ⁇ x s , in addition to the delta ys), 1 single deviation will drink at different states of the vertical position (delta chi, ' , Ay) to ( ⁇ 8 ', mm y ⁇ ').
- the mounting head 21 a is moved to the correct moving position according to the elevation position of the mounting unit 140. It can be moved, and the mounting work can be performed accurately.
- the two deviations (mm, Ay) and ( ⁇ ′, ⁇ y ′) of each mounting unit 140 are stored in the unit deviation storage section, which is a predetermined area of the RAM 416, and based on them. Then, the moving position command value after the mounting head 21a is determined.
- the preparation processing accompanying the mounting of the work head 21 is performed by executing the head use preparation processing program in the module control device 26 as described above.
- the configuration of the module controller 26 relating to this processing will be described from a functional aspect.
- FIG. 18 shows a functional block diagram of the module control device 26.
- the following description will be made assuming that the mounting head 2la is mounted.
- the module control device 26 mainly has four processing units for the head use preparation process.
- One of them is a head-related information recognizing section 500.
- the head-related information recognizing section 500 is configured to include a part for performing the head-related information recognizing process of S1. Based on the information of the memory chip 400 as a unique information recording medium provided in the mounting head 21a, that is, the head-related information based on the mounting head 21a specific information as the head storage information. Recognize.
- the head-related information recognizing section 500 includes a configuration item information recognizing section 502 and a status information recognizing section 504.
- the configuration specification information recognition section 502 is a section for recognizing head configuration specification information such as head type data, unit arrangement angle data, unit height data, and the like. Is equivalent to the part that executes.
- the status information recognition unit 504 is a unit for recognizing head status information such as post-maintenance operation time data, failure rate data for a predetermined period, and failure rate data for a predetermined period of a module.
- the part that executes 13, S 15, etc. corresponds to this.
- the device device management computer 440 as a head related information external storage unit, production history
- the necessary information is obtained from the information of the management computer 442 using the head ID as a key, and as a result, the head-related information is recognized.
- the head configuration information storage section 508 for storing the information in the head-related information area of the RAM 416, the head status.
- An information storage unit 5110 is provided.
- the module control device 26 has a head suitability judging unit 512 as another one of the four processing units.
- the head suitability determination section 512 is a section for determining whether or not the mounted mounting head 21a is suitable for use, and corresponds to a section for executing S2. Based on the recognition result of the head related information recognition unit 500, it is determined whether or not the use of the mounted head 21a is appropriate.
- the head propriety judging unit 5 1 2 can be roughly divided into two. One of them is a part that makes a judgment based on the head format data, which is the head configuration data, and the contents of the mounting program stored in the mounting program storage unit 514 of the RAM 416. The other is a part that makes a judgment based on the head status information, ie, the post-maintenance operation time data, the failure rate data for a predetermined period, and the failure rate data for a module for a predetermined period.
- the module control device 26 has a head handling unit 516 as another one of the four processing units.
- the head-corresponding portion 5 16 is a portion that performs preparation processing for controlling the mounted head 21 a corresponding to the mounted head 21 a in a simple manner.
- the work head driver corresponding to the mounted head 21a is stored in the driver storage section 520 provided in the operation program area 518 of the RAM 416. It is done by doing.
- the head corresponding section 5 16 corresponds to a section that executes S 3, and the like.
- the module control device 26 further has a position information acquisition unit 522 as one of the four processing units.
- the position information acquisition unit 522 acquires the component position information, which is the position information related to the work operation of the component of the mounting head 21a, based on the recognized head configuration specification information. This is the part that performs so-called calibration.
- the position information acquisition section 522 corresponds to a section that executes S4, S6, and the like in the above-described head use preparation processing.
- the component position information is obtained based on the nozzle length data, the previously recognized unit arrangement angle data, and the unit height data.
- the measurement results such as the imaging result by the component camera 24 and the detection result by the nozzle tip height detector 27 are used as needed.
- the index rotation center position error Data such as ( ⁇ , ⁇ ) and unit deviation ( ⁇ , ⁇ y) of each mounting unit 140 are acquired as component position information.
- These acquired data are stored in the holder rotation stop position storage unit 528 provided in the component position information area 526 of the RAM 416, the head mounting height error storage unit 530, the indexess rotation center position error storage unit 532, and the unit.
- These are stored in the deviation storage unit 534 and the like, respectively, and are used in the operation control of the mounting head 21a.
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Abstract
Description
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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US10/535,895 US7966718B2 (en) | 2002-11-21 | 2003-11-19 | Substrate-related-operation performing apparatus and substrate-related-operation performing system |
US13/067,297 US8578595B2 (en) | 2002-11-21 | 2011-05-23 | Substrate-related-operation performing apparatus and substrate-related-operation performing system |
US14/043,088 US9055708B2 (en) | 2002-11-21 | 2013-10-01 | Substrate-related-operation performing apparatus and substrate-related-operation performing system |
US14/691,060 US9913384B2 (en) | 2002-11-21 | 2015-04-20 | Substrate-related-operation apparatus |
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JP2002337739 | 2002-11-21 | ||
JP2002-337739 | 2002-11-21 | ||
JP2003-128348 | 2003-05-06 | ||
JP2003128348A JP4384439B2 (ja) | 2002-11-21 | 2003-05-06 | 対基板作業機、対基板作業システムおよび対基板作業機用作業ヘッド使用準備処理プログラム |
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US10/535,895 A-371-Of-International US7966718B2 (en) | 2002-11-21 | 2003-11-19 | Substrate-related-operation performing apparatus and substrate-related-operation performing system |
US10535895 A-371-Of-International | 2003-11-19 | ||
US13/067,297 Continuation US8578595B2 (en) | 2002-11-21 | 2011-05-23 | Substrate-related-operation performing apparatus and substrate-related-operation performing system |
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US (4) | US7966718B2 (ja) |
JP (1) | JP4384439B2 (ja) |
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Also Published As
Publication number | Publication date |
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US20150230344A1 (en) | 2015-08-13 |
US20060085973A1 (en) | 2006-04-27 |
US20140026410A1 (en) | 2014-01-30 |
JP2004221518A (ja) | 2004-08-05 |
US7966718B2 (en) | 2011-06-28 |
US8578595B2 (en) | 2013-11-12 |
JP4384439B2 (ja) | 2009-12-16 |
US9913384B2 (en) | 2018-03-06 |
US9055708B2 (en) | 2015-06-09 |
US20110225811A1 (en) | 2011-09-22 |
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