WO2019077671A1 - Mounting head and component mounting machine - Google Patents

Abstract

The mounting head communicates with the first air passage by holding the chuck to the mounting head, and the first supply passage for circulating air for moving the piston, and the second air passage by holding the chuck to the mounting head A second supply passage communicating with the first supply passage, which is different from the first supply passage, and circulating positive pressure or negative pressure air supplied by the supply system; And a determination unit that determines whether or not the chuck clamps a part based on a flow state of air in the second supply passage.

Description

Mounting head and parts mounting machine

The present invention relates to a mounting head and a component mounting machine.

The component mounting machine executes a mounting process of mounting a component on a circuit board. The chuck used to hold the component clamps the component to be mounted with a plurality of claws in the mounting process by the component mounting machine (see Patent Document 1). The component placement machine may image-process image data acquired by imaging the chuck, for example, and perform a holding inspection as to whether or not the chuck clamps the component. Patent Document 2 discloses a configuration in which, when the chuck fails to clamp a component, the above-mentioned holding inspection is performed by leaking negative pressure air used for opening and closing operation of the chuck.

International Publication No. 2013/140571 WO 2014/118820

It is desirable that the holding inspection as to whether or not the chuck clamps the part be performed accurately and quickly because the inspection result affects the subsequent mounting process.
It is an object of the present specification to provide a mounting head and a component mounting machine capable of performing a holding inspection as to whether a chuck clamps a component more accurately and quickly.

The present specification is a mounting head which is supplied with positive or negative pressure air to releasably hold a chuck for clamping a part, wherein the chuck is independent of a plurality of claws for clamping the part. First air passage and second air passage for circulating air, a piston moved by air supplied via the first air passage, and a plurality of the claws are opened and closed according to the position of the piston An opening / closing mechanism, an atmospheric pressure air passage opened to the atmosphere, and a valve device for switching between the communication state and the shutoff state of the second air passage and the atmospheric pressure air passage when the piston moves to the specified position; The mounting head is in communication with the first air passage by holding the chuck on the mounting head, and a first supply passage for circulating air for moving the piston The chuck is held by the mounting head to communicate with the second air passage, and constitutes a supply system of air different from the first supply passage, and the positive pressure or negative pressure supplied by the supply system is used. Determination as to whether or not the chuck clamps the component based on the second supply passage through which the air flows and the air distribution condition in the second supply passage which changes with the switching of the valve device And a mounting head comprising:

The present specification discloses a component mounting machine including the mounting head described above, and a control device that performs a mounting process of mounting the component clamped by the chuck held by the mounting head on a substrate.

According to such a configuration of the mounting head, when a clamping error occurs in which the chuck fails to clamp the component, the piston moves to the specified position, and the second air passage and the atmospheric air passage communicate with each other as the valve mechanism is switched. And the shutoff state are switched. At this time, since the second supply passage is in communication with the second air passage, the flow state of air in the second supply passage fluctuates. With such a configuration, the mounting head can perform a holding inspection as to whether or not the chuck holds a component.

Further, since the second supply passage constitutes a supply system different from the first supply passage, it is possible to suppress the influence of the fluctuation of one flow condition on the other flow condition by switching the valve device. Thereby, the operation of the valve device can be stabilized. Further, since the flow state of the varied second supply passage is stabilized, the holding inspection can be performed more accurately. Furthermore, switching between the communication state and the blocking state of the second air passage and the atmospheric air passage causes the flow state of the second supply passage to immediately change. This makes it possible to quickly determine whether the chuck is clamping a part. As a result, retention testing can be performed more accurately and quickly.

According to such a configuration of the component mounting machine, occurrence of a clamp error can be detected during execution of the mounting process. As a result, for example, a clamp error can be detected at an earlier timing as compared with the configuration in which it is determined whether the clamp is successful or not using image data acquired by imaging of the component camera. In addition, since the clamp error can be detected if the part is dropped for some reason before mounting the part, unnecessary mounting operation can be omitted, and transition to retry processing or error processing can be quickly made. be able to. As a result, the accuracy of the mounting process can be improved, and the overall required time can be shortened.

It is a top view which shows the structure of the component mounting machine which performs a mounting process using the mounting head in embodiment. It is a side view which shows the mounting head and chuck | zipper in FIG. It is a circuit diagram showing the air supply circuit constituted by the mounting head and the chuck. It is sectional drawing of the mounting head and chuck | zipper in FIG. It is a side view which expands and shows the mounting head in FIG. 4, and the chuck | zipper of an open state (unclamping state). FIG. 5 is an enlarged side view showing the mounting head and the chuck in a closed state (clamped state) in FIG. 4; It is a side view which expands and shows the mounting head in FIG. 4, and the chuck | zipper of a clamp mistake state. It is a flowchart which shows the mounting process by a component mounting machine. It is a flowchart which shows the holding | maintenance test | inspection of the components by a mounting head. It is a flowchart which shows the calibration process of the threshold value used for the holding test by a component mounting machine.

1. Embodiment 1-1. Configuration of Component Mounting Machine 10 As shown in FIG. 1, the component mounting machine 10 includes a substrate transfer device 11, a component supply device 12, a component transfer device 13, a component camera 14, a substrate camera 15, and a control device 16. The substrate transfer device 11 is configured by a belt conveyor or the like, and sequentially transfers the substrate 90 in the transfer direction. The substrate transfer apparatus 11 carries the substrate 90 into the machine of the component mounting machine 10 and positions the substrate 90 at a predetermined position in the machine. The substrate transfer apparatus 11 carries the substrate 90 out of the component mounting apparatus 10 after the component mounting process by the component mounting apparatus 10 is completed.

The component supply device 12 supplies components to be mounted on the substrate 90. The component supply device 12 has a feeder 121 set in line in the X-axis direction. The feeder 121 feeds and moves a carrier tape in which a large number of parts are stored, and supplies the parts so as to be able to be collected at a supply position located on the tip end side of the feeder 121.

The component transfer device 13 includes a head drive device 131 and a moving table 132. The head driving device 131 is configured to be able to move the moving table 132 in the horizontal direction (X-axis direction and Y-axis direction) by a linear movement mechanism. The mounting head 20 is exchangeably fixed to the moving table 132 by a clamp member (not shown). The mounting head 20 picks up the component supplied by the component supply device 12 and mounts the component on a predetermined mounting position of the substrate 90.

The mounting head 20 is detachably provided with one or more holding members. As the above-mentioned holding member, for example, a suction nozzle supplied with negative pressure air to suction a component, a chuck for clamping a component, or the like may be employed. In the present embodiment, as shown in FIG. 2, the mounting head 20 supports one chuck 30 so as to be movable in the Z-axis direction and to be rotatable around the θ-axis parallel to the Z-axis. The detailed configuration of the mounting head 20 and the chuck 30 will be described later.

The component camera 14 and the substrate camera 15 are digital imaging devices having an imaging device such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The component camera 14 and the substrate camera 15 perform imaging based on a control signal input from the outside. The component camera 14 and the substrate camera 15 send out the image data acquired by imaging.

As shown in FIG. 1, the component camera 14 is fixed to the base of the component mounting machine 10 such that the optical axis is upward in the Z-axis direction. The component camera 14 is configured to be able to image a component held by a holding member such as the chuck 30 from below. The substrate camera 15 is provided on the moving stand 132 of the component transfer device 13 so that the optical axis is directed downward in the Z-axis direction. The substrate camera 15 is configured to be able to capture an image of the substrate 90 from above.

The control device 16 mainly includes a CPU, various memories, and a control circuit. The control device 16 inputs information output from various sensors provided in plural on the component mounting machine 10 and the result of recognition processing by image processing and the like in the mounting processing of mounting a component on the substrate 90. Then, the control device 16 sends out a control signal to the component transfer device 13 based on the control program and the predetermined mounting condition set in advance. Thereby, the position and the rotation angle of the holding member such as the chuck 30 supported by the mounting head 20 are controlled. Details of the mounting process will be described later.

1-2. Detailed Configuration of Mounting Head 20 The mounting head 20 is supplied with air of positive pressure or negative pressure to detachably hold a chuck 30 for clamping parts. In the present embodiment, the chuck 30 is of a type that is supplied with negative pressure air and operates from an open state (unclamped state) to a closed state (clamped state). As shown in FIG. 2, the mounting head 20 includes a head body 21, a negative pressure air supply source 22, a first supply passage 23, a second supply passage 24, a head control unit 25, and a recess 26.

The head body 21 is detachably clamped to the moving table 132. The negative pressure air supply source 22 supplies negative pressure air to the recess 26 and the chuck 30, respectively, by different supply systems (the first air supply circuit Cs1 and the second air supply circuit Cs2 in FIG. 3). The negative pressure air supply source 22 is constituted by, for example, an air pump provided in the head main body 21.

The first supply passage 23 and the second supply passage 24 circulate the negative pressure air supplied by the negative pressure air supply source 22. The first supply passage 23 constitutes a supply system (first air supply circuit Cs1) for circulating negative pressure air used for opening and closing operation of the chuck 30. The second supply passage 24 constitutes a supply system (second air supply circuit Cs2) for circulating negative pressure air used for the mounting head 20 to hold the chuck 30.

The head control unit 25 controls the angle around the θ axis of the chuck 30, the position in the vertical direction, switching between opening and closing, and the like in accordance with an operation command from the control device 70 of the component mounting machine 10. The head control unit 25 further includes a determination unit 251 that determines whether the chuck 30 clamps a part. Details of the holding determination of the part by the determining unit 251 will be described later.

Here, the mounting head 20 includes a holding mechanism for holding the chuck 30. As said holding | maintenance mechanism, the structure which makes the to-be-locked part of the chuck | zipper 30 lock the locking member by the side of the mounting head 20, for example, and employ | adopts the chuck | zipper 30 is employable. In the present embodiment, the mounting head 20 adopts a configuration for holding the chuck 30 by supplying negative pressure air to the negative pressure chamber Bn formed at the boundary with the chuck 30. An annular recess 26 centered on the θ axis is formed in the holding surface of the lower portion of the mounting head 20 that contacts the upper surface of the chuck 30.

The outer diameter of the recess 26 is smaller than the outer diameter of the upper surface of the chuck body 31 in the chuck 30. The recess 26 forms an annular negative pressure chamber Bn together with the upper surface of the chuck body 31 when the upper surface of the chuck body 31 contacts the holding surface of the mounting head 20. Negative pressure air from the negative pressure air supply source 22 is supplied to the negative pressure chamber Bn via the second supply passage 24. Thereby, the mounting head 20 adsorbs and holds the chuck 30 in contact with the lower portion of the mounting head 20 by the negative pressure air.

1-3. Detailed Configuration of Chuck 30 The chuck 30 is selected in type according to the part to be mounted, and is mounted on the mounting head 20. The parts to be mounted include relatively large parts such as parts housed in the carrier tape loaded in the feeder 121 and lead parts supplied in a state of being placed side by side on a tray (not shown) etc. included. In addition to the above, the component supply device 12 may adopt a configuration in which a large-sized component is accommodated in the cavity of the carrier tape and supplied by the feeder 121.

In the present embodiment, the chuck 30 is supplied with negative pressure air from the negative pressure air supply source 22 through the first supply passage 23 of the mounting head 20 to open (unclamp) and close (clamp) Can be switched. As shown in FIGS. 2 to 4, the chuck 30 includes a chuck body 31, a plurality of claws 32, a first air passage 33, a second air passage 34, a pneumatic device 35, an opening and closing mechanism 36, and an atmospheric pressure air passage 37, And a valve device 38.

The chuck body 31 is detachably held by the mounting head 20. The upper surface of the chuck body 31 has an annular flat portion. The flat portion on the upper surface of the chuck body 31 contacts the holding surface of the mounting head 20 and forms a negative pressure chamber Bn together with the recess 26 of the mounting head 20, as shown in FIG. The chuck body 31 is attracted to the mounting head 20 by supplying negative pressure air to the pressure chamber Bp in a state in which the chuck body 31 contacts the holding surface of the mounting head 20.

The plurality of claws 32 are opened and closed by an opening and closing mechanism 36 described later, and hold the parts targeted by the chuck 30. In the present embodiment, the chuck 30 is a double claw type having two claw pieces 32. The chuck 30 may have three or more claws. The first air passage 33 and the second air passage 34 are respectively formed in the chuck body 31 and allow air to flow independently of each other. Thus, the first air passage 33 and the second air passage 34 constitute different supply systems.

One end of the first air passage 33 opens at a central portion of the top surface of the chuck body 31. The first air passage 33 communicates with the first supply passage 23 of the mounting head 20 when the chuck 30 is held by the mounting head 20. The other end of the first air passage 33 is connected to a pneumatic device 35 described later. The first air passage 33 communicates negative pressure air from the negative pressure air supply source 22 to the pneumatic device 35 by communicating with the first supply passage 23.

One end of the second air passage 34 opens at a position corresponding to a region of the upper surface of the chuck body 31 in which the recess 26 of the mounting head 20 is formed. Thereby, the second air passage 34 communicates with the second supply passage 24 via the negative pressure chamber Bn when the chuck 30 is held by the mounting head 20. The other end of the second air passage 34 is connected to a valve device 38 described later.

The pneumatic device 35 uses the negative pressure air supplied via the first air passage 33 to power the open / close mechanism 36. Specifically, as shown in FIG. 4, the pneumatic device 35 includes a cylinder 351, a piston 352, and a compression spring 353. The cylinder 351 is connected to the first air passage 33 and supplied with negative pressure air. The piston 352 is disposed slidably inside the cylinder 351 in the vertical direction, and forms a pressure chamber Bp. The piston 352 has a cylindrical main body opened upward.

The compression spring 353 is disposed between the bottom of the cylindrical body of the piston 352 and the upper wall of the cylinder 351. The piston 352 is biased toward the lower wall by the elastic force of the compression spring 353. That is, when the air pressure of the pressure chamber Bp formed in the cylinder 351 is equal to or more than a predetermined value, the piston 352 is at the lower end position (hereinafter referred to as “initial position P1”) so that the volume of the pressure chamber Bp increases. (See FIGS. 4 and 5A).

The open / close mechanism 36 is powered by the piston 352 of the pneumatic device 35. The opening and closing mechanism 36 opens and closes the plurality of claws 32 in accordance with the position of the piston 352. Specifically, the opening and closing mechanism 36 rotates the pair of cranks 361 in different directions in accordance with the position of the piston 352 in the vertical direction. The opening and closing mechanism 36 moves the pair of blocks 362 in the horizontal direction according to the angle of the pair of cranks 361. The pair of blocks 362 are horizontally movably supported by rails (not shown) of the chuck body 31. A pair of claws 32 are attached to the pair of blocks 362.

With such a configuration, when negative pressure air is not supplied to the pneumatic device 35 and the piston 352 is in the initial position P1, the two claw pieces 32 are brought into the open state most separated from each other. On the other hand, when the air pressure in the pressure chamber Bp is less than the predetermined value, the piston 352 moves upward so as to reduce the volume of the pressure chamber Bp against the elastic force of the compression spring 353. The two claws 32 approach each other when the piston 352 moves upward from the initial position P1 and are brought into a closed state capable of clamping the component 95 between the two claws 32 (see FIG. 5B) ).

In this embodiment, in the state where the air pressure of the pressure chamber Bp is sufficiently low and the two claws 32 do not clamp at all, that is, in the clamp miss state in which the chuck 30 fails to clamp a component, The upper portion of the cylindrical main body contacts the upper wall of the cylinder 351. At this time, the piston 352 is located at the upper end position (hereinafter, referred to as “prescribed position P2”), and is in a state in which the upward movement of the prescribed position P2 is restricted (see FIG. 5C).

The atmospheric pressure air passage 37 is an air passage formed in the chuck body 31 and opened to the atmosphere. In the present embodiment, the atmospheric pressure air passage 37 is formed by opening the lower portion of the cylinder 351. The atmospheric pressure air passage 37 is a portion separated from the pressure chamber Bp by the cylindrical main body of the piston 352 in the cylinder 351. As used herein, “atmospheric pressure” refers to the air pressure inside the machine 10 in which the mounting head 20 is disposed.

When the piston 352 moves to the prescribed position P2, the valve device 38 switches the state between the second air passage 34 and the atmospheric pressure air passage 37 from the blocking state to the communicating state. In the present embodiment, the valve device 38 starts communicating the atmospheric pressure air passage 37 with the second air passage 34 immediately before the piston 352 reaches the defined position P2. Then, the valve device 38 causes the atmospheric air passage 37 to communicate with the second air passage 34 when the piston 352 moves to the defined position P2.

The cross-sectional area of the portion where the second air passage 34 and the atmospheric pressure air passage 37 communicate with each other is maximized when the piston 352 reaches the defined position P2. Then, when the piston 352 moves from the defined position P2 to the initial position P1 side by a predetermined amount, the valve device 38 brings the second air passage 34 and the atmospheric air passage 37 into a disconnected state.

Here, the valve device 38 functioning as described above can be switched in various modes as long as the communication state and the shut-off state of the second air passage 34 and the atmospheric pressure air passage 37 can be switched in conjunction with the movement of the piston 352. Can be adopted. In the present embodiment, the valve device 38 is configured by the second air passage 34 and the pneumatic device 35. Specifically, the second air passage 34 is formed to open at a predetermined position on the inner circumferential surface of the cylinder 351, as shown in FIGS. 5A-5C.

In the second air passage 34, as shown in FIG. 5C, when the piston 352 reaches the defined position P2, the lower end of the cylindrical main body of the piston 352 is positioned above the lowermost portion of the second air passage 34. By communicating with the atmospheric air passage 37. That is, the piston 352 functions as a spool of the valve device 38. The piston 352 is sealed at the initial position P1 (see FIG. 5A) and the position at which the part 95 is clamped and movement is restricted (see FIG. 5B) by sealing the opening of the second air passage 34. The second air passage 34 and the atmospheric pressure air passage 37 are shut off.

The cross-sectional area of the portion where the second air passage 34 and the atmospheric pressure air passage 37 communicate with each other as described above, that is, the opening area of the second air passage 34 with respect to the atmospheric pressure air passage 37 is preset to a predetermined size. ing. Thus, when the piston 352 moves to the specified position P2, the valve device 38 is higher than the air pressure (Vn1) of the negative pressure air supplied from the negative pressure air supply source 22, and the mounting head 20 adsorbs the chuck 30. The atmospheric pressure air passage 37 is communicated with the second air passage 34 so that the negative pressure chamber Bn is pressurized to the air pressure (Vn2) capable of maintaining the held state (Vn1 <Vn2 <Va (Va is atmospheric pressure)) .

Thus, the valve device 38 increases the negative pressure chamber Bn to such an extent that the chuck 30 does not fall off the mounting head 20 when the piston 352 moves to the defined position P2. As a result, the flow state of air in the second supply passage 24 communicated with the second air passage 34 via the negative pressure chamber Bn fluctuates. Further, when the negative pressure air supply to the pressure chamber Bp is shut off in the clamping state or the clamping error state of the chuck 30, the piston 352 returns to the initial position P1 by the elastic force of the compression spring 353.

Thereby, the chuck 30 is in the unclamped state again. At this time, the second air passage 34 is shut off from the atmospheric air passage 37 as the piston 352 moves. Thereby, the second air passage 34 and the negative pressure chamber Bn are decompressed again to the air pressure (Vn1) of the negative pressure air supplied from the negative pressure air supply source 22. As a result, the flow state of air in the second supply passage 24 communicated with the second air passage 34 via the negative pressure chamber Bn fluctuates.

1-4. Configuration of Air Supply Circuits Cs1 and Cs2 As shown in FIG. 3, the mounting head 20 and the chuck 30 constitute a first air supply circuit Cs1 and a second air supply circuit Cs2. The first air supply circuit Cs1 is a supply system that distributes negative pressure air used for opening and closing operation of the chuck 30. The second air supply circuit Cs2 is a supply system for circulating negative pressure air used for the mounting head 20 to hold the chuck 30.

As shown in FIG. 3, the first air supply circuit Cs1 includes the first supply passage 23 in the mounting head 20, the first negative pressure valve 41, and the first air passage 33 in the chuck 30. The first negative pressure valve 41 switches between a communication state and a blocking state of the negative pressure air supply source 22 and the first supply passage 23. The first negative pressure valve 41 is a two-position solenoid valve in the present embodiment.

The first negative pressure valve 41 opens when the solenoid is excited by power supply, and brings the negative pressure air supply source 22 and the first supply passage 23 into communication. When the first supply passage 23 circulates the negative pressure air, the negative pressure air is supplied to the pneumatic device 35 of the chuck 30. As a result, the plurality of claws 32 of the chuck 30 shift to the closed state. The head control unit 25 of the mounting head 20 operates the first negative pressure valve 41 according to the control command of the control device 16 to open and close the chuck 30.

As shown in FIG. 3, the second air supply circuit Cs2 is configured by the second supply passage 24 in the mounting head 20, the second negative pressure valve 51, the detection sensor 52, and the second air passage 34 in the chuck 30. The second negative pressure valve 51 switches between the communication state and the blocking state of the negative pressure air supply source 22 and the second supply passage 24. The second negative pressure valve 51 is a two-position solenoid valve in the present embodiment.

The second negative pressure valve 51 is opened when the solenoid is excited by power supply, and brings the negative pressure air supply source 22 and the second supply passage 24 into communication. When the second supply passage 24 circulates negative pressure air, negative pressure air is supplied to the negative pressure chamber Bn. Thereby, the state where the mounting head 20 adsorbs and holds the chuck 30 is maintained. The head control unit 25 of the mounting head 20 operates the second negative pressure valve 51 according to a control command of the control device 16 to attach and detach the chuck 30.

The detection sensor 52 detects fluctuations in the flow state of air in the second supply passage 24. As the detection sensor 52, a pressure sensor capable of detecting the air pressure of the second supply passage 24 as a flowing state of air, or a flow sensor capable of detecting an air flow rate of the second supply passage 24 as a flowing state of air can be employed. The head control unit 25 of the mounting head 20 determines, based on the detection result of the detection sensor 52, whether the negative pressure chamber Bn to which the second supply passage 24 is connected has an appropriate air pressure.

More specifically, the head control unit 25 supplies the negative pressure air to the negative pressure chamber Bn so that the mounting head 20 adsorbs and holds the chuck 30, the second supply passage 24 and the negative pressure chamber Bn are predetermined. It is monitored whether it is maintained at a lower pressure than the air pressure of (for example, the air pressure Vn2 described above). As described above, the head control unit 25 uses the detection result of the detection sensor 52 to determine whether the holding state of the chuck 30 by the mounting head 20 is good or bad. As described above, in the present embodiment, the detection sensor 52 is provided in the second air supply circuit Cs2 mainly for the purpose of being mainly used for the quality determination of the holding state as described above.

In the present embodiment, as described above, the first air supply circuit Cs1 and the second air supply circuit Cs2 allow the negative pressure air supplied by the negative pressure air supply source 22 to flow, for example, a check valve or an accumulator (not shown). To configure different air supply systems. Here, “supply systems of air different from each other” means that fluctuations in the flow state of air in one supply system have a sufficiently small influence on the flow state of air in the other supply system.

In other words, when the air supply systems are different, when one of the supply systems temporarily reaches atmospheric pressure, the air pressure required by the other supply system is maintained. As described above, the mounting head 20 and the chuck 30 lose the function (opening and closing of the chuck 30, holding of the chuck 30 by the mounting head 20) in the other supply system due to the fluctuation of the air flow state in one supply system. Not configured.

Furthermore, the above-described air supply circuits Cs1 and Cs2 are configured to be able to detect a clamp error of the chuck 30. Specifically, when the chuck 30 is in a clamp miss state, the piston 352 moves to the defined position P2 so as to close the plurality of claws 32 (see FIG. 5C). Thereby, the valve device 38 of the chuck 30 brings the atmospheric air passage 37 into communication with the second air passage 34. Then, the air pressure of the second air passage 34 and the negative pressure chamber Bn is increased.

The detection sensor 52 detects fluctuations in the flow state of the air in the second supply passage 24 which fluctuate with the switching of the valve device 38 as described above. Here, when the determination unit 251 of the head control unit 25 detects that the atmospheric pressure air passage 37 is in communication with the second air passage 34 based on the detection result (air flow state) by the detection sensor 52, the chuck 30 is Is determined to be in a clamp miss state in which the part is not clamped.

In the present embodiment, when the variation amount Ac of the flow state of the air in the second supply passage 24 which fluctuates along with the switching of the valve device 38 exceeds the preset threshold Th (Ac> Th) ), It is determined that the chuck 30 does not clamp a part. The cause of the clamp error is assumed to be, for example, that the component is not properly supplied by the component supply device 12 or that the chuck 30 does not operate properly.

In addition, the clamp error includes a state in which the part is normally clamped and then dropped during transportation to the mounting position on the substrate 90. Therefore, the head control unit 25 determines the determination result of the determination unit 251 during a period from when the chuck 30 tries to clamp the part to when the head tries to mount the part at the mounting position on the substrate 90 during the mounting process. Monitor whether clamp errors have occurred based on.

1-5. Mounting Process by Component Mounting Machine 10 The mounting process by the component mounting machine 10 will be described with reference to FIGS. 6 and 7. In the mounting process, as shown in FIG. 6, the control device 16 attempts to pick up parts by the chuck 30 (step 11 (hereinafter, “step” is described as “S”)). More specifically, the control device 16 moves the mounting head 20 to the upper side of the feeder 121 which supplies components of a predetermined type in the component supply device 12. Then, the controller 16 lowers the chuck 30 to clamp the parts, and then lifts the chuck 30 again.

Next, the control device 16 executes state recognition processing for recognizing the holding state of the component held by the chuck 30 (S12). More specifically, the control device 16 moves the mounting head 20 above the component camera 14 and sends an imaging command to the component camera 14. The control device 16 processes the image data acquired by the imaging of the component camera 14 to recognize the posture (position and angle) of the component clamped by the chuck 30.

Subsequently, the control device 16 tries mounting of the component by the chuck 30 (S13). More specifically, the controller 16 moves the mounting head 20 to a position above the predetermined mounting position on the substrate 90 and positions the chuck 30. At this time, the controller 16 corrects the position and angle of the chuck 30 based on the result of the state recognition process (S12). Then, the control device 16 lowers the chuck 30 and mounts the component, and then raises the chuck 30 again.

Then, the control device 16 determines whether or not the mounting of all the components to be mounted on the current substrate 90 is completed (S14), and pick and place cycle (hereinafter referred to as "PP cycle") until the mounting is completed. ) Is repeated. When the mounting of all the parts is completed (S14: Yes), the control device 16 ends the mounting process on the current substrate 90. Thereafter, the substrate transfer apparatus 11 carries out the current substrate 90 to the outside of the machine and carries the next substrate 90 into the machine. Then, the control device 16 executes the mounting process again so as to repeat the above-mentioned PP cycle.

Here, the head control unit 25 of the mounting head 20 performs a holding inspection of the component during the execution of the mounting process. More specifically, the holding inspection of the part is performed, for example, while the first negative pressure valve 41 is opened and the negative pressure air is supplied to the pneumatic device 35 of the chuck 30, that is, sampling of the part is tried. This is continuously performed in the period of (S11 to S13) until mounting of the As shown in FIG. 7, the head control unit 25 first acquires the detection result by the detection sensor 52 (S21).

Next, on the basis of the detection result of the detection sensor 52, the determination unit 251 compares the variation amount Ac of the flow state of the air in the second supply passage 24 with a preset threshold Th (S22). The fluctuation amount Ac of the distribution state is calculated, for example, by the difference between the detection value before execution of the holding inspection of the part and the current detection value. If the variation amount Ac is less than the threshold value Th (S22: No), the determination unit 251 determines that a clamp error has not occurred.

On the other hand, when the fluctuation amount Ac is equal to or larger than the threshold Th (S22: Yes), the determination unit 251 determines that a clamp error has occurred. Then, the head control unit 25 notifies the control device 16 that the chuck 30 is in the clamp error state (S23). If a clamp error occurs during the collection of parts (S11) (S24: Yes), the control device 16 executes retry processing to retry collection of parts, assuming that collection of parts is not normal (S24: Yes) S25).

The control device 16 may control each device so as to avoid the cause of the clamp error in the retry process. For example, when the target component is being supplied by the feeder 121, the control device 16 may move the carrier tape to the feeder 121 so that the component is reliably supplied. In addition, when the target component is supplied by the tray, the control device 16 specifies that the component of the storage unit different from the storage unit of the tray where the extraction of the previous component (S11) is tried be performed. .

Subsequently, when the clamp error occurs after the execution of the part collection (S11) (S24: No), the control device 16 drops the clamped part after the part collection (S11) ends normally. Error processing is executed (S26). As the above-mentioned error processing, for example, the operator is notified that maintenance is necessary together with error information including timing of occurrence of a clamp error and part type.

1-6. Calibration Process of Threshold Th In the present embodiment, the control device 16 executes a calibration process of the threshold Th used by the determination unit 251 of the head control unit 25 for the occurrence of a clamp error. In detail, as shown in FIG. 8, the control device 16 first acquires the detection value D1 by the detection sensor 52 in the initial state (S31). In the above “initial state”, the mounting head 20 holds the chuck 30 by suction, and negative pressure air is not supplied to the pneumatic device 35 and the chuck 30 is in the open state (unclamped state) (See FIG. 5A).

In the initial state, the piston 352 of the pneumatic device 35 is located at the initial position P1, and the piston 352 seals the opening of the second air passage 34. Thus, the valve device 38 shuts off the second air passage 34 and the atmospheric pressure air passage 37. Next, the controller 16 opens the first negative pressure valve 41 and supplies negative pressure air to the pneumatic device 35 via the first supply passage 23 and the first air passage 33 (S32).

At this time, there is no part or the like between the plurality of claws 32 of the chuck 30, and the chuck 30 shifts to the most closed state. Thereby, the piston 352 moves to the specified position P2 in contact with the upper wall of the cylinder 351 and stops (see FIG. 5C). That is, the valve device 38 brings the second air passage 34 and the atmospheric pressure air passage 37 into communication. Then, air flows in the order of the second air passage 34, the negative pressure chamber Bn, and the second supply passage 24, and as a result, the air pressure of the second air passage 34 is increased.

The control device 16 acquires the detection value D2 by the detection sensor 52 in the pseudo clamp mistake state where the piston 352 has stopped at the prescribed position P2 (S33). Then, the control device 16 sets the threshold value Th to be larger than the detection value D1 in the initial state and smaller than the detection value D2 by the detection sensor 52 in the false clamp error state (D1 <Th <D2 ) (S34). Thus, the controller 16 calibrates the threshold Th based on the flow state of air before and after the switching of the valve device 38.

1-7. Effects of the Configuration of the Embodiment According to the mounting head 20 configured as described above, in the supply system (second air supply circuit Cs2) different from the supply system (first air supply circuit Cs1) used for the operation of the chuck 30 Based on the air flow state, a holding inspection can be performed to determine whether the chuck 30 holds a component. Thereby, the operation of the valve device 38 interlocked with the movement of the piston 352 is stabilized, and the holding inspection can be performed more accurately.

Furthermore, switching between the communication state and the blocking state of the second air passage 34 and the atmospheric air passage causes the flow state of the second supply passage 24 to immediately change. This makes it possible to quickly determine whether the chuck 30 clamps a part. As a result, retention testing can be performed more accurately and quickly.

Further, in the present embodiment, the second air supply circuit Cs2 circulates negative pressure air used for the mounting head 20 to adsorb and hold the chuck 30. In such a mounting head 20, in order to securely hold the chuck 30, the flow state of air in the second supply passage 24 is managed using the detection sensor 52. Therefore, since the determination unit 251 can divert the detection result of the detection sensor 52, the holding inspection can be performed without increasing the facility cost.

According to the component mounting apparatus 10 configured as described above, it is possible to detect that a clamp error has occurred during execution of the mounting process. Thereby, for example, the timing (for example, the extraction of the site (S11) is faster than the configuration in which it is determined whether the clamp has succeeded or failed using image data acquired by imaging of the component camera 14, for example. The clamp error can be detected in).

In addition, after clamping the part, if the part is dropped for some reason before mounting (S11 to S13), the part is dropped particularly after the imaging of the part camera 14 (S12). In this case, a clamp error can be detected. As a result, it is possible to omit the useless mounting operation, and it is possible to quickly shift to error processing (S26) and the like. As a result, the accuracy of the mounting process can be improved, and the overall required time can be shortened.

On the other hand, when the control device 16 determines that the chuck 30 does not clamp the part by the determination unit 251 when clamping the supplied part (extraction of the part (S11)) (S24: Yes), the part Execute a retry process (S25) to try clamping again. As a result, compared with the configuration in which the retry process is performed after the imaging (S12) of the component camera 14, the start of the retry process can be advanced. As a result, unnecessary imaging processing can be omitted, and the required time for mounting processing can be shortened.

Furthermore, in the embodiment, the control device 16 calibrates the threshold Th based on the flow state of air before and after the switching of the valve device 38 (S34). Further, as described above, the first supply passage 23 and the second supply passage 24 have different supply systems. Thereby, it is suppressed that the fluctuation | variation of one circulation state influences the other circulation state by switching of the valve apparatus 38. FIG. Therefore, an appropriate threshold value Th can be set based on the flow state in the second supply passage 24 before and after the switching of the valve device 38 (S34).

2. Modification of Embodiment 2-1. Regarding the Second Supply Passage 24 and the Second Air Passage 34 In the embodiment, the second supply pass 24 and the second air pass 34 communicate negative pressure air used for the mounting head 20 to hold the chuck 30 by suction. Configure the supply system. On the other hand, if the second supply passage 24 and the second air passage 34 communicate with each other by the chuck 30 being held by the mounting head 20 and constitute a supply system different from the first supply passage 23, Various aspects may be employed.

For example, the second air supply circuit Cs2 may circulate air used for another application different from the holding of the chuck 30 by the mounting head 20. In addition, the second air supply circuit Cs2 may circulate dedicated air for detection of a clamp error state (holding inspection of parts). The air flowing through the second air supply circuit Cs2 may be positive pressure air or negative pressure air.

As described above, in the configuration in which the second air supply circuit Cs2 circulates the air other than the negative pressure air used to hold the chuck 30, the valve device 38 is configured in advance in a normal state in which no clamp error occurs in the chuck 30. The second air passage 34 may be in communication with the atmospheric pressure air passage 37. Then, for example, when a clamp error occurs in the chuck 30, the valve device 38 shuts off the second air passage 34 and the atmospheric pressure air passage 37.

According to such a configuration, when the chuck 30 is normal, the air pressure of the positive pressure air or negative pressure air flowing through the second supply passage 24 is in a state of reducing or increasing the pressure to the atmospheric pressure side. Then, when a clamp error occurs in the chuck 30, the second supply passage 24 is pressurized or depressurized to the air pressure of the circulating positive pressure air or negative pressure air. As described above, even with the above-described configuration, the air flow state in the second supply passage 24 fluctuates due to the switching of the valve device 38. Thereby, the determination unit 251 can determine whether the chuck 30 clamps a component, as in the embodiment.

In the embodiment, the valve device 38 is configured such that the piston 352 of the pneumatic device 35 functions as a spool. On the other hand, the valve device 38 can adopt various modes as long as the communication state and the shut-off state of the second air passage 34 and the atmospheric pressure air passage 37 can be switched in conjunction with the movement of the piston 352. For example, the valve device 38 may be a solenoid valve that can be switched on or off according to the position of the piston 352. In addition, the valve device 38 may be, for example, a mechanical valve whose spool is moved via an arm or a link mechanism connected to the piston 352.

Further, in the embodiment, the chuck 30 is supplied with the negative pressure air and changes from the open state (unclamped state) to the closed state (clamped state). On the other hand, the chuck 30 may adopt a type in which positive pressure air is supplied to be in a clamped state. The first air supply circuit Cs1 targeting such a type of chuck 30 distributes positive pressure air supplied from a positive pressure air supply source (not shown) to the chuck 30. Even in such a configuration, the same effects as those of the embodiment can be obtained.

1: Component mounting machine, 16: Controller, 20: Mounting head, 21: Head body, 22: Negative pressure air supply source, 23: First supply passage, 24: Second supply passage, 25: Head control unit, 251 : Judgment part, 26: Recess, 30: Chuck, 31: Chuck main body, 32: (plural) claws, 33: first air passage, 34: second air passage, 35: pneumatic device, 352: piston, 36 : Open / close mechanism 37: atmospheric air passage 38: valve device Cs 1: first air supply circuit (supply system) Cs 2: second air supply circuit (supply system) 52: detection sensor 90: substrate Bn : Negative pressure chamber, Vn1, Vn2: Negative pressure, Va: Atmospheric pressure, P1: Initial position, P2: Specified position

Claims (7)

A mounting head for releasably holding a chuck which is supplied with positive or negative pressure air to clamp parts,
The chuck is
A plurality of claws for clamping the part;
A first air passage and a second air passage that allow air to flow independently of one another;
A piston moved by air supplied via the first air passage;
An opening and closing mechanism for opening and closing the plurality of claws in accordance with the position of the piston;
An atmospheric pressure air passage open to the atmosphere,
And a valve device for switching between the communication state and the shut-off state of the second air passage and the atmospheric pressure air passage when the piston moves to the specified position.
The mounting head is
A first supply passage which communicates with the first air passage by holding the chuck by the mounting head, and which circulates air for moving the piston;
The chuck is held by the mounting head to communicate with the second air passage, and constitutes a supply system of air different from the first supply passage, and air of positive pressure or negative pressure supplied by the supply system. A second supply passage for circulating
A determination unit that determines whether or not the chuck clamps the part based on a flow state of air in the second supply passage, which changes with the switching of the valve device;
Mounting head. The valve device causes the atmospheric air passage to communicate with the second air passage when the piston moves to the defined position.
The determination unit determines that the chuck is not clamping the part when it is detected that the atmospheric pressure air passage is in communication with the second air passage based on a flow state of air in the second supply passage. The mounting head according to claim 1. The second supply passage circulates negative pressure air supplied from a negative pressure air supply source,
The mounting head adsorbs and holds the chuck by supplying negative pressure air to the negative pressure chamber formed at the boundary with the chuck via the second supply passage.
The valve device is higher than the air pressure of negative pressure air supplied from the negative pressure air supply source when the piston moves to the specified position, and the mounting head holds the chuck by suction. The mounting head according to claim 2, wherein the atmospheric air passage is communicated with the second air passage so that the negative pressure chamber is pressurized to a maintainable air pressure. The mounting head according to any one of claims 1 to 3, further comprising: a detection sensor capable of detecting the air flow or air flow rate of the second supply passage, which fluctuates with the switching of the valve device, as the flow state of air. The mounting head described in the section. The mounting head according to any one of claims 1-4.
A control device for performing a mounting process of mounting the component clamped by the chuck held by the mounting head on a substrate;
Component mounting machine equipped with When the control unit determines that the chuck does not clamp the part when clamping the supplied part, the control unit executes a retry process to try clamping the part again. The component mounting machine according to Item 5. The determination unit is configured such that the chuck clamps the component when a fluctuation amount of the flow state of air in the second supply passage, which fluctuates with the switching of the valve device, exceeds a preset threshold value. It judges that there is not
The component mounting machine according to claim 5, wherein the control device calibrates the threshold based on the flow state of air before and after switching of the valve device.

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