WO2004093514A1 - 基板搬送方法および装置 - Google Patents
基板搬送方法および装置 Download PDFInfo
- Publication number
- WO2004093514A1 WO2004093514A1 PCT/JP2004/005066 JP2004005066W WO2004093514A1 WO 2004093514 A1 WO2004093514 A1 WO 2004093514A1 JP 2004005066 W JP2004005066 W JP 2004005066W WO 2004093514 A1 WO2004093514 A1 WO 2004093514A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- substrate
- board
- component
- transfer
- sensor
- Prior art date
Links
Classifications
-
- 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
- H05K13/0061—Tools for holding the circuit boards during processing; handling transport of printed circuit boards
Definitions
- the present invention relates to a board transfer method and apparatus for transferring a board such as a printed circuit board and stopping at a target position, and preferably a component transfer method applied to a component mounter for mounting electronic components. And equipment. Background art
- an XYZ moving type component transfer device is configured to take out an electronic component from a supply device and mount it on a substrate put into a transport device.
- a carry-in conveyor 90 and a carry-out conveyor 96 are arranged on the entrance side and the exit side of the transfer device 40, and the component supply is provided together with the transfer device 40.
- the take-out part 13 of the device is arranged.
- a part camera 70 is arranged halfway between the transfer device 40 and the take-out part 13, and the component suction head of the part transfer device takes out the electronic part P from the take-out part 13. Then, it is mounted on the board PB on the transfer device 40 via the component camera 70.
- the component camera 70 detects the displacement of the component, and can correct the mounting target coordinates on the board PB based on the displacement information.
- the front edge of the substrate PB put into the transport device 40 is positioned by contacting the stopper 100.
- the installation position of the stopper 100 is normally engaged with the front end of the substrate PB001 so that the rear end of the longest substrate PB001 does not protrude from the transport device 40.
- the position is set at the front end of the transfer device 40 in the transfer direction.
- a deceleration sensor SDE is provided to decelerate the synchronous motor for transporting the substrate before the substrate PB comes into contact with the stopper 100, and a stop confirmation sensor for detecting a contact stop state of the stopper 100 with the stopper 100.
- An SCS is provided.
- a carry-in detection sensor that detects completion of the transfer of the substrate PB into the transfer device 40 by switching from “ON” to “0FF”.
- An unloading detection sensor SUL that detects the completion of unloading of the board PB to the unloading conveyor 96 by switching from SLA and “ON” to “OF F” is provided.
- one mounting machine is compatible with multi-mix mixed production in which not only rectangular substrates of various lengths but also large and small, but also so-called odd-shaped substrates with uneven front and rear edges are loaded. It is required to be able to do it.
- the stopper 100 for positioning the substrate PB on the transfer device 40 is installed at a predetermined position at the front end of the transfer device 40. Is positioned so that the center in the length direction substantially coincides with the center of the transfer device 40 in the transfer direction, but the short-length substrates PB 002 and PB 00 3 are biased toward the front of the transfer device 40 in the transfer direction. It is decided. For this reason, for example, the mounting operation of a board having a short length such as PB003 is performed at the front of the transfer device 40 in the transfer direction where the distance from the component camera 70 is relatively long. As a result, the component transfer distance from the component supply device to the component mounting position via the component camera 70 is increased, and the efficiency of the component mounting operation is reduced.
- the stopper method has disadvantages such as lack of flexibility even in such a case.
- the conventional substrate transfer device described above requires a large number of sensors, such as a deceleration sensor SDE and a stop confirmation sensor SCS in addition to the carry-in detection sensor SLA and the carry-out detection sensor SUL.
- the configuration became complicated and inconveniences such as adding a failure factor occurred.
- the main object of the invention is to make various types of substrates such that the length of a path from a component supply device directly or via a component force camera to a number of component mounting positions on a transfer device is minimized.
- the purpose is to make it possible to determine the position of each substrate or the type of substrate.
- Another object of the present invention is to eliminate the need for adjusting the position of the positioning stopper means required to conform to the unique shape of the odd-shaped substrate.
- Still another object of the present invention is to provide a substrate of various lengths, wherein an arbitrary portion on the substrate or the center of a component mounting area is a detection sensor, a camera for components, a center of a component supply device or a desired portion, And to be able to stop at a position aligned with any of the centers of the transport device.
- the present invention provides a substrate transfer method for stopping a substrate at a target position on a substrate transfer path by a substrate transfer device, or a component transfer device for a component on a substrate transfer path.
- a substrate transfer method for stopping a substrate at a target position on a substrate transfer path by a substrate transfer device, or a component transfer device for a component on a substrate transfer path.
- the board sensor detects that the board has reached or passed a predetermined position on a transfer path, and then responds according to the type of the board.
- the substrate is further transported by a specific moving distance and stopped.
- the board is moved from the detection position on the conveyance path detected by the board sensor as a reference, and a specific moving distance corresponding to the type of the board is further conveyed to a position for component mounting work. Is positioned. Since a specific moving distance can be set as a target according to the board, the board is accurately stopped at the optimum mounting position on the transfer device, and the work on the board, preferably the mounting work of components by the component transfer device, is smooth. Is executed.
- the specific moving distance according to the type of the substrate is determined by a dimension of a substrate to be loaded and an optimum position at which the substrate is to be positioned on the transfer path. Either the calculation is performed based on the information on the component mounting position, or the moving distance is set in advance for each substrate in order to position the substrate at the optimum component mounting position.
- the substrate is further moved by a specific moving distance calculated for each substrate or a moving distance set for each substrate from the reference of the detection position of the sensor, and is stopped with high accuracy.
- the substrate dimension is one or more pieces of information about the length of the substrate, the position on the substrate of a portion on the substrate to be matched with the target position, and the like.
- specify the target position The information is specified as an optimal component mounting position on the transport device. Normally, such information is designated and input to the control device for each substrate in advance, but part or all of this information is automatically detected in the middle of the transport path from the shape of the substrate itself or from information held in the substrate itself. You may do so.
- an optimal component mounting position of the substrate on the transfer path is adjusted such that a part in the transfer direction of the substrate is substantially aligned with the center of the transfer path.
- a central position of a transport path, a position where the component is moved from the component supply device to the substrate so as to shorten the component movement distance, and a component camera and a transport direction in which the part captures an image of a component sampled by the component transfer device. was set as one of the matching positions.
- a certain portion of the board can be aligned with at least one of a position matching the center of the transport path, a position matching the component moving distance so as to be short, and a position matching the component camera.
- a certain part of the substrate is the center of the substrate or positional information on the substrate specified according to each substrate or the type of the substrate, for example, an arbitrary numerical value or distance as the distance from the front end in the transport direction of the substrate.
- the information is specified in another form.
- the position to be adjusted by shortening the component movement distance is one of the portions in the board transfer direction,
- the position was set substantially at the center in the transport direction or a work position in which the frequently used components were taken out from the component supply device in the transport direction.
- the component moving distance of the component transfer device can be shortened, and in particular, the work position where the frequently used components are taken out is aligned with the work position in the transport direction.
- the productivity can be improved even when the components are arranged at positions off the center of the component supply device.
- the present invention provides a substrate sensor that detects that a substrate has reached or passed a predetermined position on a transport path, and controls a substrate transfer device to perform a specific movement according to the type of the substrate from the position detected by the substrate sensor. Control means is provided for transporting the substrate further to the distance and stopping it at a target position on the transport path.
- the present invention further includes a storage unit that stores information about the substrate carried into the transport path, and calculates a unique movement distance according to the type of the substrate based on the substrate information stored in the storage unit.
- a moving distance calculating means is provided, and a control means is provided for controlling the substrate transfer device so as to transfer the substrate from the detection position of the substrate sensor to the moving distance calculated by this calculation.
- control means controls the substrate transfer device such that the substrate is transported and stopped by further moving the substrate by a movement distance designated in advance or calculated from this position based on the detection position of the substrate sensor. .
- the optimum component mounting position of the board is set such that the above-mentioned arbitrary portion of the board shortens the above-described transport path center position and the above-mentioned component moving distance. It can be specified as a position to be matched to any one of the position to match and the position to match with the part camera.
- the mounting operation is performed in a state where the center of the mounting operation of the board is aligned with the center of the transport path or right beside the take-out part of the component supply device where the mounting component is frequently taken out or the side of the component camera.
- the workability of the mounting device is improved, and the path for transferring the components by the component transfer device is shortened, which contributes to the improvement of the mounting work efficiency.
- the present invention also provides the improved substrate transfer device described above, wherein the power source for orbiting the conveyor belt for transferring the substrate of the substrate transfer means is preferably constituted by a pulse motor or a servo motor capable of controlling the amount of rotation.
- the power source for orbiting the conveyor belt for transferring the substrate of the substrate transfer means is preferably constituted by a pulse motor or a servo motor capable of controlling the amount of rotation.
- the present invention relates to the improved substrate transfer apparatus described above, further preferably, wherein two substrate sensors are arranged near both ends of the transfer path, and when the transfer direction of the transfer path is switched, the substrate is set according to the transfer direction.
- Each board sensor also functions as a carry-in sensor that confirms that a board has been carried in and a carry-out board that confirms that a board has been carried out.
- FIG. 1 is a perspective view showing an overall configuration of an electronic component mounter to which an embodiment of a substrate transfer device according to the present invention is applied
- FIG. 2 is a view taken along a line A_A in FIG.
- FIG. 3 is a vertical cross-sectional view of the substrate transfer device taken in the direction of FIG.
- FIG. 4 is an enlarged cross-sectional view of a main part of the substrate transfer apparatus taken along a line BB in FIG. 2;
- FIG. 4 is a diagram illustrating a relative position in a transfer direction between a portion on the substrate and various target control positions on the transfer apparatus;
- FIG. 5 is an explanatory diagram for explaining a positional relationship
- FIG. 5 is a block diagram showing a configuration of a control device of the electronic component mounting machine shown in FIG. 1
- FIG. 6 is a diagram shown in FIG.
- FIG. 7 is an explanatory diagram for explaining a substrate information table formed in the storage device.
- FIG. 7 is an operation explanatory diagram illustrating a schematic operation of the substrate transport device controlled by the CPU of the control device shown in FIG.
- FIGS. 8 (a), (b) and (c) are explanatory diagrams for explaining the operation for controlling the positioning of large, medium and small substrates on the transfer device in the transfer direction.
- FIGS. 9 (a) and (b) are explanatory diagrams for explaining an example of an odd-shaped substrate put on the substrate transfer device according to the present invention and a method of controlling the stop thereof
- FIG. FIG. 11 is an explanatory view of a modification in which a substrate is set to a right flow, a left flow, and a bidirectional flow.
- FIG. 11 is a schematic plan view showing a second embodiment of the substrate transfer method and apparatus according to the present invention.
- FIG. 12 is a schematic plan view showing a third embodiment of the substrate transfer method and apparatus according to the present invention
- FIG. 13 is a fourth embodiment of the substrate transfer method and apparatus according to the present invention.
- FIG. 14 is a schematic plan view showing an embodiment of the present invention.
- FIG. 14 is a schematic plan view showing a fifth embodiment of the substrate transfer method and the apparatus according to the present invention
- FIG. FIG. 16 is a schematic plan view showing a modification of the embodiment
- FIG. 16 is a schematic plan view showing a sixth embodiment of the substrate transfer method and apparatus according to the present invention
- FIG. 25 is a table for explaining a transfer mode, a sensor recognition operation, and a control content based thereon according to the sixth embodiment.
- FIG. 18 is a view for explaining the transfer path of the component transfer device when mounting electronic components on large, medium and small length substrates positioned on the conventional substrate transfer device.
- FIG. 1 is a schematic perspective view of a component mounter.
- a component supply device 10 for supplying components and a component P co-supplied from the component supply device 10 are taken out to form a wiring pattern.
- a mounting head device 20 as a component transfer device mounted on a printed circuit board PB (hereinafter, referred to as a substrate), and a substrate transport device 40 that transports the substrate PB and positions it at a predetermined position.
- PB printed circuit board
- the component supply device 10 includes a main body 12 that supports a plurality of rows of component supply reels 11, and a component take-out portion 13 provided at the tip of the main body 12.
- the component supply reel 11 winds and holds a tape (not shown) in which the components P are sealed at a predetermined pitch. This tape is set at the specified pitch with a sprocket (not shown). Each time it is pulled out, it is sent along a large number of guide slots of the tape guide mechanism 13a, the encapsulation of the part P is released, and the part P is sequentially sent to the part take-out part 13.
- the mounting head device 20 includes a traveling drive system for moving the mounting head 30 in a horizontal XY plane and a spindle 32 supported by the nozzle holder 31 in the upper and lower Z-axis directions. It has a vertical drive mechanism to move it.
- a movable platform 24 that moves in the horizontal Y-axis direction of the traveling drive system is composed of a pair of components mounted on the ceiling 15 a of the machine frame 15 above the component supply device 10 and the board transfer device 40. It is slidably mounted on a rail 21 in the Y-axis direction, and is moved in the Y-axis direction by a servo motor 23 via a ball screw 22 and a nut 22a.
- a housing 25 provided with a pair of X-axis direction rails 28 extending in the horizontal direction at right angles to the Y-axis direction rail 21 is fixed to the lower surface of the movable base 24.
- the head body 33 of the mounting head 30 is slidably mounted on the X-axis rail 28 and the servomotor is mounted on the housing 25 via a ball screw 26 rotatably mounted on the housing 25. It is moved in the X-axis direction by 27.
- a cylindrical nozzle holder 31 is mounted on the head main body 33 so as to be rotatable around a vertical axis, and is indexed and rotated by a servomotor 37.
- a plurality of spindles 32 are supported on the nozzle holder 31 so as to be able to reciprocate in the Z-axis direction at equal pitch intervals on a circle centered on the vertical axis, and usually a spring force of a compression spring (not shown). Urged to the rising end.
- a nozzle N is attached to the lower end of each spindle 32.
- An elevating lever 36 is mounted on the head body 33 so as to be movable in the Z-axis direction, and the elevating lever 36 is moved up and down by a servo motor 34 through a pole screw 35.
- the spindle 32 which is indexed below the lifting lever 36 by rotation and engages with it, is raised and lowered in the Z-axis direction via the lifting lever 36 by the servomotor 34.
- FIG. 2 in which the substrate transfer device 40 is broken along the line A--A in FIG. 1 and FIG. 3 in which the substrate transfer device 40 is broken along the line B--B in FIG.
- the board transfer device 40 includes a pair of bases 41 arranged on a pair of left and right bases 41 viewed from the front in the transfer direction so as to correspond to the width of the board PB (length in a direction orthogonal to the transfer direction of the board PB).
- Guide rails 4 2 and 4 3 and a pair of endless conveyor venolets 4 6 and 4 provided immediately below along the guide rails 4 2 and 4 3 and guided by belt guides 4 4 and 4 5.
- a clamp device 50 for positioning and clamping the substrate PB conveyed to a predetermined position by the conveyor knurls 46 and 47.
- Timing belts are used for the compare belts 46 and 47, and the drive pulley 64, the pair of front and rear transport guide pulleys 61 and the direction conversion pulley 63 are preferably timing pulleys.
- a transport path is constituted by a pair of guide rails 42, 43 and the like.
- the clamp device 50 has a vertically movable pedestal 52 on which a plurality of support pins 51 appropriately arranged corresponding to a plurality of types of substrates to be transferred are erected.
- the board PB is guided into the mounting position by the conveyor belts 46 and 47 while being guided by the rails 42 and 43, the base 52 guided by the plurality of pilot bars 53 and the hydraulic cylinders Driven by 5 4 and raised, the board PB is pushed up by the support pin 51 and clamped between the engaging projections 42 and 43 provided on the guide rails 42 and 43. .
- the board PB is carried out by lowering the pedestal 52 and placing the board PB on the conveyor belts 46 and 47.
- the left and right endless conveyor belts 46, 47 are composed of a pair of front and rear transport guide pulleys 61, a pair of front and rear return pulleys 62, a direction conversion pulley 63, a driving pulley 64, It is wound between the tension applying pulleys 65.
- the driving pulley 66 rotates integrally with the spline shaft 66.
- the spline shaft 66 is coupled to a pulse motor 67 and driven to rotate.
- Conveyor belts 46, 47, transport guide pulley 61, drive pulley 66, pulse motor 67, etc., constitute a substrate transfer means.
- one base 41 shown on the right side of FIG. 3 is guided so as to be able to approach and separate from the other base, and is conveyed to the other base 41 by an interval adjusting mechanism. It can be automatically adjusted to have an interval corresponding to the width of the substrate to be adjusted.
- a board sensor 68 for detecting the front edge of the board PB in the carrying direction is attached to the guide rail 42 toward one side of the board PB.
- the substrate sensor 68 is of an ON-OFF operation type that outputs an “OFF” signal when not facing one side surface of the substrate PB, and outputs an “ON” signal when facing one side surface.
- the mounting position of the board sensor 68 in the transfer direction is a position slightly closer to the upstream side than the center position of the transfer device 40.
- the position detected by the substrate sensor 68 serves as a reference for controlling the transfer operation to the target position, which is the optimal mounting work position on the transport device 40 for the substrate PB.
- each of the plurality of types of boards PB has an arbitrary portion in the transport direction, preferably a central portion Bj of a mounting area in which a large number of components are mounted is positioned from the front end of the board. Specified by three digits (nnn). Normally, the part Bj and the center Bm in the transport direction of the board almost coincide with each other. However, depending on the board, the mounting area is deviated to the front side or the rear side in the board transport direction.
- the site B j is specified to arbitrarily specify the center of the region. Then, the position of the substrate PB is stopped so that the center Bm or an arbitrary designated portion Bj is aligned with the optimum mounting position on the transfer device 40.
- the optimal mounting position is the board sensor alignment position S0 that matches the board sensor 68, the component camera alignment position S1 that matches the component camera 70, and the center of the transfer device 40 in the transfer direction. Center position of the transfer device S2 and the position of the center of the component take-out portion 13 of the component supply device 10 or the position S3 where a component with a large number of components is arranged. 0 to S3 are selectively specified, enabling indexing to the optimal mounting position flexibly selected and specified according to the board type. In FIG. 4, the matching positions S0 to S3 are apart from each other with a considerable distance, but these matching positions may be close to each other. Further, as will be described later, the substrate sensor 68 may be provided at a substantially intermediate position of the transfer device 40.
- reference numeral 39 denotes a board camera mounted on the head body 33 of the mounting head 30.
- the camera 39 is formed on the board PB clamped at the mounting position. At least two captured reference marks are imaged, and the displacement and angular displacement of the clamp position of the substrate PB are monitored.
- the component camera 70 described above is fixedly installed on the machine frame 15 between the component unloading section 13 and the board transfer device 40, and the component P sucked by the nozzle N of the mounting head 30 is mounted. Monitor positional deviation and angular deviation with respect to the nozzle.
- FIG. 5 is a block diagram showing a configuration of a control device of the component mounter configured as described above.
- This control device includes a central processing unit CPU and an arithmetic processing unit 71 in which ROM and RAM are connected by a data bus.
- the processing unit 71 includes an input device 72 such as a numeric keypad, a display device 73 such as a display, a storage device 74, a communication device 75 connected to a host computer (not shown), and a servomotor 23, 2 XY-axis drive unit 7 that drives 7 7, servo motor 3 4, 3 7 Z-axis drive unit 7 8, Nozzle drive unit 7 9 for opening and closing nozzle N, Board camera 39 and Camera interface 80 for receiving camera data from component camera 70 are connected. I have.
- the arithmetic processing section 71 includes a sensor interface 81 to which a detection signal from the board sensor 68 is input, and controls the pulse motor 67 to stop various boards PB on the board transport device 40.
- a substrate transfer driving device 82 for controlling the position and an actuator control device 83 for controlling an actuator such as a fluid pressure cylinder 54 of the clamping device 50 are connected.
- the XY-axis driving device 77 drives the servomotors 23 and 27 to move the above-described head body 33 along the X-axis direction and the Y-axis direction, and moves the nozzle N from the component take-out part 13. It is transported to many command locations on the board PB.
- the Z-axis driving device 78 drives the servo motor 37 to rotate the nozzle holder 31 around the R axis, and the spindle 3 with the nozzle N corresponding to the part P to be sucked is attached to the lever 3 2 as a lever 3. Then, the servo motor 34 is driven and the spindle 32 is piled down by the spring force and lowered, and the nozzle N is lowered until the tip is very close to the rear part position.
- the nozzle driving device 79 switches the switching valve to selectively supply and shut off the negative pressure to the nozzle N, and causes the nozzle N to suck or release the component P.
- the board transport drive device 81 drives and controls the pulse motor 67 to drive the belt conveyors 46 and 47, thereby loading and unloading the board PB from the mounting position, and the actuator control device 83.
- the pedestal 52 is moved up and down by controlling the fluid pressure cylinder 54, and the board P mounting data includes types of mounted components for each of a plurality of board IDs, mounting positions of the components, and compatible nozzle information for each component. This data is basic data for setting the order of mounting components, is sent from the host computer to the arithmetic processing unit 71 in advance, and is stored in the storage device 74.
- the position shift and angle shift data of the board S are converted to the machine coordinate system of the component mounting machine from the board coordinate system set for the board PB to indicate the mounting position of the component P with respect to the board PB. Used as data for The positional deviation and angular deviation data of the component P with respect to the nozzle N obtained from the component camera 70 are used to correct the mounting position data.
- a component mounting order setting program and the like are registered in the ROM.
- FIG. 6 is a board information table BDT formed in the storage device 74 of FIG. 5.
- the table BDT includes a board length (L) and a board length (L) for each type number PB001 to PBn of the board S. , Operation width (K), matching area B (Bm / B j) on board PB, optimal mounting position (SO to S3) as stop target on transfer device, and mounting head for that board PB
- the numbers PR001 to PRn of the mounting operation programs to be executed by the mounting machine 20 are stored. These pieces of information are transferred from a host computer (not shown) or input using the input device 72.
- the board length (L), the calculation width (K), and the matching area (Bm / Bj) on the board PB are determined based on the optimum mounting position (S0 to S3) of the transfer device 40 for various boards PB having different lengths.
- the table BDT is provided with an identification flag FLG, and the mounting operation for the corresponding board PB is instructed from the host computer or is sequentially instructed by the input device 72 according to the production schedule set in advance. Then, the logical value “1” is stored in the corresponding Bragg FLG.
- FIG. 7 is an operation explanatory view showing an outline of the operation of the transfer device 40 controlled by the control device shown in FIG. 5.
- a board of type number PB001 is a pair of guide rails 92 of a carry-in comparator 90 installed at the entrance side of the board transfer apparatus 40. 9 Waiting for 3
- the type of the substrate PB is identified by an identification sensor (for example, a bar code reader) 94 as appropriate.
- an identification sensor for example, a bar code reader
- step S2 the advance amount by which the substrate PB should be further advanced from the front edge detection position (transfer reference position) by the substrate sensor 68 is calculated.
- This step constitutes the moving distance calculating means in the present invention.
- the calculation of the advance amount Xn depends on which of the target position S0 to S3 on the apparatus the center Bm on the substrate or the specified alignment part Bj is aligned with, as described later. Although different, this calculation is executed based on the data stored in the board information table BDT shown in FIG.
- step S3 is executed, and the arithmetic processing unit 71 of the control device gives a command to the substrate transport driving device 82,
- the carry-in conveyor device 90 and the pulse motor 67 of the transfer device 40 are driven synchronously to transfer the substrate PB into the transfer device 40.
- the arithmetic processing unit 71 monitors whether or not the sensor interface 81 has received the “ON” operation signal of the substrate sensor 68 during the administration of the transport operation command at minute time intervals. At the moment when the sensor interface 81 receives the “ON” operation signal from the board sensor 68, the processing unit 71 sets the subsequent target movement amount to the forward movement amount Xn calculated in step S2.
- control is performed such that the substrate PB is advanced by a forward distance Xn from the position P0 at which the front end of the substrate PB is aligned with the substrate sensor 68 with reference to the position P0.
- the front edge of the substrate PB is connected to the substrate sensor 68.
- the movement of moving the substrate PB to the alignment position P 0 and the movement of moving the substrate PB forward from the alignment position by a further amount X n are performed continuously, but the substrate PB is moved at the alignment position P 0 with the substrate sensor 68. It may be stopped and then the advance amount Xn is fed.
- step S4 the execution of step S4 is started, and the arithmetic processing unit 71 subtracts the forward movement amount Xn from time to time, and the remaining value of the forward movement amount Xn is calculated.
- the substrate transport driving device 82 executes a deceleration control according to a known deceleration pattern, and smoothly stops the substrate PB at a target position where the front end of the substrate PB has advanced from the substrate sensor alignment position P0 by a distance Xn. Let it.
- the arithmetic processing unit 71 gives a command to the actuator control circuit 83 to raise the working cylinder (not shown) of the stopper 91 and to operate the hydraulic cylinder 5 of the clamping device 50. Operate 4 to raise the pedestal 52, and fix the board PB to the clamp position shown by the chain line in FIG.
- the component mounting operation is started.
- a mounting operation program specified in the board information table BDT for example, when the board type number is PB001, a program PR001 created in advance corresponding thereto is specified, and this program is specified.
- PR 001 is read from the program storage area of the storage device 74 and is executed by the arithmetic processing unit 71 step by step.
- a mounting operation program is known and will not be described in detail, but the mounting head device 20 is operated according to the program.
- the nozzle holder 31 is moved along the XY plane and the Z-axis, and is sequentially turned and indexed, and successively sucks the necessary components P from the plurality of tape slots of the component extraction unit 13 one after another.
- the nozzle head 31 is then positioned directly above the part camera 70, and the nozzle P of each part P Position shift and angle shift are detected. This detection data is used to correct the mounting position data defined in the component mounting operation program.
- the nozzle holder 31 then moves in the XY plane, and the substrate camera 39 captures two not-shown reference holes formed at predetermined positions on the substrate PB at predetermined intervals. Then, the position information of the reference hole is input to the camera interface 80.
- the positional deviation and the angular deviation of the clamped substrate PB with respect to the ideal position of the substrate PB assumed in creating the mounting operation program of the substrate PB are detected.
- it is used as coordinate conversion data for converting the board coordinate system set corresponding to the board PB into the machine coordinate system of the component mounting apparatus.
- the nozzle holder 31 that has sucked the component P to be mounted is moved to a plurality of mounting positions on the board PB together with the turning index, and Component P is mounted on board PB.
- the nozzle holder 31 returns to the upper position of the component extracting section 13 again, sucks a plurality of components, and the component camera.
- the position of the component P, which is positioned just above 70, is sequentially detected on the component camera 70 with respect to the position of each component N with respect to each nozzle N. Are sequentially mounted on the board PB.
- the nozzle holder 31 is connected to the component take-out part 13 side and the transfer device 40 side via the suction position shift confirmation position of the component camera 70. The mounting operation is repeated for a large number of components while reciprocating many times.
- the nozzle holder 31 is positioned above the component take-out portion 13. Is returned to the original position set adjacent to the component camera 70.
- the clamp device 50 is unclamped, the pulse motor 67 of the transfer device 40 and the unloading conveyor device 96 is synchronously driven, and each of the conveyor belts 46 and 47 is moved forward and around. Is carried out to the carry-out conveyor 96 shown in FIG. 7 (a), and the processing of the substrate PB on the transfer device 40 is completed.
- FIG. 8 (a) shows an example in which the board PB is aligned with the component camera 70 position S1.
- the board sensor alignment position S is set to half of the board length L1.
- the matching part is directly a numerical value. This is specified as information nnn, whereby the offset values B and C of the center position S2 of the transfer device 40 and the center position S3 of the component take-out unit 13 with respect to the board sensor alignment position S0 are added to the numerical information nnn.
- each substrate PBn has a distance Ln / 2 that is half of the substrate length Ln after the front end thereof is aligned with the position S0, or a designated distance.
- Each is transported by the distance of the part B j and stopped.
- the center Bm of the substrate PB or an arbitrary designated portion Bj designated by the direct numerical value nnn is selectively aligned with one of the plurality of alignment positions S0 to S3.
- the board PB can be stopped at the optimal mounting position for the board.
- the alignment position can be set other than SO ⁇ S3.
- Unit 71 for example, pre-registered in ROM.
- FIG. 8 (a) for example, as illustrated in FIG. A configuration in which one or a pair of sensors 110 and 111 of an on-off type is disposed on the top is adopted.
- the control device of the component mounter determines that one or both of these sensors detect the leading edge of each board PB and turn it “ON”, and then detect the trailing edge and turn it “OF F”.
- the length Ln of each board PB is automatically detected by detecting the rotation amount of a pulse motor or a servomotor (not shown) for driving the carry-in conveyor between the board, and the board length (L) storage area of the board information table BDT To memorize. This makes it unnecessary to specify the board length (L) from the host computer or the input device 72.
- Board information table BDT by reading information such as part information (Bm / B j), target stop information (S 0 to S 3), and mounting operation program PR n from the two-dimensional code attached to the board PB It can be configured to be stored in the storage area of the substrate type number. In such a configuration, the control device of the component mounter can determine the length and type of the board PB to be loaded into the mounter by itself and prepare a necessary mounting operation program. And become more independent.
- FIG. 9 (b) are explanatory diagrams showing another modified example of the above-described first embodiment.
- the operation width Kn is registered in the substrate information table BDT in addition to the substrate length Ln.
- the expression Xn K
- the advance amount X n is calculated using n— (L nL n / 2).
- FIG. 9 (b) is an explanatory view showing an example of another odd-shaped substrate PB having an L-shaped notch at the center.
- a numerical value nnn specifying an arbitrary part Bj on the substrate PB is designated, and this part Bj is aligned with the position S0 of the substrate sensor 68.
- aligning the part Bj with the other alignment position S1, S2 or S3 add any of the offset values A, B and C to the above equation to add the advance amount Xn. calculate.
- the board stop position includes the board length (Ln), the calculation width (Kn), the deceleration distance (braking distance) of the pulse motor 67, and the stop target position (SO to S This is done with reference to 3).
- the center Bm and any part Bj of various boards are aligned and stopped at an alignment position such as the center of a device arrangement or a fixed camera position.
- the target stop position can be set freely, for example, at the right end. You. If the board length L n is too short to provide a sufficient deceleration distance, the pulse motor 6 is used to reduce the transport speed by referring to the board length (L n) information registered in the board information table BDT. 7 is controlled.
- the general arrangement position of the substrate sensor 68 is an efficient position, for example, the central position S 2 of the transfer device 40 which is an intermediate position of the device table, or when adopting the part image processing by a fixed camera, It is set to the matching position with the camera.
- the board sensor 68 By installing the board sensor 68 at the center position S2, most boards can detect the presence or absence of the board when stopped.
- the installation position of the substrate sensor 68 may be set to be moved upstream from the center position S2 by an amount corresponding to the braking distance.
- the stop control of the pulse motor 68 is performed by calculating the remaining moving distance from the time when the board sensor 68 operates “ON”.
- the remaining travel distance is indicated as the number of pulses in the case of a pulse motor or servo motor capable of position control, and in the case of a motor without the pulse concept, the distance is converted into time from the motor rotation speed, acceleration / deceleration distance, etc. And then perform braking.
- the transfer device 40 can be moved rightward as shown in FIGS. It can be applied to any of the stop mode, the left end stop mode using the left flow, and the center stop mode using the left and right bidirectional flow. The stop position is changed every time the flow direction of the substrate is changed because no stop is used. No need to adjust Can be given.
- a stopper may be provided.
- the operator in consideration of the slip between the substrate PB to be transported and the transport belts 46 and 47, the operator can set various types of substrates PB0 at the machine site. 0 1 ⁇ PB n slip amount every n] 3 1 ⁇ ! 3 n is set and added to the forward movement amount X n, and this slip addition movement amount ( ⁇ ⁇ + ⁇ 3 ⁇ ) may be used as the movement amount from the substrate sensor 68 matching position S 0.
- the operator operates, for example, the transfer device in each individual mode, and moves the various substrates ⁇ ⁇ ⁇ from the substrate sensor 68 alignment position S 0 to the advance amount X n according to the substrate.
- the slip amount is moved a plurality of times, and the error with respect to the target position in that case is defined as the slip amount, and the average value of the plurality of times is defined as the slip amount] 3n of the substrate type. That is, since the size and weight of the substrate are specified for each substrate P Bn, the slip amount also becomes a stable value for each type of substrate, and the average slip amount] 3 n for each substrate type is determined by trial and error. Accordingly, if the slip amount is equal to or more than the allowable value, the operator inputs the slip amount ⁇ ⁇ that needs to be corrected for the board PBn using the input device 72, and the board ⁇ ⁇ ⁇ 68. The slip addition movement amount (X ⁇ + ⁇ 3 ⁇ ) from the matching position S 0 is further stopped at the moved position. (Other Embodiments and Modifications)
- FIG. 11 is a schematic plan view showing a second embodiment according to the present invention.
- This embodiment is characterized by stop control of a substrate defined at a position where the mounting area is deviated forward in the transport direction.
- the mounting area on which the electronic components are mounted is concentrated in front of the board ⁇ ⁇ in the transport direction. Therefore, in this embodiment, instead of aligning the center of the board PB with the target position, for example, the position S1 of the component camera 70, the center of the mounting area Mz in the transport direction is set to the arbitrary position described above.
- the part B j is aligned with a designated target position such as the position S 1 of the component camera 70.
- the amount of advance X of the board PB from the time when the board sensor 68 detects the front edge of the board PB (that is, the time when the front edge of the board PB reaches the alignment position PO with the board sensor 68)
- X n is a distance obtained by adding the numerical information nnn specifying the part Bj to the offset amount between the substrate sensor position S0 and the target camera position S1, for example.
- the mounted component is transported to the mounting area Mz at the shortest distance from the position of the component camera 70. Will be reachable.
- This transfer path is shorter than the transfer path of the mounted component indicated by the broken arrow when the center of the substrate PB is aligned with the component camera position S1, and the mounting work efficiency is improved.
- the feed of the substrate PB is not stopped when the front edge of the substrate PB reaches the matching position P0 with the substrate sensor 68, but may be stopped.
- the movement amount from the matching position P0 may be the forward movement amount Xn as in this embodiment, or may be the slip addition movement amount ( ⁇ + ⁇ 3 ⁇ ) in consideration of the slip amount. Good.
- FIG. 12 is a schematic plan view showing a third embodiment according to the present invention.
- the substrate PB having a normal width and the small substrate PBs having a small width are selectively transported to the transport device 40.
- the base supporting one of the guide rails of the transport device 40, the carry-in conveyor 90 before and behind it, and the carry-out conveyor 96 is a chain line with respect to the fixed base supporting the other rail on the component supply device side. It is configured as a movable base that can advance and retreat from the position to the solid line position.
- the small board PBs when the small board PBs is carried in, the small board PBs is conveyed along the fixed guide rail side close to the component supply device side, and its center in the length direction or an arbitrary portion is moved to the board.
- the operation is stopped in a state where the sensor is aligned with any one of the specified sensor alignment position, component camera alignment position, alignment position with the center of the transfer device, and alignment position with the center of the component unloading section.
- the forward movement amount Xn of the substrate PBs after the detection of the leading end by the substrate sensor 68 is calculated by the above-described equation.
- the transport path of the mounted components is the shortest as indicated by the solid line arrow, and the mounted components indicated by the broken line when the substrate is stopped so that the forward end is aligned with the right end of the transfer device 40.
- the transport distance is shortened compared to the transport route of the above.
- the feeding of the substrate PB is not stopped when the front end of the substrate PB reaches the alignment position P0 with the substrate sensor 68, but may be stopped once.
- the movement amount from the alignment position P0 may be the advance amount Xn as in this embodiment, or the above-described slip addition movement amount (Xn + / 3) in consideration of the slip amount. n).
- FIG. 13 is a schematic plan view showing a fourth embodiment according to the present invention.
- the substrate PB is further moved by the amount of advance Xn according to the type of the substrate PB as described above, and is moved to the target position on the transport path by the substrate transfer means. Stopped.
- the head body 33 of the mounting head 30 is positioned at a position facing the reference mark 97 of the board PB where the board camera 39 is stopped at the target position.
- the reference mark 97 of the board PB stopped at the target position is read by the board camera 39, and the amount of deviation from the target position is calculated.
- the pulse motor 67 of the substrate transfer means is captured and rotated by a rotation angle corresponding to the deviation amount, and the compare belt 46, 4 Correct and move 7 to position the board PB at the target position.
- parameters such as the advance amount Xn and the deceleration of the pulse motor 67 are determined based on the shift amount detected by the board camera 39. The correction may be performed so that the deviation amount is eliminated.
- the feed of the substrate PB is not stopped when the front end of the substrate PB reaches the position PO where the substrate PB is aligned with the substrate sensor 68, but may be stopped.
- FIG. 14 is a schematic plan view showing a fifth embodiment according to the present invention.
- component take-out units 13 a and 13 b of component supply devices 10 a and 1 O b used in mounting programs A and B are arranged along the transport device 40.
- a board sensor 68 is provided in alignment with the center of the component take-out part 13a in the transport direction. Also, the offset amount I-I at the center in the transport direction of the component take-out portion 13b with respect to the board sensor 68 is input to the control device shown in FIG. 5 as a known value in advance.
- the arithmetic processing unit 71 of the control device identifies whether the board carried into the carrier device 40 is mounted by the mounting program A or mounted by the mounting program B.
- the advance amount Xn of the board PB_A mounted by the mounting program A is calculated by the above-described arithmetic expression, and the board PB_A is stopped so that the center or any part thereof is aligned with the board sensor 68.
- the advance amount Xn is calculated by the above-described arithmetic expression, and the center or an arbitrary portion is set at the center of the component extracting portion 13b. Stopped to match.
- the advance amount Xn is a value obtained by adding the offset amount H to half of the length Ln of the substrate PB-B or designation information nnn of an arbitrary portion.
- a dedicated board sensor 68 may be provided for stopping control of the boards PB-B.
- the number of component supply devices may be three or more.
- the movement amount from the matching position P0 may be the forward movement amount Xn as in this embodiment, or may be the aforementioned slip addition movement amount ( ⁇ + 0 ⁇ ) in consideration of the slip amount. .
- FIG. 15 is a schematic plan view illustrating a modified example of the fifth embodiment.
- a component supply device 10a, 10b, 10 in which devices (mounting components) for boards to be produced, PB-B, PB-C, and PB-C is set in advance.
- Take-out sections 13 &, 13 b, and 13 c are arranged along the transfer device 40.
- this mode there is a need to increase the efficiency as much as possible in order to produce a large amount of the substrates PB-B, while the substrates PB-A and PBC are supposed to have a small production volume.
- the substrate sensor 68 is disposed at the entrance end of the transfer device 40.
- the amount of advance Xn that the board further advances after the front edge of each board reaches the alignment position with the board sensor 68 is the offset value a1, a2, a of the optimal mounting position of each board with respect to the board sensor position. It is calculated by substituting 3 into the above-mentioned equation. As a result, each of the substrates PB-A, PB-B, and PB-C is aligned with the corresponding one of the component take-out sections 13a, 13b, and 13c, and performs efficient mounting processing. be able to.
- Mass-produced board PB—Part supply device for B In the case of a supply unit, the width of the supply device 10b becomes large, and the center position of the component supply devices 10a and 10c for the substrates PB-A and PB-C is In some cases, it may protrude from 0 to the left and right. In such a case, since the center of production is the substrate PB-B, the center in the width direction (center in the transport direction) of the supply device 10b is aligned with the center of the transport device 40, and the substrate PB-B is adjusted. The parts are assembled in a state where they are positioned at the center of the transfer device 40.
- the substrate PB-A is positioned at the left end of the transfer device 40.
- the substrate PB-C is positioned at the right end of the transfer device 40.
- the substrate PB-B with a high production volume is positioned at the position where the moving distance between this substrate and the supply device 10b is the shortest, and the substrate PB_A and the substrate PB_A with a relatively low production volume are obtained.
- PB-C is positioned at the left end or right end of the transport device 40 where the distance between the supply device 10a and the supply device 10c is as short as possible.
- the stop position of the substrate P BB having the largest production amount is usually determined so as to match the center of the supply device 10b in the transport direction. This is because frequently used components are usually arranged at the center of the supply device 10b. However, if the frequently used parts are not arranged at the center of the supply unit 10b due to production reasons, the part of the supply unit 10b where the frequently used parts are arranged is regarded as the work center.
- the board PB_B is positioned so that the center of the board PB-B or the center of the component mounting area is aligned with the work center.
- Transport device with work center of 0a It is arranged at the right end of the supply device 10a so as to be closer to the center position side of 40, and is arranged at the left end of the supply device 10c so that the working center of the supply device 10c is closer to the center position side of the transfer device 40. I do.
- the board 10b with a high production volume is stopped at the center of the work of the supply device 10b for that purpose, in alignment with the center of the board or the center of the component mounting area.
- a and the substrate PB—C are stopped by aligning the center of the substrate or the center of the component mounting area with the work center of the corresponding supply device 10a and the work center of the supply device 10c, respectively.
- the component transfer distance to the board PB-B which produces the largest amount, should be minimized.
- the board PB-A and the board PB-C whose production is relatively small, are stopped under such conditions so that the component carrying distance is as short as possible.
- the feed of the substrate PB is not stopped when the front edge of the substrate PB reaches the matching position P0 with the substrate sensor 68, but may be stopped.
- the movement amount from the matching position P0 may be the advance amount Xn as in this embodiment, or may be the aforementioned slip addition movement amount ( ⁇ + ⁇ ) in consideration of the slip amount. Is also good.
- the substrate sensor may be disposed substantially at the center of the transfer device 40 as indicated by reference numeral 68 '.
- the above formula is used to calculate the advance amount X ⁇ of the substrates ⁇ ⁇ - ⁇ and ⁇ ⁇ -C.
- the offset value a 2 between the index position of the board PB-A and the sensor 68 'position is set in advance, and the front edge of the board PB_A is
- the board PB-A can also be aligned with the front of the component take-out part 13a by retreating from the position detected at the retreat distance by a retreat distance (-a2 + Ln / 2).
- the amount of retreat movement from the alignment position P 0 is the retreat distance (1 a 2 + Ln / 2), or the amount of backward movement in consideration of the amount of slip.
- FIG. 16 and FIG. 17 show a sixth embodiment according to the present invention.
- the feature of this embodiment is that, as shown in FIG. 16, a pair of sensors 68L and 68R are arranged at both ends of the transfer device 40, and these sensors are used as a sensor for confirming the loading and unloading of the substrate. The point is that it is used as well as the substrate sensor described above.
- Another feature of this embodiment resides in that the substrate PB is used in a one-way transfer specification for transferring the substrate PB from one side and in a two-way transfer specification.
- the substrate sensor 68L or 68R sends the substrate PB based on a substrate passage detection criterion for detecting the passage of the rear edge of the substrate PB.
- FIG. 17 is a table illustrating the recognition operation of the sensors 68L and 68R and the control contents in the one-way transfer specification and the two-way transfer specification.
- the left end sensor 68L detects the passage of the rear edge of the substrate PB, and switches the signal from N to OFF to the transfer device 40. It confirms that the board PB has been loaded, and also functions as a reference position signal for board indexing control.
- the arithmetic processing unit 71 performs arithmetic processing as follows in the calculation of the advance amount Xn in this embodiment.
- Offset value A1, B1 or C1
- the board PB When the left end sensor 68L detects the passage of the rear edge of the board PB, the board PB is advanced rightward by further moving the board PB to the right by the amount of advance X n calculated by the above equation. Stopping is performed at a position where Bm or the designated part Bj is aligned with any of the positions S1 to S3.
- the right end sensor 68R In the right-flow transfer mode in the one-way transfer specification and the two-way transfer specification, the right end sensor 68R outputs a switching signal from ON to OFF for capturing the passage of the rear edge of the substrate PB to the transfer device 40R. Check that the board PB has been unloaded from the right side.
- the right-end sensor 68R detects the passage of the rear edge of the board PB, confirms that the board PB has been loaded into the transport device 40, and checks the board PB. Functions as a reference position signal for indexing control.
- the arithmetic processing in this indexing control is the same as the arithmetic expression of the right flow mode described above, and in this case, A2, B2 or C2 is used as the offset value.
- the left end sensor 68L confirms that the switching signal from ON to OFF captured by the passage of the rear end of the substrate PB has passed the substrate PB from the transfer device 40 to the left.
- the sensors 68 L and 68 R are also used for a deceleration sensor, a stop sensor, a passage confirmation sensor, and the like of the conveyor, and the number of sensors installed in the conveyor 40 is thereby reduced.
- the configuration can be simplified with minimizing the number.
- the sensors 68L and 68R utilize confirmation by a switching signal from ON to OFF, so that highly reliable board transfer stop control can be realized.
- the timer function to measure the transit time from the ON operation of the front edge detection to the OFF operation of the rear edge detection of each sensor, it is possible to detect the transport error of the board PB. . This transport error is detected when the transit time is normal Alternatively, the substrate length may be determined from the product of the transit time and the transport speed, and the determined value may be compared with the known actual substrate length Ln.
- the sixth embodiment uses a substrate passage detection criterion for detecting the passage of the rear edge of the substrate PB.
- the feed of the substrate PB is not stopped when the rear edge of the substrate PB reaches the matching position P0 with the substrate sensor 68, but may be stopped temporarily.
- the amount of movement from the position where the rear edge of the substrate PB is aligned with the substrate sensor 68L or 68R may be the advance amount Xn as in this embodiment, or the slip amount is considered.
- the slip addition movement amount (Xn + i311) described above may be used.
- the pulse motor is used as the driving means for circulating the conveyor belts 46 and 47.
- a servo motor with a rotary encoder may be used instead.
- the control of the additional advance feed of the advance amount (X n) is performed by detecting the feed amount of the compare belts 46 and 47 based on the output of the rotary encoder, and determining that the actual feed amount is the target feed amount.
- the servo motor is controlled to stop.
- deceleration control is performed. Further, in the above-described embodiment, as shown in FIG.
- the substrate sensor detects that the substrate has reached or passed a predetermined position on the transport path, and from this detection position, transports the substrate further along a specific moving distance according to the characteristics such as dimensions of each substrate. Position, so that the board can be positioned with high precision at the optimal component mounting position according to the type of board, and when applied to a component mounter, mount components using a component transfer device. The effect that work is performed smoothly and reliably is exhibited. In the case where the passing position of the substrate is used as a reference, the influence of positioning errors such as slippage is reduced because the entire substrate is loaded on the transfer device.
- the board when calculating the moving distance that travels according to the board from the position detected by the board sensor, there is no need to specify information for stopping the board at the mounting position separately from the board dimensions, and the board is loaded. If the length of the board in the transfer direction is automatically detected in the middle of the transfer path, there is no need to specify the dimension information of the board. Further, when the specific moving distance is a moving distance preset according to the board, an optimum value can be designated for each board, and thus the board is positioned at an optimum component mounting position. Thereby, the efficiency of the component mounting operation by the component transfer device is further improved.
- a pulse motor or a servomotor is used as a power source for circulating the conveyor belt for transporting the substrate of the substrate transfer means, so that the substrate is positioned from a position detected by the substrate sensor to a mounting position corresponding to the type of the substrate. Precise indexing control helps improve the efficiency of mounting work.
- the substrate sensors are arranged near both ends of the transport path, and each substrate sensor has a function as a supply sensor for confirming that the substrate has been loaded according to the transport direction. There is no need to provide a separate loading confirmation sensor.
- the component suction head provided in the component transfer device takes out the electronic component from the take-out part of the component supply device and mounts the electronic component on the printed circuit board stopped at the target position. It is suitable for use as a board transfer method and apparatus for transferring and stopping a printed circuit board to a mounting position in an electronic component mounter.
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005505369A JP4499661B2 (ja) | 2003-04-11 | 2004-04-08 | 基板搬送方法および装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003108044 | 2003-04-11 | ||
JP2003-108044 | 2003-04-11 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004093514A1 true WO2004093514A1 (ja) | 2004-10-28 |
Family
ID=33295876
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/005066 WO2004093514A1 (ja) | 2003-04-11 | 2004-04-08 | 基板搬送方法および装置 |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP4499661B2 (ja) |
WO (1) | WO2004093514A1 (ja) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007173553A (ja) * | 2005-12-22 | 2007-07-05 | Matsushita Electric Ind Co Ltd | 基板搬送装置 |
JP2009054620A (ja) * | 2007-08-23 | 2009-03-12 | Panasonic Corp | 電子部品実装装置および電子部品実装方法 |
JP2009283803A (ja) * | 2008-05-26 | 2009-12-03 | Panasonic Corp | 電子部品実装用装置および電子部品実装用作業実行方法 |
JP2012023241A (ja) * | 2010-07-15 | 2012-02-02 | Fuji Mach Mfg Co Ltd | 基板停止位置制御方法および装置、ならびに基板装着位置制御方法 |
JP2012099668A (ja) * | 2010-11-02 | 2012-05-24 | Fuji Mach Mfg Co Ltd | 基板コンベヤ制御装置 |
JP2018142629A (ja) * | 2017-02-28 | 2018-09-13 | パナソニックIpマネジメント株式会社 | 部品実装方法および部品実装装置 |
JP2020053543A (ja) * | 2018-09-27 | 2020-04-02 | パナソニックIpマネジメント株式会社 | 部品実装装置 |
CN112862903A (zh) * | 2021-03-03 | 2021-05-28 | 深圳市旗众智能科技有限公司 | 贴片机相机与吸杆偏移量标定方法 |
WO2022185428A1 (ja) * | 2021-03-03 | 2022-09-09 | 株式会社Fuji | 基板搬送装置および基板搬送方法 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014116879B3 (de) * | 2014-11-18 | 2015-11-19 | Asm Assembly Systems Gmbh & Co. Kg | Verfahren zum Bestücken von Leiterplatten |
EP3579676B1 (en) | 2017-01-31 | 2021-12-01 | Fuji Corporation | Coordinate data generation device and coordinate data generation method |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS567818A (en) * | 1979-06-28 | 1981-01-27 | Toyoda Mach Works Ltd | Locating device for transportation |
JPS6453963A (en) * | 1988-05-19 | 1989-03-01 | Fuji Photo Film Co Ltd | Automatic original feeder |
JPH1070398A (ja) * | 1996-08-27 | 1998-03-10 | Toshiba Corp | 部品実装装置 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3721866B2 (ja) * | 1999-06-30 | 2005-11-30 | 松下電器産業株式会社 | 基板位置決め装置およびこれを搭載した塗布機または装着機 |
JP2001274594A (ja) * | 2000-03-24 | 2001-10-05 | Sanyo Electric Co Ltd | 基板搬送装置及び基板搬送方法 |
-
2004
- 2004-04-08 JP JP2005505369A patent/JP4499661B2/ja not_active Expired - Lifetime
- 2004-04-08 WO PCT/JP2004/005066 patent/WO2004093514A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS567818A (en) * | 1979-06-28 | 1981-01-27 | Toyoda Mach Works Ltd | Locating device for transportation |
JPS6453963A (en) * | 1988-05-19 | 1989-03-01 | Fuji Photo Film Co Ltd | Automatic original feeder |
JPH1070398A (ja) * | 1996-08-27 | 1998-03-10 | Toshiba Corp | 部品実装装置 |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007173553A (ja) * | 2005-12-22 | 2007-07-05 | Matsushita Electric Ind Co Ltd | 基板搬送装置 |
JP2009054620A (ja) * | 2007-08-23 | 2009-03-12 | Panasonic Corp | 電子部品実装装置および電子部品実装方法 |
JP2009283803A (ja) * | 2008-05-26 | 2009-12-03 | Panasonic Corp | 電子部品実装用装置および電子部品実装用作業実行方法 |
JP2012023241A (ja) * | 2010-07-15 | 2012-02-02 | Fuji Mach Mfg Co Ltd | 基板停止位置制御方法および装置、ならびに基板装着位置制御方法 |
JP2012099668A (ja) * | 2010-11-02 | 2012-05-24 | Fuji Mach Mfg Co Ltd | 基板コンベヤ制御装置 |
JP2018142629A (ja) * | 2017-02-28 | 2018-09-13 | パナソニックIpマネジメント株式会社 | 部品実装方法および部品実装装置 |
JP2020053543A (ja) * | 2018-09-27 | 2020-04-02 | パナソニックIpマネジメント株式会社 | 部品実装装置 |
JP7285408B2 (ja) | 2018-09-27 | 2023-06-02 | パナソニックIpマネジメント株式会社 | 部品実装装置および基板搬送方法 |
CN112862903A (zh) * | 2021-03-03 | 2021-05-28 | 深圳市旗众智能科技有限公司 | 贴片机相机与吸杆偏移量标定方法 |
WO2022185428A1 (ja) * | 2021-03-03 | 2022-09-09 | 株式会社Fuji | 基板搬送装置および基板搬送方法 |
CN112862903B (zh) * | 2021-03-03 | 2022-10-18 | 深圳市旗众智能科技有限公司 | 贴片机相机与吸杆之间的偏移量标定方法 |
JP7432058B2 (ja) | 2021-03-03 | 2024-02-15 | 株式会社Fuji | 基板搬送装置および基板搬送方法 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2004093514A1 (ja) | 2006-07-13 |
JP4499661B2 (ja) | 2010-07-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US6902090B2 (en) | Tape feeder, electronic component mounting apparatus using the same, and method of feeding electronic components | |
JP4465401B2 (ja) | 基板停止位置制御方法および装置 | |
WO2004093514A1 (ja) | 基板搬送方法および装置 | |
JP2004228326A (ja) | 基板停止位置制御方法および装置 | |
JP3721866B2 (ja) | 基板位置決め装置およびこれを搭載した塗布機または装着機 | |
JP6021374B2 (ja) | 部品実装装置及び部品実装方法 | |
JP4607679B2 (ja) | 電子部品実装装置における吸着ノズルの部品吸着位置確認方法および電子部品実装装置 | |
JP4503954B2 (ja) | 基板位置決め装置及び基板位置決め方法 | |
CN102821590A (zh) | 基板搬运装置及方法、电子零件安装机及安装方法 | |
KR101759633B1 (ko) | 부품 실장 장치, 부품 실장 방법 | |
CN116803224A (zh) | 物品交接***及方法 | |
JP5885498B2 (ja) | スプライシングテープおよびスプライシング処理方法ならびに電子部品実装装置 | |
JP4382395B2 (ja) | 搬送装置における減速度設定方法および装置 | |
JP2002050894A (ja) | 部品実装システムにおける基板搬送方法及び基板搬送装置 | |
EP3062339B1 (en) | Substrate working apparatus | |
CN110741745B (zh) | 电子元件安装机 | |
JP4357931B2 (ja) | 部品実装機 | |
JP7300575B2 (ja) | 部品装着装置および実装基板の製造方法 | |
JP6883709B2 (ja) | キャリアテープ搬送装置およびキャリアテープ搬送方法 | |
JP4296029B2 (ja) | 電子部品実装装置 | |
CN108370662B (zh) | 安装头的移动误差检测装置及元件安装装置 | |
JP2971180B2 (ja) | アウタリードボンディング装置 | |
JP4637405B2 (ja) | 対回路基板作業機 | |
JPH0738278Y2 (ja) | 部品取出し装置 | |
JP4821480B2 (ja) | ワーク搬送装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2005505369 Country of ref document: JP |
|
DPEN | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed from 20040101) | ||
122 | Ep: pct application non-entry in european phase |