Electronic component mounting apparatus and electronic component mounting method

Abstract

A robot (100) includes a first robot arm (1), a second robot arm (4) that holds a slot (84) in a prescribed position, and a control section (7) that controls the first robot arm (1). The control section (7) causes the first robot arm (1) to perform an installation operation of installing a CPU (81) in the slot (84). In the installation operation, the first robot arm (1) installs the CPU (81) in the slot (84) in a state held by the second robot arm (4).

Description

TECHNICAL FIELD

[0001] The present application relates to an electronic component mounting apparatus and an electronic component mounting method. BACKGROUND

[0002] Hitherto, a structure in which an electronic component is mounted in a socket provided in a substrate is well known. For example, in Patent Document 1, a CPU is mounted in a CPU socket. The CPU is placed in the CPU socket, and is fixed in this state by a lid.

[0003] PRIOR ART DOCUMENTS

[0004] Patent Document 1: Japanese Patent Application Laid-Open No. 2007-211321 SUMMARY

[0005] However, in the mounting structure of the electronic component using the socket, in order to maintain a proper electrical connection between the electronic component and the socket, the electronic component is mounted in the socket with high positioning accuracy. Also, since the electronic component such as the CPU is thin, in order not to damage the electronic component, the operation at the time of mounting the electronic component must be performed carefully.

[0006] It is conceivable to automate the mounting of such an electronic component onto the socket. However, as described above, in the mounting structure of the electronic component using the socket, there are many problems in actual situations, such as the high positioning accuracy of the electronic component and the socket and the careful operation of the electronic component.

[0007] In view of the above, an object of the technology disclosed in the present application is to provide a mounting that realizes stable and high-accuracy mounting of an electronic component onto a socket.

[0008] The electronic component mounting apparatus disclosed in the present application is an electronic component mounting apparatus that mounts an electronic component in a socket provided in a substrate via a slot rotatably connected to the substrate about a prescribed axis, the electronic component mounting apparatus including a first robot arm, a holding device that holds the slot in a prescribed position, and a control section that controls the first robot arm, the control section causing the first robot arm to perform a mounting operation of mounting the electronic component in the slot in a state held by the holding device.

[0009] The electronic component mounting method disclosed in the present application is an electronic component mounting method for mounting an electronic component in a socket provided in a substrate via a slot to which the electronic component is rotatably connected around a prescribed axis, the electronic component mounting method including a step of holding the slot at a prescribed position by a holding device and a step of mounting the electronic component in the slot held in the state by the holding device by a first robot arm.

[0010] Effects of Invention

[0011] With the electronic component mounting device, the electronic component can be mounted in the socket stably and with high precision using the robot arm.

[0012] With the electronic component mounting method, the electronic component can be mounted in the socket stably and with high precision using the robot arm. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a front view of a dual-arm robot.

[0014] Figure 2 is a plan view of a dual-arm robot.

[0015] Figure 3 is a perspective view of a first end effector and a second end effector.

[0016] Figure 4 is a perspective view of a first expansion hand.

[0017] Figure 5 is a perspective view of a second expansion hand.

[0018] Figure 6 is a perspective view of a third expansion hand.

[0019] Figure 7 is a perspective view of a fourth expansion hand.

[0020] Figure 8 is a block diagram of a control section.

[0021] Figure 9 is a perspective view of a CPU socket in which a slot and a fixing frame are in a standing state.

[0022] Figure 10 is a side view of a main board centered on a CPU socket in a fixing release operation.

[0023] Figure 11 is a side view of a main board centered on a CPU socket at the start of a lock release operation.

[0024] Figure 12 is a side view of a main board centered on a CPU socket at the completion of a lock release operation.

[0025] Figure 13 is a side view of the main board centered on the CPU socket in the holding operation.

[0026] Figure 14 is a side view of the main board centered on the CPU socket in the first removing operation.

[0027] Figure 15 is a partial sectional view of the main board centered on the pin of the second expansion hand in the mounting operation.

[0028] Figure 16 is a side view of the main board centered on the CPU socket in the mounting operation.

[0029] Figure 17 is a side view of the main board centered on the CPU socket in the locking operation.

[0030] Figure 18 is a perspective view of the fifth expansion hand.

[0031] Figure 19 is a perspective view of the sixth expansion hand.

[0032] Figure 20 is a perspective view of the seventh expansion hand.

[0033] Figure 21 is a side view of the main board centered on the CPU socket after the completion of the locking release operation.

[0034] Figure 22 is a side view of the main board centered on the CPU socket in the holding operation.

[0035] Figure 23 is a side view of the main board centered on the CPU socket in the first removing operation.

[0036] Figure 24 is a perspective view of the main board centered on the CPU socket in the mounting operation. DETAILED DESCRIPTION

[0037] Hereinafter, the embodiments will be described in detail with reference to the drawings.

[0038] (First Embodiment)

[0039] The dual-arm robot 100 according to the first embodiment will be described. Figure 1 is a front view of the dual-arm robot 100. Figure 2 is a plan view of the dual-arm robot 100. In Figure 2 , the state in which the dual-arm robot 100 is incorporated into the work system 1000 is shown. Note that the states of the first robot arm 1 and the second robot arm 4 are the same as those in Figure 1 andFigure 2 Different from China.

[0040] The dual-arm robot (hereinafter referred to as "robot") 100 includes a first robotic arm 1, a second robotic arm 4, and a control unit 7 (see reference 7). Figure 8 Robot 100 mounts CPU 81 onto motherboard 8. Robot 100 is an example of an electronic component mounting device. CPU 81 is an example of an electronic component, and motherboard 8 is an example of a substrate.

[0041] (Robot arm)

[0042] The first robotic arm 1 and the second robotic arm 4 are multi-joint robotic arms. More specifically, the first robotic arm 1 and the second robotic arm 4 are horizontal multi-joint robotic arms. The first robotic arm 1 and the second robotic arm 4 move in a coordinated manner. A first end effector 3 is connected to the first robotic arm 1. A second end effector 6 is connected to the second robotic arm 4. The second robotic arm 4 is an example of a holding device.

[0043] For ease of explanation, we will define mutually orthogonal X, Y, and Z axes below. The Z axis extends in the vertical direction.

[0044] The first robotic arm 1 has a first link 11, a second link 12, and a first wrist 2. The second robotic arm 4 has a first link 41, a second link 42, and a second wrist 5. Hereinafter, in each link, the end in the longitudinal direction will be referred to as the first end, and the end in the longitudinal direction opposite to the first end will be referred to as the second end.

[0045] Regarding the first robotic arm 1, the first end 11a of the first link 11 is rotatably connected to the base 10 about a first axis A1 extending in the Z-axis direction. The first end 12a of the second link 12 is rotatably connected to the second end 11b of the first link 11 about a second axis A2 extending in the Z-axis direction. The first end 12a of the second link 12 is disposed above the second end 11b of the first link 11. A first wrist 2 is connected to the second link 12.

[0046] Regarding the second robotic arm 4, the first end 41a of the first link 41 is rotatably connected to the base 10 about a first axis A1. That is, the first link 41 is coaxially connected to the base 10 with the first link 11. The first end 41a of the first link 41 is disposed above the first end 11a of the first link 11. The first end 42a of the second link 42 is rotatably connected to the second end 41b of the first link 41 about a second axis B2 extending in the Z-axis direction. The first end 42a of the second link 42 is disposed below the second end 41b of the first link 41. A second wrist 5 is connected to the second link 42.

[0047] The robot 100 has a first motor 13, a second motor 14, a third motor 43, and a fourth motor 44 (refer to Figure 8 ), the first motor 13 drives the first link 11, the second motor 14 drives the second link 12, the third motor 43 drives the first link 41, and the fourth motor 44 drives the second link 42. For example, the first motor 13, the second motor 14, the third motor 43, and the fourth motor 44 are servo motors. The servo motors include encoders that detect the rotational positions of the motors. The robot 100 has a transmission mechanism that transmits the driving forces of the respective motors to the corresponding links, not shown. For example, the transmission mechanism is a combination of a gear train, a pulley, and a belt.

[0048] The first end effector 3 is connected to the front end portion of the first robot arm 1, specifically, to the first wrist 2. The first wrist 2 rotates the first end effector 3 about a fourth axis A4 extending in the Z-axis direction while linearly moving the first end effector 3 along a third axis A3 extending in the Z-axis direction. In this example, the third axis A3 is coaxial with the fourth axis A4.

[0049] The second end effector 6 is connected to the front end portion of the second robot arm 4, specifically, to the second wrist 5. The second wrist 5 rotates the second end effector 6 about a fourth axis B4 extending in the Z-axis direction while linearly moving the second end effector 6 along a third axis B3 extending in the Z-axis direction. In this example, the third axis B3 is coaxial with the fourth axis B4.

[0050] (First Wrist)

[0051] The first wrist 2 has a first connecting portion 21, a first link 22, a second link 23, and a second connecting portion 24. The first connecting portion 21 is fixedly installed at the second end portion 12b of the second link 12. The first link 22 is rotatably connected to the first connecting portion 21 about a first link axis C1 extending in parallel with the XY plane. The second link 23 is rotatably connected to the first link 22 about a second link axis C2 parallel with the first link axis C1. The second connecting portion 24 is rotatably connected to the second link 23 about a third link axis C3 parallel with the first link axis C1.

[0052] A fifth motor 25 (refer to Figure 8). The first wrist 2 is provided with a transmission mechanism (omitted from the drawing) that transmits the driving force of the fifth motor 25 to each of the first link 22, the second link 23, and the second connecting portion 24. The transmission mechanism is, for example, a gear train. The first link 22, the second link 23, and the second connecting portion 24 are caused to move in conjunction by the driving force of one fifth motor 25. The transmission mechanism causes the first link 22, the second link 23, and the second connecting portion 24 to rotate so that the rotational angles of each of the first link 22, the second link 23, and the second connecting portion 24 are maintained in a certain relationship. Specifically, the first link 22, the second link 23, and the second connecting portion 24 are caused to rotate in conjunction with each other in such a manner that the second connecting portion 24 is kept in the same posture and only moved in the direction of the third axis A3 extending in the Z-axis direction. That is, the first wrist 2 virtually causes the second connecting portion 24 to move linearly along the third axis A3.

[0053] The first end effector 3 is rotatably connected to the second connecting portion 24 about a fourth axis A4 extending in the Z-axis direction. The second connecting portion 24 is provided with a sixth motor 27 (refer to Figure 8 ) and a transmission mechanism (omitted from the drawing) that transmits the driving force of the sixth motor 27 to the first end effector 3. The first end effector 3 is caused to rotate about the fourth axis A4 by the sixth motor 27.

[0054] (Second Wrist)

[0055] The second wrist 5 virtually has the same structure as the first wrist 2. The second wrist 5 has a first connecting portion 51, a first link 52, a second link 53, and a second connecting portion 54.

[0056] The first connecting portion 51 is fixedly installed at the second end portion 42b of the second link 42. The first link 52 is rotatably connected to the first connecting portion 51 about a first joint axis D1 extending in parallel with the XY plane. The second link 53 is rotatably connected to the first link 52 about a second joint axis D2 parallel with the first joint axis D1. The second connecting portion 54 is rotatably connected to the second link 53 about a third joint axis D3 parallel with the first joint axis D1.

[0057] The first connecting portion 51 is provided with a seventh motor 55 (refer to Figure 8) is provided with a transmission mechanism (omitted from the drawing) that transmits the driving force of the seventh motor 55 to each of the first link 52, the second link 53, and the second connecting portion 54. The first link 52, the second link 53, and the second connecting portion 54 move in conjunction with the driving force of the seventh motor 55. The transmission mechanism rotates the first link 52, the second link 53, and the second connecting portion 54 so that the rotational angles of each of the first link 52, the second link 53, and the second connecting portion 54 are maintained in a certain relationship. Specifically, the first link 52, the second link 53, and the second connecting portion 54 rotate in conjunction with each other in a manner in which the second connecting portion 54 is kept in a posture unchanged and only moves in the direction of the third axis B3 extending in the Z-axis direction. That is, the second wrist 5 substantially linearly moves the second connecting portion 54 along the third axis B3.

[0058] The second end effector 6 is rotatably connected to the second connecting portion 54 around the fourth axis B4 extending in the Z-axis direction. An eighth motor 57 (refer to Figure 8 ) and a transmission mechanism (omitted from the drawing) that transmits the driving force of the eighth motor 57 to the second end effector 6 are provided in the second connecting portion 54. The second end effector 6 is rotated around the fourth axis B4 by the eighth motor 57.

[0059] (First end effector)

[0060] Figure 3 is a perspective view of the first end effector 3 and the second end effector 6. The first end effector 3 has a base 30 rotatably connected to the second connecting portion 24 of the first wrist 2, a first hand 31 provided to the base 30, and a first vision sensor 35.

[0061] The base 30 is enlarged in a plane orthogonal to the fourth axis A4.

[0062] The first hand 31 is mounted to the base 30 via a mounting plate 36. The mounting plate 36 extends from the base 30 in a radial direction centered on the fourth axis A4. The first hand 31 is provided to a front end of the mounting plate 36.

[0063] The first hand 31 has a pair of fingers 32 and an actuator (omitted from the drawing) that drives the pair of fingers 32. The pair of fingers 32 extend in parallel to each other in a horizontal direction. The pair of fingers 32 are slidably supported by a guide 33 in the horizontal direction. The pair of fingers 32 are guided by the guide 33 in a state in which they maintain parallel to each other, or are separated from each other, or are brought close to each other.

[0064] The actuator is, for example, a pneumatic cylinder. The actuator is connected to the pneumatic cylinder 34 via a pipe and a solenoid valve 35 (refer to Figure 8The actuator is connected to an air compressor (illustration omitted). The air compressor drives the actuator by compressing air. The actuator switches the direction of movement of a pair of fingers 32 via a solenoid valve 34. That is, the solenoid valve 34 switches whether the pair of fingers 32 move in a direction that separates them from each other or in a direction that brings them closer together.

[0065] A first vision sensor 35 is mounted on the base 30. The first vision sensor 35 is positioned downwards in the Z-axis direction to capture images of objects located below it.

[0066] The first end effector 3, configured in this way, holds the expansion hand via a first hand 31. The first end effector 3 changes the position of the expansion hand held by the first hand 31 in response to the task. Therefore, the first end effector 3 can accommodate various tasks.

[0067] (Second end effector)

[0068] The second end effector 6 has a base 60, a second hand 61, and a second vision sensor 65. The base 60 is rotatably connected to a second connection portion 54 of the second wrist 5, and the second hand 61 is disposed on the base 60.

[0069] The base 60 expands in a plane orthogonal to the fourth axis B4.

[0070] The second hand 61 is mounted on the base 60 via the mounting plate 66. The mounting plate 66 extends from the base 60 in a radial direction centered on the fourth axis B4. The second hand 61 is located at the front end of the mounting plate 66.

[0071] The second hand 61 has a pair of fingers 62 and an actuator (not shown) that drives the pair of fingers 62. The pair of fingers 62 are parallel to each other and extend in a horizontal direction. The pair of fingers 62 are slidably supported in the horizontal direction by a guide 63. The pair of fingers 62 are guided by the guide 63 either while remaining parallel to each other, or apart or close to each other.

[0072] The actuator is, for example, a cylinder. The actuator is connected via a conduit and a solenoid valve 64 (see reference). Figure 8 The actuator is connected to an air compressor (not shown). The air compressor drives the actuator by compressing air. The actuator switches the direction of movement of a pair of fingers 62 via a solenoid valve 64. That is, the solenoid valve 64 switches whether the pair of fingers 62 move in a direction that separates them from each other or in a direction that brings them closer together.

[0073] A second vision sensor 65 is disposed on the base 60. The second vision sensor 65 is positioned downward in the Z-axis direction to capture images of objects located below it.

[0074] The second end effector 6 thus configured holds the spreader hand by the second hand 61. The second end effector 6 changes the spreader hand held by the second hand 61 in response to the work content. Therefore, the second end effector 6 can correspond to various works.

[0075] (Spreader hand)

[0076] Next, the spreader hands held by the first end effector 3 and the second end effector 6 are described. Figure 4 is a perspective view of the first spreader hand 37. Figure 5 is a perspective view of the second spreader hand 38. Figure 6 is a perspective view of the third spreader hand 67. Figure 7 is a perspective view of the fourth spreader hand 68.

[0077] The first end effector 3 selectively holds the first spreader hand 37 and the second spreader hand 38. Here, in the first end effector 3, the direction in which the mounting plate 36 extends (i.e., the direction in which the first hand 31 is eccentric from the fourth shaft A4) is the front-rear direction, and the direction that is horizontal and orthogonal to the front-rear direction is the lateral direction.

[0078] The first spreader hand 37 has a base 37a, a pair of fingers 37b provided to the base 37a, and a handle 37d provided to the base 37a and cylindrical. The pair of fingers 37b are arranged in the lateral direction and extend in the substantially up-down direction. A claw 37c extending in the front-rear direction is provided to the front end of the finger 37b. The first hand 31 holds the handle 37d.

[0079] The second spreader hand 38 is a single-chuck type hand. The second spreader hand 38 has a base 38a, a guide 38b provided to the base 38a, a pair of fingers 38c supported by the guide 38b, an actuator driving the pair of fingers 38c, a plate 38d provided to the base 38a, a pin 38e provided to the plate 38d, and a handle 38g provided to the base 38a and cylindrical.

[0080] The base 38a, the plate 38d, and the guide 38b are arranged in the front-rear direction. The plate 38d is disposed between the base 38a and the guide 38b. The plate 38d extends downward from the base 38a. The normal direction of the plate 38d faces the front-rear direction. The lower portion of the plate 38d is formed thinner than the upper portion. A step 38f is formed on the face of the plate 38d on the guide 38b side. The pin 38e extends in the front-rear direction in the lower portion of the plate 38d on the guide 38b side. The pin 38e is formed in a substantially semicircular cross section.

[0081] A pair of fingers 38c extends approximately downward from the guide 38b in the lateral direction. The guide 38b supports the pair of fingers 38c in a manner of separating or approaching in the lateral direction. The actuator is, for example, a pneumatic cylinder. The actuator is connected to an air compressor (omitted from illustration) via a pipe and a solenoid valve 38h (refer to Figure 8 ). The direction in which the actuator moves the pair of fingers 38c is switched by the solenoid valve 38h. That is, whether the pair of fingers 38c moves in a direction of separating from each other or in a direction of approaching each other is switched by the solenoid valve 38h. The first hand 31 holds the handle 38g.

[0082] The second end effector 6 selectively holds the third and fourth expansion hands 67 and 68. Here, in the second end effector 6, the direction in which the mounting plate 66 extends, that is, the direction in which the second hand 61 is eccentric from the fourth shaft B4 is the front-rear direction, and the direction that is horizontal and orthogonal to the front-rear direction is the lateral direction.

[0083] The third expansion hand 67 has a base 67a, a pair of fingers 67b provided to the base 67a, and a handle 67d provided to the base 67a and cylindrical. The pair of fingers 67b is arranged in the lateral direction and extends in the approximately up-down direction. The front end portion of the finger 67b is bent in the front-rear direction. A claw 67c extending downward is provided to the front end of the finger 67b. The second hand 61 holds the handle 67d.

[0084] The fourth expansion hand 68 is a rotary tool type hand. The fourth expansion hand 68 has a base 68a, a tool body 68b provided to the base 68a, a head 68c provided to the tool body 68b, a motor 68d (refer to Figure 8 ) housed in the tool body 68b and rotationally driving the head 68c, and a handle 68e provided to the base 68a and cylindrical. The second hand 61 holds the handle 68e.

[0085] (CONTROL PART)

[0086] Figure 8 is a block diagram of the control part 7. The control part 7 has an arithmetic part 71, a storage part 72, and a servo control part 73. The arithmetic part 71 is formed of a CPU or the like. The storage part 72 is formed of a ROM, a RAM, or the like. The servo control part 73 is formed of a CPU or the like.

[0087] In the storage part 72, a basic program as a robot controller, various data, and the like are stored. The arithmetic part 71 controls various actions of the robot 100 by reading out and executing the basic program or the like software stored in the storage part 72.

[0088] The arithmetic unit 71 outputs control signals to the first vision sensor 35 and the second vision sensor 65. The output signals from the first vision sensor 35 and the second vision sensor 65 are input to the arithmetic unit 71. The arithmetic unit 71 causes the first vision sensor 35 and the second vision sensor 65 to capture images of an object, and calculates the position and shape of the object based on the capturing results. Furthermore, the arithmetic unit 71 outputs control signals to the solenoid valve 34 and the motor 68d. For example, the arithmetic unit 71 controls the opening and closing of a pair of fingers 32 of the first hand 31. The arithmetic unit 71 generates control commands for the robot 100 and outputs these commands to the servo control unit 73. For example, the arithmetic unit 71 controls the first robot arm 1 and the second robot arm 4 via the servo control unit 73.

[0089] The servo control unit 73 provides drive current to each of the first motor 13, the second motor 14, the third motor 43, the fourth motor 44, the fifth motor 25, the sixth motor 27, the seventh motor 55, and the eighth motor 57, and receives detection signals from each encoder. For example, the servo control unit 73 inputs drive current to the corresponding motor according to control commands from the arithmetic unit 71. At this time, the servo control unit 73 controls the drive current according to the detection signals from each encoder.

[0090] (The robot's actions)

[0091] Next, the operating system 1000 in which the robot 100 is installed will be described.

[0092] In operating system 1000, such as Figure 2 As shown, a belt conveyor 91 is positioned in front of the robot 100. A tool storage area 92 is positioned near the belt conveyor 91. Figure 2 The illustration is omitted. The tool storage area 92 is equipped with a first expansion hand 37, a second expansion hand 38, a third expansion hand 67 and a fourth expansion hand 68.

[0093] A belt conveyor 91 transports a tray 93 carrying a motherboard 8. A stop (not shown) is provided on the belt conveyor 91 to stop the tray 93 before it reaches the robot 100. The robot 100 installs a CPU 81 onto the motherboard 8 within the tray 93, which is stopped by the stop. A CPU storage compartment 94 is located on the side of the robot 100 to house multiple CPUs 81 before installation.

[0094] Figure 9 This is a 3D view of the CPU socket 82 with slot 84 and fixing frame 85 in an upright position.

[0095] The motherboard 8 is equipped with a CPU socket 82, a slot 84, and a mounting frame 85.

[0096] A plurality of contact pins (not shown) are arranged in the CPU socket 82. The plurality of contact pins are arranged corresponding to the CPU 81. The CPU socket 82 has a base frame 83. The base frame 83 is provided so as to surround the plurality of contact pins of the CPU socket 82. The CPU 81 is placed on the base frame 83. The CPU 81 placed on the base frame 83 is in contact with the contact pins and is electrically connected. The CPU socket 82 is an example of a socket.

[0097] The base frame 83 is formed in a substantially quadrangular shape as viewed in plan. In detail, the base frame 83 has a pair of long side portions 83a, 83c extending substantially parallel to each other and a pair of short side portions 83b, 83d extending substantially parallel to each other. A first engaging portion 83e to which the slot 84 is engaged is provided at each of the long side portions 83a, 83c. The first engaging portion 83e is formed in a shape depressed to be concave.

[0098] The slot 84 is rotatably connected to the main board 8 about a prescribed axis L. The slot 84 is formed in a substantially quadrangular frame shape. In detail, the slot 84 has a pair of long side portions 84a, 84c extending substantially parallel to each other and a pair of short side portions 84b, 84d extending substantially parallel to each other. The short side portion 84d is rotatably connected to the main board 8 about the axis L. The short side portion 84d extends in parallel to the axis L.

[0099] The slot 84 is formed of a metal line, part of which is covered with a resin. For example, a major part of the long side portions 84a, 84c is covered with a resin, and end portions of the long side portions 84a, 84c on the side of the short side portion 84b are formed of only the metal line. The short side portion 84b is formed of only the metal line.

[0100] A guide 84g into which the CPU 81 is slidably inserted is formed at each of the long side portions 84a, 84b. The guide 84g is formed at the resin portion of the long side portions 84a, 84c. The guide 84g is formed in a groove shape which is open to the inside of the slot 84 (i.e., the inside of the quadrangle formed by the slot 84).

[0101] The CPU 81 is inserted into the guides 84g, 84g of the long side portions 84a, 84c from the side of the short side portion 84b. In detail, a carrying frame 86 is mounted on the CPU 81. The carrying frame 86 is formed in a substantially quadrangular frame shape. The carrying frame 86 covers the periphery of the CPU 81. The carrying frame 86 is inserted into the guide 84g. That is, the CPU 81 is inserted into the guide 84g via the carrying frame 86. The CPU 81 is mounted in the slot 84 by being inserted into the guides 84g of the long side portions 84a, 84c. Also, the CPU 81 is taken out of the slot 84 by being pulled out of the guides 84g of the long side portions 84a, 84c.

[0102] A protruding piece 86a is provided to the carrying frame 86 so as to protrude to the outside (i.e., the outside of the quadrangle formed by the carrying frame 86). In a state where the carrying frame 86 is installed to the slot 84, the protruding piece 86a protrudes more to the outside in the short side portion 84b of the slot 84 than the slot 84. A through-hole 86b is formed in the protruding piece 86a.

[0103] The slot 84 is rotatably movable around the axis L between a fallen state in which the slot 84 is fallen on the main board 8 and a standing state in which the slot 84 is stood from the main board 8. In the fallen state, the slot 84 is substantially parallel to the main board 8. The standing state is a state in which the slot 84 is rotated until a mounting / demounting position at which the mounting / demounting of the CPU 81 is performed. For example, the mounting / demounting position is a position at which the slot 84 is stood substantially 90 degrees from the fallen state, and the standing state is a state in which the slot 84 is stood substantially 90 degrees from the fallen state. The slot 84 is further rotatably movable from the fallen state beyond the mounting / demounting position. The slot 84 is urged in a direction from the fallen state to the standing state by a torsion coil spring (omitted from the drawing). In detail, when no external force other than gravity is applied to the slot 84, the slot 84 becomes a natural state between the fallen state and the standing state by the torsion coil spring. Specifically, the natural state is a state in which the slot 84 is stood less than 90 degrees from the fallen state. After the slot 84 becomes the fallen state in a state where the CPU 81 is installed, the CPU 81 is placed on the CPU socket 82. Specifically, the CPU 81 is placed on the base 83, and electrically connected to the contact pins of the CPU socket 82. Since the position at which the slot 84 places the CPU 81 on the CPU socket 82 is constant, the CPU 81 can be placed on the CPU socket 82 with high positioning accuracy.

[0104] The slot 84 is configured to be locked to the main board 8 in the fallen state. In detail, a second engaging portion 84h is provided to each of the long side portions 84a, 84c. The second engaging portion 84h is a protrusion. The second engaging portion 84h is formed in the resin portion of the long side portion 84a, 84c. The second engaging portion 84h is engaged to the first engaging portion 83e of the base 83 when the slot 84 becomes the fallen state. By the engagement of the second engaging portion 84h and the first engaging portion 83e, the slot 84 is locked to the main board 8 in the fallen state. Therefore, the CPU 81 is held in a state where the CPU 81 is placed on the CPU socket 82.

[0105] Further, each of the long side portions 84a, 84c has a protruding piece 84f, 84f which protrudes from the short side portion 84b.

[0106] The fixed frame 85 is formed in a substantially quadrangular frame shape. The fixed frame 85 is rotatably connected to the main board 8 about a prescribed axis M. In this example, the axis M is parallel to the axis L. The fixed frame 85 is rotatably movable about the axis M between a laid state, which is a state in which the fixed frame 85 is laid on the main board 8, and a standing state, which is a state in which the fixed frame 85 is standing from the main board 8. In the laid state, the fixed frame 85 is substantially parallel to the main board 8. The standing state is a state in which the fixed frame 85 is standing from the laid state by substantially 90 degrees. The fixed frame 85 is further rotatably movable from the laid state beyond the standing state. The fixed frame 85 is urged in a direction from the laid state to the standing state by a torsion coil spring (omitted from the drawing). In detail, when no external force other than gravity is acting on the fixed frame 85, the fixed frame 85 is in the standing state as a natural state by the torsion coil spring.

[0107] In the rotation direction of the fixed frame 85, the slot 84 is positioned between the fixed frame 85 and the main board 8. That is, when the fixed frame 85 is in the laid state, the slot 84 is covered in the same laid state. The fixed frame 85 is screwed to the main board 8 in the laid state. In this example, the fixed frame 85 is screwed to the main board 8 at three places. Therefore, the fixed frame 85 presses the slot 84 against the main board 8, and further the CPU 81 is pressed against the base 83. As a result, the electrical connection between the CPU 81 and the contact pin is secured.

[0108] When the main board 8 is carried in by the robot 100, the CPU 81 is not installed in the main board 8. The slot 84 is in a state in which it is locked to the main board 8 in the laid state. Also, the fixed frame 85 is in the laid state, and is screwed to the main board 8. At this time, the first protective cover 87 (refer to Figure 10 、 11 and the like) is installed in the slot 84. The first protective cover 87 is provided for the purpose of protecting the CPU socket 82.

[0109] The first protective cover 87 is installed in the slot 84 by being inserted into the guide 84g as with the CPU 81. The first protective cover 87 is provided with a protruding piece 87a which protrudes to the outside. In the state in which the first protective cover 87 is installed to the slot 84, the protruding piece 87a protrudes to the outside more than the slot 84 in the short side portion 84b of the slot 84. A through-hole 87b is formed in the protruding piece 87a. In the laid state of the slot 84, the first protective cover 87 covers the entire surface of the CPU socket 82.

[0110] Next, the installation work of the CPU 81 by the robot 100 will be described.

[0111] When the tray 93 on which the main board 8 is placed is carried to the front of the robot 100 by the belt conveyor 91, the tray 93 is stopped by a stopper of the belt conveyor 91.

[0112] When the tray 93 is stopped, the control section 7 causes the first vision sensor 35 and the second vision sensor 65 to take pictures of the main board 8 and the CPU socket 82. In detail, the first robot arm 1 and the second robot arm 4 move the first vision sensor 35 and the second vision sensor 65 above the main board 8 and the CPU socket 82. The first vision sensor 35 and the second vision sensor 65 take pictures of the surroundings of the main board 8 and the CPU socket 82, and the control section 7 acquires the positions of the main board 8 and the CPU socket 82. The control section 7 causes the first robot arm 1 and the like to perform the following actions in accordance with the acquired positions of the main board 8 and the CPU socket 82.

[0113] The control section 7 first causes the second robot arm 4 to perform a fixing release action of releasing the screw fixing of the fixing frame 85. Figure 10 is a side view of the main board 8 centered on the CPU socket 82 in the fixing release action. Note that the side view of the main board 8 used in the description of the first embodiment is a side view of the main board 8 as viewed from the robot 100 side.

[0114] In the fixing release action, the second end effector 6 uses the fourth expansion hand 68. The second robot arm 4 moves the second end effector 6 so that the tip of the turret 68c of the fourth expansion hand 68 is inserted into a groove of the screw head that fixes the fixing frame 85. When the tip of the turret 68c is inserted into the groove of the screw, the fourth expansion hand 68 loosens the screw, releasing the screw fixing. The control section 7 causes this action to be performed as many times as the number of screws that fix the fixing frame 85.

[0115] At this time, the control section 7 causes the first robot arm 1 to perform a catching action of catching the fixing frame 85 whose fixing has been released. In the catching action, the first end effector 3 uses the first expansion hand 37. The first robot arm 1 moves the claw 37c of the first expansion hand 37 above the fixing frame 85 at the end of the fixing release action. After the fixing of the fixing frame 85 is released, the fixing frame 85 is rotationally moved to a standing state by the torsion coil spring. At this time, the fixing frame 85 contacts the claw 37c of the first expansion hand 37, preventing the fixing frame 85 from suddenly jumping up. Thus, the fixing frame 85 is released from the fixing to the main board 8 and is supported by the first expansion hand 37 in a state of slightly standing from the fallen state.

[0116] Second, the control section 7 causes the first robot arm 1 to perform a frame opening operation, which is an operation to stand up the fixed frame 85. In the frame opening operation, the first end effector 3 uses the first expansion hand 37. That is, the first robot arm 1 continues to perform the frame opening operation using the first expansion hand 37 after the catching operation. In the catching operation, the first expansion hand 37 presses the fixed frame 85 to be stood up by the elastic force of the torsion coil spring. In the frame opening operation, the first robot arm 1 moves the first expansion hand 37 to slowly stand up the fixed frame 85 by the elastic force of the torsion coil spring. When the fixed frame 85 is stood up to a standing state, i.e., a natural state, the rotational movement of the fixed frame 85 naturally stops.

[0117] Then, the control section 7 causes the first robot arm 1 to perform a lock release operation to release the locking of the slot 84 in the lodging state. Figure 11 is a side view of the main board 8 centered on the CPU socket 82 at the start of the lock release operation. Figure 12 is a side view of the main board 8 centered on the CPU socket 82 at the completion of the lock release operation.

[0118] In the lock release operation, as shown in Figure 11 , the first end effector 3 uses the first expansion hand 37. That is, the first robot arm 1 continues to perform the lock release operation using the first expansion hand 37 after the frame opening operation. The first robot arm 1 moves the first end effector 3 to position the claws 37c, 37c of the pair of fingers 37b of the first expansion hand 37 below the two protruding pieces 84f, 84f of the slot 84 in the lodging state. The first robot arm 1 raises the first expansion hand 37. Thus, the claws 37c, 37c push the protruding pieces 84f, 84f upward. The lines of the long edge portions 84a, 84c, etc. that form the slot 84 are elastically deformed to some extent, so that the second engagement portions 84h, 84h of the slot 84 are disengaged from the first engagement portions 83e, 83e of the base frame 83. Thus, the locking of the slot 84 is released. After the locking is released, as shown in Figure 12 , the slot 84 is stood up from the lodging state to the natural state by the elastic force of the torsion coil spring. The lock release operation is an example of a release operation.

[0119] Next, the control section 7 causes the second robot arm 4 to perform a holding operation to hold the slot 84 in the standing state. Figure 13 is a side view of the main board 8 centered on the CPU socket 82 in the holding operation.

[0120] In the holding operation, the second end effector 6 uses the third expansion hand 67. The second robot arm 4 moves the second end effector 6 to make the claws 67c, 67c of the pair of fingers 67b of the third expansion hand 67 more erect the grooves 84 in the natural state against the elastic force of the torsion coil spring. The second robot arm 4 stops the movement of the second end effector 6 at the place where the grooves 84 are rotated to the attachment / detachment position, that is, the place where the grooves 84 become the erect state, and maintains the state. That is, the second robot arm 4 holds the grooves 84 in the erect state. This holding operation corresponds to the step of holding the grooves in the prescribed position by the holding means.

[0121] In this state, the control section 7 makes the first robot arm 1 execute a first removal operation which is an operation of removing the first protective cover 87 from the grooves 84. In the first removal operation, the second robot arm 4 maintains the state of holding the grooves 84 in the erect state. Figure 14 is a side view of the main board 8 centered on the CPU socket 82 in the first removal operation.

[0122] In the first removal operation, the first end effector 3 uses the second expansion hand 38. First, the first robot arm 1 moves the first end effector 3 to make the pins 38e of the second expansion hand 38 inserted into the through holes 87b of the first protective cover 87. At this time, as shown in Figure 14 the pair of fingers 38c are relatively separated to make the pair of long side portions 84a, 84c of the grooves 84 disposed between the pair of fingers 38c. In addition, the pair of fingers 38c does not contact the pair of long side portions 84a, 84c.

[0123] The first robot arm 1 raises the first end effector 3 from this state. Therefore, the pins 38e are engaged to the through holes 87b, and the first protective cover 87 is pulled out along the guides 84g.

[0124] With the raising of the first end effector 3, finally the pair of fingers 38c moves to a position higher than the pair of long side portions 84a, 84c. At this time, the first protective cover 87 is positioned between the pair of fingers 38c. When the first end effector 3 is raised to such a position, the second expansion hand 38 holds the first protective cover 87 by the pair of fingers 38c. Therefore, the second expansion hand 38 holds the first protective cover 87 by the engagement of the pins 38e to the through holes 87b and the holding by the pair of fingers 38c in addition to the engagement.

[0125] The first robot arm 1 raises the first end effector 3 further from this state. Finally, the first protective cover 87 is pulled out from the grooves 84. The first removal operation is one example of the removal operation.

[0126] In the first removal operation, the slot 84 is held by the second robot arm 4. Therefore, the position of the slot 84 is not changed while the first protective cover 87 is sliding along the guide 84g. Thus, the extraction of the first protective cover 87, i.e., the removal thereof, is smoothly performed.

[0127] After the first protective cover 87 is removed, the control section 7 causes the first robot arm 1 to perform an installation operation of installing the CPU 81 in the slot 84. In the installation operation, the second robot arm 4 maintains the state of holding the slot 84 in the standing state. Figure 15 is a side view of the main board 8 centered on the CPU socket 82 in the installation operation. Figure 16 is a partial sectional view centered on the pin 38e of the second expansion hand 38 in the installation operation. The installation operation corresponds to the step of installing an electronic component in a slot held in a state by a holding device by the first robot arm.

[0128] In the installation operation, the first end effector 3 uses the second expansion hand 38. That is, the first robot arm 1 continues to use the second expansion hand 38 to perform the installation operation after the first removal operation. The first end effector 3 takes out one CPU 81 housed in the CPU storage 94. The first robot arm 1 moves the first end effector 3 so that the pin 38e of the second expansion hand 38 is inserted into the through-hole 86b of the carrier frame 86 of one CPU 81 of the CPU storage 94 and the carrier frame 86 is disposed between the pair of fingers 38c. At this time, the pair of fingers 38c are apart from each other without contacting the carrier frame 86.

[0129] The first robot arm 1 raises the first end effector 3 from this state. Therefore, as shown in Figure 15 , the pin 38e is engaged to the through-hole 86b and the carrier frame 86 is lifted up.

[0130] After the carrier frame 86 is lifted up a little from the CPU storage 94, the second expansion hand 38 grips the carrier frame 86 by the pair of fingers 38c. Therefore, the second expansion hand 38 holds the carrier frame 86 by the engagement of the pin 38e to the through-hole 86b and the gripping by the pair of fingers 38c in addition to the engagement.

[0131] In this state, as shown in Figure 16 , the first robot arm 1 moves the first end effector 3 so that the CPU 81 (specifically, the carrier frame 86) is inserted into the guide 84g of the slot 84 from the short side portion 84b side. By lowering the first end effector 3 by the first robot arm 1, the carrier frame 86 slides the guide 84g and enters the slot 84.

[0132] Here, when the first end effector 3 is continuously lowered, the pair of fingers 38c gripping the carrier frame 86 interferes with the groove 84. Therefore, before the pair of fingers 38c contacts the carrier frame 86, the second spreader 38 separates the pair of fingers 38c to a position not interfering with the groove 84, releasing the grip of the carrier frame 86. At this time, as shown in Fig. 32, the second spreader 38 holds the carrier frame 86 by the engagement of the pin 38e with the through-hole 86b. Figure 15

[0133] Then, the first robot arm 1 further lowers the first end effector 3. Therefore, the carrier frame 86 is finally inserted into the groove 84 along the guide 84g.

[0134] In addition, after the installation operation is completed, the second robot arm 4 releases the holding of the groove 84 in the standing state. Therefore, the groove 84 rotationally moves from the standing state to the natural state.

[0135] In this installation operation, the groove 84 is held in the standing state by the second robot arm 4. That is, the position of the groove 84 is fixed. The CPU 81 is inserted from the short side portion 84b side of the groove 84 with respect to the guide 84g of the fixed groove 84. Since the second robot arm 4 holds the groove 84, the position of the groove 84 does not change when the CPU 81 is inserted into the guide 84g and when the CPU 81 slides along the guide 84g.

[0136] Thus, in the installation operation, the first robot arm 1 installs the CPU 81 in the groove 84 in the state held by the second robot arm 4. Therefore, the first robot arm 1 can accurately insert the CPU 81 into the guide 84g and can stably slide the CPU 81 with respect to the guide 84g. That is, it is possible to carefully install the CPU 81 to the groove 84 without damaging the CPU 81.

[0137] Next, the control section 7 causes the first robot arm 1 to perform a laying operation of laying the groove 84.

[0138] In the laying operation, the first end effector 3 uses the first spreader 37. The first robot arm 1 moves the first end effector 3 to rotationally move the groove 84 in the natural state in the direction of the laying state by the claw 37c of the first spreader 37. The groove 84 is rotationally moved by being pressed by the claw 37c to become the laying state against the elastic force of the torsion coil spring.

[0139] When the groove 84 is rotationally moved just before becoming the laying state, the control section 7 causes the first robot arm 1 to perform a locking operation, which is an operation of making the groove 84 in the locked state. Figure 17 is a side view of the main board 8 centered on the CPU socket 82 in the locking operation. ​

[0140] In the locking operation, the first end effector 3 continues to use the first spreader hand 37 after the flattening operation. The first robot arm 1 moves the first end effector 3 so that the claws 37c of the first spreader hand 37 are positioned above the protruding pieces 84f, 84f. In this state, the first robot arm 1 moves the first end effector 3 downward so that the claws 37c push up the grooves 84. The lines of the long edge portions 84a, 84c, etc. that form the grooves 84 are elastically deformed to some extent so that the second engagement portions 84h, 84h of the grooves 84 engage the first engagement portions 83e, 83e of the base frame 83. As a result, the grooves 84 are locked in the flattened state.

[0141] Next, the control section 7 causes the first robot arm 1 to perform a frame closing operation, which is an operation of flattening the fixed frame 85. In the frame closing operation, the first end effector 3 continues to use the first spreader hand 37 after the locking operation. The first robot arm 1 moves the first end effector 3 so that the claws 37c of the first spreader hand 37 rotationally move the fixed frame 85 in the natural state to the flattened state. The fixed frame 85 is rotationally moved by being pushed by the claws 37c to the flattened state against the elastic force of the torsion coil springs. When the fixed frame 85 is rotated to the flattened state, the first robot arm 1 stops as it is, maintaining the fixed frame 85 in the flattened state.

[0142] Finally, the control section 7 causes the second robot arm 4 to perform a fixing operation, which is an operation of fixing the fixed frame 85 with screws. In the fixing operation, the second end effector 6 uses the fourth spreader hand 68. The second robot arm 4 moves the second end effector 6 so that the front end of the turret 68c of the fourth spreader hand 68 is fitted into the recess of the head of the screw that fixes the fixed frame 85. After the front end of the turret 68c is fitted into the recess of the screw, the fourth spreader hand 68 tightens the screw, fixing the fixed frame 85 with the screw. The control section 7 causes the operation to be performed as many times as the number of screws that fix the fixed frame 85. Thus, the fixed frame 85 is fixed to the main board 8 with the screws.

[0143] The above is the end of the installation of the CPU 81 to the main board 8. When the installation of the CPU 81 is completed, the stopper of the belt conveyor 91 is released, the tray 93 is carried away, and the next tray 93 is carried in.

[0144] With such mounting of the CPU 81, since the CPU 81 is mounted to the CPU socket 82 via the slot 84 rotatably attached to the main board 8, the CPU 81 can be mounted to the CPU socket 82 with high positioning accuracy. On the other hand, since high positioning accuracy is achieved, there is little margin in mounting the CPU 81 to the slot 84. Specifically, there is little margin between the CPU 81 and the guide 84g of the slot 84. Further, since the slot 84 is rotatable with respect to the main board 8, it is unstable. With the robot 100, by holding the slot 84 with the second robot arm 4, it is possible to maintain the slot 84 in a prescribed posture, i.e., to fix the position of the slot 84. In this state, by mounting the CPU 81 to the slot 84 with the first robot arm 1, it is possible to stably mount the CPU 81 to the slot 84 without damaging the CPU 81.

[0145] As described above, the robot 100 (electronic component mounting apparatus) mounts the CPU 81 (electronic component) to the CPU socket 82 (socket) provided in the main board 8 (substrate) via the slot 84 rotatably attached to the main board 8 around a prescribed axis L. The robot 100 includes the first robot arm 1, the second robot arm 4 (holding apparatus) holding the slot 84 in a prescribed position, and the control section 7 controlling the first robot arm 1. The control section 7 causes the first robot arm 1 to perform a mounting operation which is an operation of mounting the CPU 81 to the slot 84, in which the first robot arm 1 mounts the CPU 81 to the slot 84 in the state held by the second robot arm 4.

[0146] In other words, the electronic component mounting method performed by the robot 100 is an electronic component mounting method of mounting the CPU 81 (electronic component) to the CPU socket 82 (socket) provided in the main board 8 (substrate) via the slot 84 rotatably attached to the main board 8 around a prescribed axis L. The electronic component mounting method includes a step of holding the slot 84 in a prescribed position by the second robot arm 4 (holding apparatus) and a step of mounting the CPU 81 to the slot 84 in the state held by the second robot arm 4 by the first robot arm 1.

[0147] According to these structures, it is possible to maintain the slot 84 in a stable state by holding the slot 84 with the second robot arm 4. Since the first robot arm 1 mounts the CPU 81 to the held slot 84, the first robot arm 1 does not have to take into account the variation of the slot 84, but can mount the CPU 81 to the fixed slot 84. As a result, it is possible to stably mount the CPU 81 to the slot 84.

[0148] Further, the second robot arm 4 functions as a holding apparatus, and the control section 7 causes the second robot arm 4 to perform a holding operation of holding the slot 84.

[0149] With this structure, since the holding device is implemented by the second robot arm 4, the degree of freedom of the holding operation can be improved. For example, the position of the slot 84 when held by the second robot arm 4 can be flexibly changed.

[0150] Also, the slot 84 is configured to be rotatably moved between a fallen state in which the slot 84 is fallen on the main board 8 with the CPU 81 placed on the CPU socket 82 and a standing state in which the slot 84 is stood from the main board 8, and the second robot arm 4 holds the slot 84 in the standing state.

[0151] With this structure, in the fallen state of the slot 84, the slot 84 is close to the CPU socket 82, and the space around the slot 84 is small. While the second robot arm 4 holds the slot 84 in the standing state, the space around the slot 84 can be easily ensured. As a result, the holding of the slot 84 by the second robot arm 4 and the installation of the CPU 81 to the slot 84 by the first robot arm 1 become easy.

[0152] Also, before the CPU 81 is installed, a first protective cover 87 for protecting the CPU socket 82 is installed in the slot 84, and the control section 7 causes the first robot arm 1 to perform a first removal operation (removal operation) of removing the first protective cover 87 from the slot 84 before the installation operation.

[0153] With this structure, the first protective cover 87 must be removed from the slot 84 before the CPU 81 is installed. Then, the first robot arm 1 removes the first protective cover 87 from the slot 84.

[0154] Also, in the first removal operation, the second robot arm 4 holds the slot 84.

[0155] With this structure, even in the first removal operation, the slot 84 can be held by the second robot arm 4 to maintain the slot 84 in a stable state. Since the first robot arm 1 removes the first protective cover 87 from the held slot 84, the first robot arm 1 does not have to consider the variation of the slot 84 and can remove the first protective cover 87 from the fixed slot 84. As a result, the first protective cover 87 can be stably removed from the slot 84.

[0156] (Second Embodiment)

[0157] Next, the dual-arm robot 100 according to the second embodiment will be described. The dual-arm robot 100 according to the second embodiment has the same basic structure as the first embodiment. The main difference between the dual-arm robot 100 according to the second embodiment and the first embodiment is the content of the operation. Hereinafter, the same reference numerals are assigned to the structures of the dual-arm robot 100 according to the second embodiment that are the same as those of the first embodiment, and the description thereof will be omitted.

[0158] The first end effector 3 selectively holds the fifth expansion hand 237 and the sixth expansion hand 238. Figure 18 is a perspective view of the fifth expansion hand 237. Figure 19 is a perspective view of the sixth expansion hand 238.

[0159] The fifth expansion hand 237 is a single-chuck hand. The fifth expansion hand 237 has a base 237a, a guide 237b provided to the base 237a, a pair of fingers 237c supported by the guide 237b, an actuator that drives the pair of fingers 237c, and a handle 237e provided to the base 237a and cylindrical.

[0160] The pair of fingers 237c are arranged in the lateral direction and extend in the vertical direction. A claw 237d extending in the front-rear direction is provided to the front end of the finger 237c. The pair of fingers 237c are supported by the guide 237b so as to be separated or approached in the lateral direction. The actuator is, for example, an air cylinder. The actuator is connected to an air compressor (not shown) via a pipe and a solenoid valve (not shown). The direction in which the pair of fingers 237c are moved by the actuator is switched by the solenoid valve. That is, whether the pair of fingers 237c are moved in the direction in which they are separated from each other or in the direction in which they are approached to each other is switched by the solenoid valve. The first hand 31 holds the handle 237e.

[0161] The sixth expansion hand 238 is a single-chuck hand. The sixth expansion hand 238 has a base 238a, a guide 238b provided to the base 238a, a pair of fingers 238c supported by the guide 238b, an actuator that drives the pair of fingers 238c, and a handle 238d provided to the base 238a and cylindrical.

[0162] A pair of fingers 238c are arranged in the lateral direction and extend substantially in the up-down direction. The pair of fingers 238c are supported by the guide 238b so as to be separated or approached in the front-back direction. The sixth spread hand 238 has an actuator that drives the pair of fingers 238c. The actuator is, for example, a pneumatic cylinder. The actuator is connected to an air compressor (not shown) via a pipe and a solenoid valve (not shown). The direction in which the pair of fingers 238c are moved by the actuator is switched by the solenoid valve. That is, whether the pair of fingers 238c are moved in a direction away from each other or in a direction toward each other is switched by the solenoid valve. The first hand 31 holds a handle 238d.

[0163] The second end effector 6 selectively holds the seventh spread hand 267 and the fourth spread hand 68. Figure 20 FIG. 7 is a perspective view of the seventh spread hand 267.

[0164] The seventh spread hand 267 is a single-chuck hand. The seventh spread hand 267 has a base 267a, a guide 267b provided to the base 267a, a pair of fingers 267c supported by the guide 267b, an actuator that drives the pair of fingers 267c, and a handle 267e provided to the base 267a and cylindrical.

[0165] The pair of fingers 267c are arranged in the lateral direction and extend substantially in the up-down direction. A claw 267d extending in the front-back direction is provided to the front end of the finger 267c. The pair of fingers 267c are supported by the guide 267b so as to be separated or approached in the lateral direction. The seventh spread hand 267 has an actuator that drives the pair of fingers 267c. The actuator is, for example, a pneumatic cylinder. The actuator is connected to an air compressor (not shown) via a pipe and a solenoid valve (not shown). The direction in which the pair of fingers 267c are moved by the actuator is switched by the solenoid valve. That is, whether the pair of fingers 267c are moved in a direction away from each other or in a direction toward each other is switched by the solenoid valve. The second hand 61 holds the handle 267e.

[0166] The control section 7 of the second embodiment has the same structure as the first embodiment. However, the basic program and various data and the like stored in the storage section 72 are information corresponding to the operation of the second embodiment. Also, the arithmetic section 71 outputs a control signal to the solenoid valve of the fifth spread hand 237 in addition to the solenoid valves 34, 64 and the like.

[0167] Next, the mounting work of mounting the CPU 81 by the robot 100 according to the second embodiment will be described. The robot 100 mounts the CPU 81 on the main board 8 that is transported while placed on the tray 93.

[0168] In addition, when the main board 8 is transported by the robot 100, the second protective cover 88 is installed on the CPU socket 82 (refer to Figure 22 , 23 and the like), and the first protective cover 87 is installed on the slot 84. The second protective cover 88 is placed on the base 83. The first protective cover 87 installed on the slot 84 covers the second protective cover 88 placed on the base 83. The first protective cover 87 and the second protective cover 88 are provided to protect the CPU socket 82. In addition, one of the first protective cover 87 and the second protective cover 88 can be omitted.

[0169] The control section 7 first causes the second robot arm 4 to perform a fixing release operation that releases the screw fixing of the fixing frame 85. The fixing release operation is the same as the fixing release operation of the first embodiment. The second end effector 6 uses the fourth expansion hand 68 to remove the screw of the fixing frame 85.

[0170] When the fixing frame 85 does not naturally stand up to the standing state by the torsion coil spring after the fixing release operation or when the fixing frame 85 is not provided with the torsion coil spring, the control section 7 causes the first robot arm 1 to perform a frame opening operation that stands up the fixing frame 85. In the frame opening operation, the first end effector 3 uses the first expansion hand 37. The first robot arm 1 hooks the tips of the claws 237d, 237d of the pair of fingers 237c of the fifth expansion hand 237 to the fixing frame 85 to stand up the fixing frame 85 to the standing state.

[0171] Then, the control section 7 causes the first robot arm 1 to perform a lock release operation that releases the lock of the slot 84 in the fallen state.

[0172] In the lock release operation, the first end effector 3 uses the fifth expansion hand 237. The first robot arm 1 moves the first end effector 3 so that the claws 237d, 237d of the pair of fingers 237c of the fifth expansion hand 237 are positioned below the two protruding pieces 84f, 84f of the slot 84 in the fallen state. The first robot arm 1 raises the fifth expansion hand 237. Thus, the claws 237d, 237d press the protruding pieces 84f, 84f upward. The lines of the long edge portions 84a, 84c and the like that form the slot 84 are elastically deformed to some extent so that the second engagement portions 84h, 84h of the slot 84 are disengaged from the first engagement portions 83e, 83e of the base 83. Thus, the lock of the slot 84 is released. The lock release operation is one example of a release operation.

[0173] When the slot 84 does not naturally stand up to the natural state by the torsion coil spring after the lock release operation or when the slot 84 is not provided with the torsion coil spring, the control section 7 causes the second robot arm 4 to perform a standing operation that stands up the slot 84. Figure 21is a side view of the main board 8 centered on the CPU socket 82 after the lock release operation ends. Also, the side view of the main board 8 used in the explanation of the first embodiment is a side view of the main board 8 from the side facing the robot 100.

[0174] In the standing operation, the second end effector 6 uses the seventh expansion hand 267. The second robot arm 4 moves the second end effector 6 so that the pair of long edge portions 84a, 84c of the slot 84 is positioned between the claws 267d, 267d of the pair of fingers 267c of the seventh expansion hand 267. The seventh expansion hand 267 holds the pair of long edge portions 84a, 84c from the outside with the claws 267d, 267d. With the seventh expansion hand 267 holding the pair of long edge portions 84a, 84c, the second robot arm 4 moves the second end effector 6 so that the slot 84 stands up. At the start of the standing operation, the first robot arm 1 maintains the state of pushing the two protruding pieces 84f, 84f upward with the fifth expansion hand 237.

[0175] The movement of the second end effector 6 to the position where the seventh expansion hand 267 can grip the slot 84 can also be performed in the lock release operation of the first robot arm 1. At that time, the second robot arm 4 can immediately perform the standing operation after the lock of the slot 84 is released.

[0176] After the standing operation ends, the control section 7 causes the second robot arm 4 to perform a holding operation that holds the slot 84 in the standing state. Figure 22 is a side view of the main board 8 centered on the CPU socket 82 in the holding operation.

[0177] In the holding operation, the second robot arm 4 holds the slot 84 in the standing state with the seventh expansion hand 267. Specifically, the seventh expansion hand 267 holds the pair of long edge portions 84a, 84c from the outside with the claws 267d, 267d. This is the state when the second robot arm 4 completes the standing operation. That is, the control section 7 maintains the state where the second robot arm 4 completes the standing operation. Therefore, the slot 84 is maintained in the standing state. This holding operation corresponds to the step of holding the slot at the prescribed position with the holding device.

[0178] In this state, the control section 7 causes the first robot arm 1 to perform a first removal operation that is an operation of removing the first protective cover 87 from the slot 84. Figure 23 is a side view of the main board 8 centered on the CPU socket 82 in the first removal operation.

[0179] In the first removal operation, the first end effector 3 uses the sixth expansion hand 238. The first robot arm 1 moves the first end effector 3 so that the protruding piece 87a of the first protective cover 87 is positioned between the pair of fingers 238c of the sixth expansion hand 238. The sixth expansion hand 238 grips the protruding piece 87a with the pair of fingers 238c. In this state, as shown in Fig. 8, the first robot arm 1 moves the first end effector 3 toward the first protective cover 87 in the direction of pulling out along the guide 84g. Thus, the first protective cover 87 is pulled out from the slot 84. The first removal operation is one example of the removal operation. Figure 23

[0180] In the first removal operation, the slot 84 is held by the second robot arm 4. Thus, when the first protective cover 87 is slid along the guide 84g, the position of the slot 84 is not changed. Thus, the pulling out, i.e., the removal, of the first protective cover 87 is smoothly performed.

[0181] After the first protective cover 87 is removed, the control section 7 causes the first robot arm 1 to perform an installation operation, which is an operation of installing the CPU 81 in the slot 84. Figure 24 Fig. 10 is a perspective view of the main board 8 with the CPU socket 82 as a center in the installation operation.

[0182] In the installation operation, the first end effector 3 continues to use the sixth expansion hand 238 after the first removal operation. The first end effector 3 takes out one of the CPUs 81 stored in the CPU storage 94. The first robot arm 1 moves the first end effector 3 so that the protruding piece 86a of the carrier frame 86 of the CPU 81 is positioned between the pair of fingers 238c of the sixth expansion hand 238. The sixth expansion hand 238 grips the protruding piece 86a with the pair of fingers 238c. As shown in Fig. 11, in this state, the first robot arm 1 moves the first end effector 3 so that the CPU 81 (specifically, the carrier frame 86) is inserted into the guide 84g of the slot 84. This installation operation corresponds to the step of installing an electronic component in a slot in a state held by a holding device by a first robot arm. Figure 24

[0183] In detail, the slot 84 is held in the standing state by the second robot arm 4. That is, the position of the slot 84 is fixed. The CPU 81 is inserted into the guide 84g of the fixed slot 84 from the short side portion 84b side of the slot 84. Since the second robot arm 4 holds the slot 84, when the CPU 81 is slid along the guide 84g, the position of the slot 84 is not changed.

[0184] Thus, in the installation operation, the first robot arm 1 installs the CPU 81 in the slot 84 in a state held by the second robot arm 4. Thus, the CPU 81 can be carefully inserted into the slot 84 without damaging the CPU 81.​​

[0185] After the installation of the CPU 81 is completed, the control section 7 causes the first robot arm 1 to execute a second removal operation, which is an operation of removing the second protective cover 88. In the second removal operation, the first end effector 3 uses the fifth spreader hand 237. The first robot arm 1 moves the first end effector 3 so that the second protective cover 88 is positioned between the claws 237d, 237d of the pair of fingers 237c of the fifth spreader hand 237. The fifth spreader hand 237 grips the second protective cover 88 with the claws 237d, 237d. In this state, the first robot arm 1 moves the first end effector 3 to remove the second protective cover 88. Thus, the second protective cover 88 is removed.

[0186] Next, the control section 7 causes the second robot arm 4 to execute a laying operation, which is an operation of laying the slot 84.

[0187] In the laying operation, the second end effector 6 uses the seventh spreader hand 267. The second robot arm 4 continuously holds the slot 84 up to this point. The second robot arm 4 moves the second end effector 6 so that the slot 84 is laid from this state. The second robot arm 4 lays the slot 84 up to a point before it is to be locked, i.e., a point before it is to become a laid state.

[0188] When the slot 84 reaches the point before it is to become the laid state, the control section 7 causes the first robot arm 1 to execute a locking operation, which is an operation of bringing the slot 84 to a locked state.

[0189] In the locking operation, the first end effector 3 uses the fifth spreader hand 237. The first robot arm 1 moves the first end effector 3 so that the claws 237d, 237d of the pair of fingers 237c of the fifth spreader hand 237 are positioned above the slot 84. Specifically, the claws 237d, 237d of the fifth spreader hand 237 are moved above the protruding pieces 84f, 84f of the slot 84. In this state, the first robot arm 1 moves the first end effector 3 downward so that the claws 237d, 237d of the fifth spreader hand 237 push the slot 84 upward. The lines of the long edge portions 84a, 84c, etc. of the slot 84 are elastically deformed to some extent so that the second engagement portions 84h, 84h of the slot 84 are engaged to the first engagement portions 83e, 83e of the base frame 83. As a result, the slot 84 is locked in the laid state.

[0190] Next, the control section 7 causes the first robot arm 1 to perform a frame closing action, which is an action of causing the fixed frame 85 to be laid down. In the frame closing action, the first end effector 3 continues to use the fifth expansion hand 237 after the locking action. The first robot arm 1 moves the first end effector 3 so that the claws 237d, 237d of the pair of fingers 237c of the fifth expansion hand 237 come into contact with the fixed frame 85 (specifically, the portion that becomes the upper surface in the laid-down state). The first robot arm 1 moves the first end effector 3 so as to press the fixed frame 85 from this state in the direction of the laid-down state with the claws 237d, 237d of the fifth expansion hand 237.

[0191] Finally, the control section 7 causes the second robot arm 4 to perform a fixing action, which is an action of fixing the fixed frame 85 with screws. In the fixing action, the second end effector 6 uses the fourth expansion hand 68. The second robot arm 4 moves the second end effector 6 so that the tip of the turret 68c of the fourth expansion hand 68 is embedded in the groove of the screw head that fixes the fixed frame 85. At this time, the first robot arm 1 presses the fixed frame 85 from above with the fifth expansion hand 237 after the completion of the frame closing action. When the tip of the turret 68c is embedded in the groove of the screw, the fourth expansion hand 68 tightens the screw, and the fixed frame 85 is fixed with the screw. The control section 7 causes this action to be performed as many times as the number of screws that fix the fixed frame 85. Thus, the fixed frame 85 is fixed to the main board 8 with the screws.

[0192] The above completes the installation of the CPU 81 to the main board 8.

[0193] With this installation of the CPU 81, since the CPU 81 is installed in the CPU socket 82 via the rotatable connection of the slot 84 of the main board 8, the CPU 81 can be installed in the CPU socket 82 with high positional accuracy. Further, using the robot 100, by holding the slot 84 with the second robot arm 4, it is possible to maintain the slot 84 in a prescribed posture, that is, to fix the position of the slot 84. In this state, by installing the CPU 81 in the slot 84 with the first robot arm 1, it is possible to stably install the CPU 81 to the slot 84 without damaging the CPU 81.

[0194] As described above, the robot 100 according to the second embodiment has the same effects as the first embodiment.

[0195] Further, the control section 7 causes the second robot arm 4 to perform a standing action, which is an action of causing the slot 84 to stand up from the laid-down state to the standing state, before the installation action.

[0196] With this structure, when the slot 84 is in the fallen state at the time of mounting the CPU 81, it is necessary to stand up the slot 84 to the standing state before the mounting operation. At this time, the control section 7 causes the second robot arm 4 to perform a standing-up operation. Since the second robot arm 4 performs the holding operation of the slot 84 in the mounting operation, it is possible to shift to the holding operation as it is after the standing-up operation.

[0197] Also, the slot 84 is configured to be locked to the main board 8 in the fallen state, and the control section 7 causes the first robot arm 1 to perform a release operation, which is an operation of releasing the lock of the slot 84 in the fallen state, before the mounting operation.

[0198] With this structure, when the slot 84 is locked in the fallen state, the first robot arm 1 releases the lock of the slot 84. After the lock release, the standing-up operation by the second robot arm 4 is performed. It is possible to prepare the second robot arm 4 for the standing-up operation by causing the first robot arm 1 to perform the release operation. As a result, it is possible to smoothly shift to the standing-up operation by the second robot arm 4 after the release operation by the first robot arm 1.

[0199] (Other Embodiments)

[0200] As described above, the embodiments are described as examples of the technology disclosed in the present application. However, the technology of the present disclosure is not limited to this, and can also be applied to embodiments in which appropriate changes, substitutions, additions, omissions, and the like are made. Also, it is possible to combine each of the constituent elements described in the embodiments as a new embodiment. Also, among the constituent elements described in the drawings and the detailed description, not only the constituent elements necessary for solving the problem are included, but also constituent elements unnecessary for solving the problem can be included in order to exemplify the technology. Therefore, it should not be immediately considered that the constituent elements unnecessary for solving the problem are necessary only because they are described in the drawings and the detailed description.

[0201] For example, the electronic component is not limited to the CPU 81. The electronic component can also be an IC device, and more specifically, can also be an LSI (Large Scale Integration).

[0202] Also, the socket is not limited to the CPU socket 82. The socket can also be an IC socket.

[0203] The holding device that holds the slot 84 is not limited to the second robot arm 4. For example, a dedicated machine that holds the slot 84 can be provided as the holding device.

[0204] Also, the position of the slot 84 held by the second robot arm 4, i.e., the holding device, can be set to an arbitrary position as long as it is a position in which the CPU 81 is stood up from the main board 8 compared to the fallen state.

[0205] As long as the second robot arm 4 performs the holding action of the slot 84, the first robot arm 1 performs the mounting action of the CPU 81, and the other actions can be performed by either of the first robot arm 1 and the second robot arm 4 within a possible range.

[0206] The two-arm robot 100 is not limited to the structure including the first robot arm 1 and the second robot arm 4. For example, it can be such that the first robot arm 1 is provided in one robot and the second robot arm 4 is provided in the other robot. That is, the above actions can be implemented with two robots.

[0207] Explanation of Reference Signs

[0208] 100 two-arm robot

[0209] 1 first robot arm

[0210] 4 second robot arm (holding device)

[0211] 8 main board (substrate)

[0212] 81 CPU (electronic component)

[0213] 82 CPU socket (socket)

[0214] 84 slot

[0215] 87 first protective cover (protective cover)

[0216] L axis

Claims

1. An electronic component mounting apparatus that mounts an electronic component in a socket provided in a substrate via a slot rotatably connected to the substrate about a prescribed axis, characterized by comprising: a first robot arm; a holding device that holds the slot in a prescribed position; and a control section that controls the first robot arm, a protective cover for protecting the socket is mounted in the slot before the electronic component is mounted in the slot, the control section causes the first robot arm to perform a mounting operation of mounting the electronic component in the slot in a state held by the holding device, the control section causes the first robot arm to perform a removal operation of removing the protective cover from the slot before the mounting operation.

2. The electronic component mounting apparatus according to claim 1, characterized in that: the holding device is a second robot arm, and the control section causes the second robot arm to perform a holding operation of holding the slot.

3. The electronic component mounting apparatus according to claim 2, characterized in that: the slot is configured to be able to move in rotation between a laid-down state in which the electronic component is mounted in the socket with the slot laid down on the substrate, and a standing-up state in which the slot is stood up from the substrate, and the second robot arm holds the slot in the standing-up state.

4. The electronic component mounting apparatus according to claim 3, characterized in that: the control section causes the second robot arm to perform a standing-up operation of standing up the slot from the laid-down state to the standing-up state before the mounting operation.

5. The electronic component mounting apparatus according to claim 4, characterized in that: the slot is configured to be locked to the substrate in the laid-down state, and the control section causes the first robot arm to perform an unlocking operation of unlocking the slot from the laid-down state before the mounting operation.

6. The electronic component mounting apparatus according to claim 1, characterized in that: the holding device holds the slot in the removal operation.

7. An electronic component mounting method that mounts an electronic component in a socket provided in a substrate via a slot rotatably connected to the substrate about a prescribed axis, characterized by comprising: a step of holding the slot in a prescribed position by a holding device; a step of mounting the electronic component in the slot in a state held by the holding device by a first robot arm; and a step of removing a protective cover mounted in the slot for protecting the socket from the slot by the first robot arm before the electronic component is mounted in the slot. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​

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