JP5093194B2 - Component mounting equipment - Google Patents

Description

  The present invention relates to a component mounting apparatus for mounting a component on a substrate positioned at a work position.

  The component mounting device is provided extending in the horizontal direction on the base, and includes a substrate transport path for transporting the substrate and positioning to the work position, a component supply device detachably attached to the base, and a component supply device. The apparatus includes a mounting head that picks up a component to be supplied and mounts it on a substrate positioned at a work position. Among such component mounting devices, there is known a component mounting device that allows a plurality of component supply devices to be attached to a base at once by attaching a carriage holding the component supply device to the base. (For example, Patent Document 1). In this case, the base is provided with a space for inserting the carriage (cart insertion space), and the carriage is inserted into the carriage insertion space and attached to the base, but the carriage is not inserted into the base (base In the state of being removed from the base), a hand can be inserted from the bogie insertion space that is a hollow portion, and the operator may accidentally touch the operating mounting head. For this reason, it is possible to detect whether each carriage is always inserted into the carriage insertion space, and to stop the operation of the mounting head when it is detected that the carriage is not inserted into the carriage insertion space. ing.

  Further, in the component mounting apparatus, a carriage insertion space is provided on both sides of the base opposite to each other across the board conveyance path so that a carriage holding the component supply device can be attached to each carriage insertion space. In addition, there is one in which two mounting heads are arranged to face each other in a direction in which two carriages face each other. Even in the component mounting apparatus having two mounting heads as described above, when one of the carriages is removed from the base, this is detected, and the operation of the two mounting heads is stopped together. Can be achieved.

JP 2006-108420 A

  However, in the component mounting apparatus having the two mounting heads described above, the operator can reach the mounting head disposed on the side opposite to the side from which the carriage is removed from the carriage insertion space on the side from which the carriage is removed. However, when one of the carriages is removed from the base, stopping the operations of the two mounting heads has a problem that the work efficiency is lowered.

  Therefore, an object of the present invention is to provide a component mounting apparatus that can improve the work efficiency while ensuring the safety of the work of the operator.

The component mounting apparatus according to claim 1 is provided with a base, a board transport path that extends in a horizontal direction on the base, and performs board transport and positioning to a work position, with the board transport path interposed therebetween. The two carriages inserted into the two carriage insertion spaces formed on both sides of the base to be attached and attached to the base, the component supply device held by each carriage, and the two carriage insertion spaces face each other Two mounting heads that are arranged opposite to each other and pick up the components supplied from the component supply devices held on both carts and mount them on the substrate positioned at the work position, and each cart is inserted into the cart insertion space When the state where one carriage is not inserted into the carriage insertion space is detected by the carriage detection means for detecting whether or not the vehicle is in the state of being inserted, and the carriage detection means, the carriage is inserted. Not state is provided on carriage insertion space side detected the operation of the mounting head and a deactivation means for stopping, even when one of the carriage is removed from the base, the other bogie group As long as it is attached to the base, the mounting operation of the component to the board by the other mounting head is continued .

The component mounting apparatus according to claim 2 is provided with a base, a board transport path extending horizontally on the base, and carrying the board and positioning to a work position with the board transport path interposed therebetween. There are two carriages that are inserted into the two carriage insertion spaces formed on the lower sides of the base to be attached to the base, a component supply device held by each carriage, and two carriage insertion spaces. Two mounting heads that are arranged opposite to each other and pick up components supplied from a component supply device held by both carts and mount them on a substrate positioned at a work position, and each cart is a cart insertion space One carriage by means of a cart detection means for detecting whether or not it is in a state where it is inserted, an intrusion detection means for detecting whether or not an intruder has entered each carriage insertion space, and a carriage detection means. But When a state where the vehicle is not inserted into the vehicle insertion space is detected and the intrusion detection means detects that an intruder has entered the vehicle insertion space where the state where the vehicle is not inserted is detected, Operation stop means for stopping the operation of the mounting head provided on the side of the carriage insertion space where the state where the carriage is not inserted is detected, and even if one carriage is removed from the base, the other As long as the cart is attached to the base, the component mounting operation to the board by the other mounting head is continued .

  In the present invention, when it is detected that one of the two carriages holding the component supply device is not inserted into the carriage insertion space, or one of the two carriages is inserted into the carriage insertion space. If it is detected that an intruder has entered the bogie insertion space where it is detected that the bogie is not inserted, and the bogie is not inserted, The operation of the mounting head on the space side is stopped, and even if one carriage is removed from the base, as long as the other carriage is attached to the base, the substrate by the mounting head The mounting work of the parts to is continued. For this reason, it is possible to improve the work efficiency while ensuring the safety of the work of the operator. In the latter case, even if one carriage is removed from the base, the two mounting heads are not mounted unless the carriage is removed and the operator enters the carriage insertion space that is a hollow portion. Since both of them continue to mount parts, the work efficiency is extremely high.

(A) (b) The perspective view of the component mounting apparatus in Embodiment 1 of this invention 1 is a partially omitted plan view of a component mounting apparatus according to Embodiment 1 of the present invention. 1 is a partially omitted side view of a component mounting apparatus according to Embodiment 1 of the present invention. The block diagram which shows the control system of the component mounting apparatus in Embodiment 1 of this invention The partial expanded side view of the component mounting apparatus in Embodiment 1 of this invention The flowchart which shows the procedure of the operation stop judgment of the mounting head which the control apparatus with which the component mounting apparatus in Embodiment 1 of this invention is provided performs. Partially omitted plan view of a component mounting apparatus according to Embodiment 2 of the present invention Side view with partial omission of component mounting apparatus in Embodiment 2 of the present invention Partially enlarged side view of a component mounting apparatus according to Embodiment 2 of the present invention The flowchart which shows the procedure of the operation stop judgment of the mounting head which the control apparatus with which the component mounting apparatus in Embodiment 2 of this invention is provided performs.

(Embodiment 1)
1A, 1B, 2 and 3, a component mounting apparatus 1 according to Embodiment 1 of the present invention includes a base 2 and a direction on the base 2 in a horizontal plane (X-axis direction). And a substrate transport path 3 for transporting the substrate PB in the X-axis direction and positioning it at a predetermined work position (the positions shown in FIGS. 1B and 2).

  The upper region of the base 2 is covered with a base cover 4, and both ends in the X-axis direction of the substrate transport path 3 are in a state of protruding to the outside from the openings 4 a provided in the base cover 4. The board conveyance path 3 is composed of a pair of belt conveyors 3a arranged facing a horizontal plane direction (Y-axis direction) orthogonal to the X-axis direction, and the operation control of both the belt conveyors 3a is performed by the component mounting apparatus 1. 4 is performed by operating a substrate transport path control mechanism 6 including an actuator (not shown).

  2 and 3, a Y-axis table 7a provided in the Y-axis direction is provided on the base 2, and 2 provided in the X-axis direction and movable on the Y-axis table 7a in the Y-axis direction. An XY robot 7 comprising two X-axis tables 7b and two moving stages 7c provided so as to be movable in the X-axis direction along each X-axis table 7b is provided. A mounting head 8 is attached to each moving stage 7c, and a plurality of suction nozzles 9 extending downward are provided on each mounting head 8 so as to be able to rotate up and down and around an up and down axis (referred to as Z axis). . The movement control of each mounting head 8 by the operation of the XY robot 7 is performed by operating the XY robot control mechanism 10 (FIG. 4) including an actuator (not shown) by the control device 5. Further, the control device 5 controls the lifting and lowering of each suction nozzle 9 with respect to the mounting head 8 and the rotation around the Z axis, and the vacuum suction (pickup) and release (detachment) control of the component P by each suction nozzle 9. This is performed by operating a nozzle control mechanism 11 (FIG. 4).

  1A, 1B, 2 and 3, the component P is supplied to each mounting head 8 at positions on both sides of the base 2 facing in the Y-axis direction across the substrate transport path 3. A plurality of component supply devices 12 are provided side by side in the X-axis direction. These component supply devices 12 are held by a carriage 14 that is inserted into each of two carriage insertion spaces (regions) 13 provided on both sides of the base 2 facing each other across the board conveyance path 3 and attached to the base 2. ing. That is, in this component mounting apparatus 1, two carriages 14 holding a plurality of component supply apparatuses 12 are arranged in two carriage insertion spaces 13 formed on both sides of the base 2 facing each other with the board conveyance path 3 interposed therebetween. By attaching to each, the some component supply apparatus 12 can be attached to the base 2 collectively. Each carriage 14 can be moved by an operator operating a pair of handle portions 14a.

  In FIG. 1B, FIG. 2, and FIG. 5, each carriage insertion space 13 of the base 2 is provided with a carriage detection sensor 15 that detects a state in which the carriage 14 is inserted into the carriage insertion space 13. . Each cart detection sensor 15 includes a limit switch, and outputs a detection signal to the control device 5 when the switch lever 15a is operated by a part of the cart 14 in a state where the cart 14 is inserted into the cart insertion space 13. (FIG. 4). That is, the two cart detection sensors 15 function as cart detection means for detecting whether or not each cart 14 is inserted into the cart insertion space 13.

  When the carriage 14 is inserted into the carriage insertion space 13 by the operator and attached to the base 2, the carriage-side connector 16 provided on the carriage 14 is engaged with the base-side connector 17 provided on the base 2 ( 2 and 3). In a state where the cart side connector 16 and the base side connector 17 are fitted, the control device 5 can send a control signal to each component supply device 12 (FIG. 4), and the control device 5 operates each component supply device 12. Thus, the component P is supplied to each component supply port 12a (FIG. 2).

  2 and 3, each moving stage 7 c of the XY robot 7 is provided with a substrate camera 18 having an imaging field of view directed downward, and an imaging field of view is formed in both sides of the substrate transport path 3 in the Y-axis direction. A component camera 19 facing upward is provided. The image pickup operation control of the board camera 18 and the component camera 19 is performed by the control device 5, and both image data obtained by the image pickup operation of the board camera 18 and the component camera 19 are sent to the control device 5.

  In order to perform the mounting operation of the component P on the board PB in the component mounting apparatus 1, the control device 5 first operates the board transport path 3 to carry the board PB input from the outside into the component mounting apparatus 1, Position at a predetermined work position. After positioning the substrate PB, the control device 5 operates the XY robot 7 to position the substrate camera 18 above the substrate PB and to image a substrate mark (not shown) provided on the substrate PB. . Then, image recognition of the substrate mark is performed from the obtained captured image, and position shift detection from the reference position of the substrate PB is performed.

  When the control device 5 detects the displacement of the substrate PB from the reference position, the control device 5 operates the XY robot 7 to move the mounting head 8 above the component supply device 12 to supply the component P supplied to the component supply port 12a. Is picked up by the suction nozzle 9. Then, the mounting head 8 is moved so that the picked-up component P is positioned immediately above the component camera 19, the component camera 19 is imaged of the component P, and image recognition (component recognition) is performed. P displacement (adsorption displacement) is detected.

  When the controller 5 detects the suction displacement of the component P, the control device 5 moves the mounting head 8 above the substrate PB, separates the component P sucked by the suction nozzle 9 on the substrate PB, and places the component P in the target mounting position. To put on. When the component P is mounted on the board PB, the control device 5 corrects the positional deviation from the reference position of the board PB obtained at the time of positioning the board PB and the adsorption deviation of the part P obtained at the time of component recognition. The relative position of the suction nozzle 9 with respect to the substrate PB is corrected.

  When the control device 5 mounts the component P sucked by the suction nozzle 9 on the substrate PB, the control device 5 determines whether or not the mounting work of all the components P to be mounted on the substrate PB currently positioned at the work position is completed. I do. As a result, when all the component P mounting operations have not been completed, the component P not yet mounted on the substrate PB is mounted. When all the component P mounting operations have been completed, the substrate transport path 3 And the board PB is carried out of the component mounter 1. Then, it is determined whether or not the component mounting work for all the planned boards PB has been completed. If the component mounting work for all the planned boards PB has not been completed, the board PB is newly carried in, and the component mounting work for all the planned boards PB has been completed. If it is, the series of work is finished.

  By the way, when it is necessary to remove the component supply device 12 from the base 2 in order to replace the component P supplied to the mounting head 8 during the above-described operation of mounting the component P on the substrate PB. The operator operates the handle portion 14 a of the carriage 14 to move the carriage 14, pulls out the carriage 14 from the carriage insertion space 13, and removes it from the base 2. As a result, the cart side connector 16 and the base side connector 17 are separated, and the supply of the component P from the component feeding device 12 held by the cart 14 detached from the base 2 is stopped.

  Here, as shown in FIGS. 1A and 3, inspection doors 4 b that can be opened and closed in the vertical direction with hinges Hg as fulcrums are provided on both ends of the base cover 4 in the direction in which the carriage 14 faces. The operator can perform maintenance work and the like of the mounting head 8 by opening these inspection doors 4b. However, when the inspection door 4b is opened, the operator is within a range that can be reached by the operator. A safety device for stopping the operation of the two mounting heads 8 is incorporated, so that the operator's work is safe.

  On the other hand, when exchanging the parts supply device 12 (that is, when exchanging the parts P), when pulling out the carriage 14 from the carriage insertion space 13, the operator does not need to open the inspection door 4b. Although the above safety device does not work, in this component mounting apparatus 1, the control device 5 always determines the operation stop of the mounting head 8 based on the detection information from the two cart detection sensors 15, and is necessary. Even when the operator mistakenly inserts the hand into the component mounting apparatus 1 from the carriage insertion space 13 in which the carriage 14 is pulled out to become a hollow portion by stopping the operation of the mounting head 8 within a certain range. The operator is not injured.

  In the stop determination of the mounting head 8 performed by the control device 5, first, as shown in the flowchart of FIG. 6, both the carriages 14 are inserted into the carriage insertion space 13 based on the detection information from the two carriage detection sensors 15. It is determined whether or not there is (step ST1). When it is detected that both the carriages 14 are inserted into the carriage insertion space 13 (FIG. 3), both the mounting heads 8 are operated as usual (step ST2), and one carriage 14 is moved to the carriage insertion space 13. When a state where the carriage 14 is not inserted (FIG. 5) is detected, the operation of the mounting head 8 provided on the carriage insertion space 13 side where the carriage 14 is not inserted is stopped (step ST3). ).

  For this reason, when one cart 14 is pulled out from the cart insertion space 13, the operation of the mounting head 8 on the side of the cart insertion space 13 from which the cart 14 is pulled out is stopped. Even if the operator accidentally inserts a hand from the cart insertion space 13 that has been pulled out to form a hollow portion, the operator will not be injured.

  In addition, after the operation | movement of the mounting head 8 by the side of the trolley insertion space 13 from which the trolley | bogie 14 was pulled out was stopped, when the trolley | bogie 14 pulled out was again inserted in the original trolley insertion space 13, the control apparatus 5 Since the process proceeds to step ST2 based on the determination in step ST1, component mounting by both mounting heads 8 is resumed.

(Embodiment 2)
Next, a second embodiment of the present invention will be described. The component mounting apparatus 1 according to the second embodiment, like the component mounting apparatus 1 according to the first embodiment, detects two carts that detect whether or not each cart 14 is inserted into the cart insertion space 13. In addition to the detection sensor 15, as shown in FIGS. 7, 8 and 9, two intrusion detection sensors 21 provided on the base 2 are provided.

  For example, as shown in FIG. 7, the intrusion detection sensor 21 includes a light projector 21a that projects inspection light L in the carriage insertion space 13 in the X-axis direction and a light receiver 21b that receives the inspection light L projected by the light projector 21a. In the case where an intruder enters the carriage insertion space 13 in the state where the carriage 14 is pulled out and the inspection light L is blocked, this is detected by the light receiver 21b. Detection is performed by switching the light reception state from light reception to non-light reception, and the detection signal is output to the control device 5. That is, the two intrusion detection sensors 21 function as intrusion detection means for detecting whether or not an intruder has entered each carriage insertion space 13. The “intruder” mentioned here includes not only the operator's hand but also the carriage 14.

In the stop determination of the mounting head 8 performed by the control device 5, first, as shown in the flowchart of FIG. 10, both the carriages 14 are inserted into the carriage insertion space 13 based on the detection information from the two carriage detection sensors 15. It is determined whether or not there is (step ST11). Then, when it is detected that both the carriages 14 are inserted into the carriage insertion space 13 (FIG. 8), the control device 5 operates both the mounting heads 8 as usual (step ST12), and the one carriage 14 is operated. When a state where the vehicle is not inserted into the carriage insertion space 13 is detected, whether or not an intruder has entered the carriage insertion space 13 where the intrusion detection sensor 21 detects that the carriage 14 is not inserted. It is determined whether or not (step ST13). As a result, when it is not detected that an intruder has entered the carriage insertion space 13 into which the carriage 14 is not inserted, both the mounting heads 8 are operated as usual (step ST12), and the carriage insertion into which the carriage 14 is not inserted is performed. When it is detected that an intruder has entered the space 13 (FIG. 9), the operation of the mounting head 8 provided on the side of the carriage insertion space 13 where the carriage 14 is not inserted is stopped. (Step ST14).

  For this reason, when one cart 14 is pulled out from the cart insertion space 13, an intruder (for example, an operator) other than the cart 14 enters the cart insertion space 13 in the cart insertion space 13. The operation of the mounting head 8 on that side is stopped, and even if the operator accidentally inserts a hand from the carriage insertion space 13 that is a hollow portion by pulling out the carriage 14, the operator is injured. There is no such thing.

  In addition, after the operation | movement of the mounting head 8 by the side of the trolley insertion space 13 from which the trolley | bogie 14 was pulled out was stopped, when the trolley | bogie 14 pulled out was again inserted in the original trolley insertion space 13, the control apparatus 5 Since the process proceeds to step ST12 based on the determination in step ST11, component mounting by both mounting heads 8 is resumed.

  As described above, the component mounting apparatus 1 according to the first embodiment has the two cart detection sensors 15 (cart detection means) that detect whether or not each cart 14 is inserted into the cart insertion space 13. ), And when the state where one of the carriages 14 is not inserted into the carriage insertion space 13 is detected by the carriage detection sensor 15, it is provided on the side of the carriage insertion space 13 where the state where the carriage 14 is not inserted is detected. The control device 5 is provided as an operation stop means for stopping the operation of the mounted head 8.

  Further, the component mounting apparatus 1 according to the second embodiment includes two carriage detection sensors 15 (trolley detection means) that detect whether each carriage 14 is inserted into the carriage insertion space 13, One carriage 14 is not inserted into the carriage insertion space 13 by the two intrusion detection sensors 21 (intrusion detection means) that detect whether or not an intruder has entered the carriage insertion space 13 and the carriage detection sensor 15. When the state is detected and the intrusion detection sensor 21 detects that an intruder has entered the carriage insertion space 13 where the state where the carriage 14 is not inserted is detected, the carriage 14 is inserted. A control device 5 as an operation stop means for stopping the operation of the mounting head 8 provided on the side of the carriage insertion space 13 where no state is detected; You have me.

  Thus, in the present embodiment, when it is detected that one of the two carriages 14 holding the component supply device 12 is not inserted into the carriage insertion space 13 (Embodiment 1), or The state where one of the two carriages is not inserted into the carriage insertion space 13 is detected, and the intruder has entered the carriage insertion space 13 where the state where the carriage 14 is not inserted is detected. Is detected (Embodiment 2), the operation of the mounting head 8 on the side of the carriage insertion space 13 into which the carriage 14 is not inserted is stopped, and one carriage 14 is the base. As long as the other carriage 14 is attached to the base 2, the mounting operation of the component P onto the board 2 by the mounting head 8 is continued even when the second carriage 14 is attached to the base 2. For this reason, it is possible to improve the work efficiency while ensuring the safety of the work of the operator.

In the latter case (Embodiment 2), even if one of the carriages 14 is removed from the base 2, the operator is placed in the carriage insertion space 13 in which the carriage 14 is removed and becomes a hollow portion. Since the two mounting heads 8 continue the mounting operation of the component P as long as no intrusion occurs, the working efficiency is extremely high.

  Although the embodiments of the present invention have been described so far, the present invention is not limited to those shown in the above-described embodiments. For example, in the above-described embodiment, the limit switch is used as the cart detection sensor 15 (cart detection means) that detects whether or not each cart 14 is inserted into the cart insertion space 13. The cart detection sensor 15 is not necessarily a limit switch, and other sensors such as an optical sensor may be used.

  Provided is a component mounting apparatus capable of improving work efficiency while ensuring the safety of an operator's work.

DESCRIPTION OF SYMBOLS 1 Component mounting apparatus 2 Base 3 Board | substrate conveyance path 5 Control apparatus (operation stop means)
8 Mounting head 12 Parts supply device 13 Dolly insertion space 14 Dolly 15 Dolly detection sensor (Dolly detection means)
21 Intrusion detection sensor (intrusion detection means)
PB board P parts

Claims (2)

The base,
A substrate transport path that extends in the horizontal direction on the base, and transports the substrate and positions the work position;
Two carriages that are inserted into each of two carriage insertion spaces formed on both sides of the base opposite to each other across the substrate transport path and attached to the base;
A parts supply device held by each carriage;
Two mounting heads that are arranged opposite to each other in the direction in which the two carriage insertion spaces face each other, pick up the components supplied from the component supply devices held by the two carts, and mount them on the substrate positioned at the working position;
Cart detection means for detecting whether each cart is inserted into the cart insertion space;
When the carriage detecting means detects that one carriage is not inserted into the carriage insertion space, the operation of the mounting head provided on the carriage insertion space side where the carriage is not inserted is stopped. and a deactivation means for,
Even when one carriage is removed from the base, as long as the other carriage is attached to the base, the component mounting work to the board by the other mounting head is continued. Component mounting equipment. The base,
A substrate transport path that extends in the horizontal direction on the base, and transports the substrate and positions the work position;
Two carriages that are inserted into each of the two carriage insertion spaces formed at the lower portions of both sides of the base opposite to each other across the substrate conveyance path and attached to the base;
A parts supply device held by each carriage;
Two mounting heads that are arranged opposite to each other in the direction in which the two carriage insertion spaces face each other, pick up the components supplied from the component supply devices held by the two carts, and mount them on the substrate positioned at the working position;
Cart detection means for detecting whether each cart is inserted into the cart insertion space;
Intrusion detection means for detecting whether or not an intruder has entered each carriage insertion space;
The state where one of the carts is not inserted into the cart insertion space is detected by the cart detection means, and the intruder has entered the cart insertion space where the status where the cart is not inserted is detected by the intrusion detection means. An operation stop means for stopping the operation of the mounting head provided on the carriage insertion space side where the state where the carriage is not inserted is detected ,
Even when one carriage is removed from the base, as long as the other carriage is attached to the base, the component mounting work to the board by the other mounting head is continued. Component mounting equipment.

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