Nozzle and component assembly machine

Abstract

The suction nozzle comprises: a front end portion of the suction nozzle, which has a plurality of suction holes, wherein the plurality of suction holes are arranged corresponding to the configuration of a plurality of assembly positions set on a substrate for assembling a plurality of columnar elements, and can respectively adsorb the columnar elements; and an air passage, which can be connected to the plurality of suction holes respectively and supply negative pressure air at the same time.

Description

Technical Field

[0001] The present specification relates to a suction nozzle used when mounting a plurality of columnar components on a substrate and a component mounting machine including the suction nozzle. Background Art

[0002] The column alignment device disclosed in Patent Document 1 comprises: an alignment plate having long grooves engraved with the same number of electrodes and the same width as the electrodes of a CGA substrate (ceramic grid array substrate); a cover member for removing the columns (columnar elements) extending from the long grooves; a straight feeder for vibrating the alignment plate to push the columns; and a column supply device for supplying the columns to the alignment plate. Thus, the columns can be accurately aligned and transported to the suction fixture, and brazing can be performed without falling off.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2004-200280 Summary of the invention

[0006] Problems to be solved by the invention

[0007] However, the column aligning device and the suction jig of Patent Document 1 are technologies that correspond to a CGA substrate in which a plurality of electrodes are arranged in a row, and cannot correspond to a substrate in which a plurality of electrodes are arranged two-dimensionally.

[0008] Therefore, the problem to be solved in this specification is to provide a suction nozzle that can efficiently suck and mount a plurality of columnar components on a substrate without being restricted by the arrangement of a plurality of mounting positions set on a substrate, and a component mounting machine including the suction nozzle.

[0009] Technical solutions to solve problems

[0010] The present specification discloses a suction nozzle, comprising: a front end portion of the suction nozzle, having a plurality of suction holes, wherein the plurality of suction holes are arranged corresponding to the configuration of a plurality of assembly positions set on a substrate for assembling a plurality of columnar components, and can respectively adsorb the columnar components; and an air passage, which can be connected to the plurality of suction holes respectively and supply negative pressure air at the same time.

[0011] In addition, the present specification discloses a component assembly machine comprising: a component transfer device having an assembly head for holding the above-mentioned suction nozzle and a head driving mechanism for moving the above-mentioned assembly head; a substrate conveying device for conveying the above-mentioned substrate; and a component supplying device for supplying the above-mentioned columnar components.

[0012] Effects of the Invention

[0013] In the suction nozzle and component assembly machine disclosed in this specification, the multiple suction holes at the front end of the suction nozzle can be arranged corresponding to the two-dimensional configuration of multiple assembly positions set on the substrate, and are not restricted by the configuration conditions. In addition, the multiple suction holes are simultaneously supplied with negative pressure air from the air passage, so that the columnar components can be adsorbed respectively and then assembled on the substrate. Therefore, the suction nozzle can adsorb all the required number of columnar components and assemble them to the substrate at one time, and can efficiently perform adsorption and assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a plan view showing the overall structure of the component mounting machine according to the embodiment.

[0015] Figure 2 This is a perspective view of the suction nozzle according to the embodiment as viewed from the nozzle front end side.

[0016] Figure 3 This is a three-dimensional view of the nozzle as viewed from the nozzle base.

[0017] Figure 4 yes Figure 2 : is a partially enlarged stereoscopic view of the A portion, and is a diagram showing the configuration of the suction holes of the suction nozzle.

[0018] Figure 5 It is a side cross-sectional view of the nozzle.

[0019] Figure 6 yes Figure 5 : is a partial enlarged view of the B part, and is a view showing a state in which the columnar element is adsorbed to the adsorption hole.

[0020] Figure 7 It is a side sectional view of the restored suction nozzle.

[0021] Figure 8 It is a side cross-sectional view showing the vicinity of the front end of the recovery nozzle in an enlarged manner.

[0022] Fig. 9 is a schematic top view of a tray.

[0023] Fig.10 It is a perspective view showing a structural example of an adhesion recovery unit.

[0024] Fig.11 This is a block diagram showing a control structure of a component mounting machine.

[0025] Fig.12 This is a diagram of the operation flow for explaining the operation of the component mounting machine. DETAILED DESCRIPTION

[0026] 1. Overall structure of component mounting machine 1 according to the embodiment

[0027] First, refer to Figure 1 The overall structure of the component mounting machine 1 of the embodiment including the suction nozzle 5 of the embodiment will be described. The component mounting machine 1 carries out the process of placing the columnar component P (see Figure 5 , Figure 6 ) and other components are assembled on substrate K.

[0028] Figure 1 In the figure, the direction from the left side to the right side of the paper is the X-axis direction of conveying the substrate K, and the direction from the upper side (rear side) to the lower side (front side) of the paper is the Y-axis direction. The component mounting machine 1 is composed of a substrate conveying device 2, a component supply device 3, a component transfer device 4, a component recognition camera 7, a control device 8, etc., which are assembled on a base 10.

[0029] The substrate transport device 2 is configured to extend along the X-axis direction on the base 10. The substrate transport device 2 is composed of a guide rail, a transport belt, and a clamping mechanism, etc. The transport belt rotates along the guide rail to carry the loaded substrate K into the assembly implementation position in the machine. The clamping mechanism positions the substrate K at the assembly implementation position. After the component assembly operation performed by the component transfer device 4 is completed, the clamping mechanism releases the substrate K, and the transport belt carries the substrate K out of the machine.

[0030] The component supply device 3 is arranged at the left position on the front side of the base 10. The component supply device 3 is composed of a plurality of tape feeders 31 arranged at the left position in the X-axis direction and a tray device 33 arranged at the center position in the X-axis direction. Each tape feeder 31 sends a plurality of components stored in a row of carrier tapes toward a supply position 32 on the rear end side. The carrier tape supplies components so that they can be picked up at the supply position 32. The tape feeder 31 can be applied to various known forms.

[0031] The tray device 33 is composed of a storage rack 34 divided into multiple layers, a plurality of trays 35 stored in each layer of the storage rack 34, and a mechanism (not shown) for selecting a tray 35 and pulling it out to the rear from the storage rack 34. The tray device 33 uses a substantially rectangular tray 35 to supply a plurality of columnar components P (details will be described later).

[0032] The component transfer device 4 is arranged above the substrate transport device 2 and the component supply device 3. The component transfer device 4 is composed of a Y-axis moving body 41, an X-axis moving body 42, an assembly head 43, three types of suction nozzles, and a substrate recognition camera 45. The Y-axis moving body 41 is driven by the Y-axis direct-acting mechanism to move along the Y-axis direction. The X-axis moving body 42 is mounted on the Y-axis moving body 41, and is driven by the X-axis direct-acting mechanism to move along the X-axis direction. The assembly head 43 is installed on a clamping mechanism (not shown) provided on the front surface of the X-axis moving body 42, and moves in two horizontal directions together with the X-axis moving body 42. The head driving mechanism is composed of the Y-axis moving body 41, the X-axis moving body 42, the Y-axis direct-acting mechanism, and the X-axis direct-acting mechanism.

[0033] The nozzle holder 44 is provided at the lower side of the mounting head 43 in a manner that it can be raised and lowered and can be rotated (see Figure 5 ). Three types of suction nozzles are automatically exchangeably held at the lower side of the suction nozzle holding seat 44. In order to place the three types of suction nozzles, a suction nozzle station 47 is arranged between the substrate conveying device 2 and the component supply device 3 on the base 10. Figure 1 In the embodiment, the suction nozzle 5 for sucking a plurality of columnar components P is held at the lower side of the nozzle holding seat 44. In addition, a recovery nozzle 48 for sucking one columnar component P and a normal suction nozzle 49 for sucking components other than the columnar component P are placed on the nozzle station 47.

[0034] The suction nozzle 5 and the recovery suction nozzle 48 suck the columnar component P from the tray 35 of the tray device 33. The normal suction nozzle 49 sucks components other than the columnar component P from the supply position 32 of the tape feeder 31. The normal suction nozzle 49 can be applied to various known forms. The automatic replacement of the suction nozzle is performed by moving the assembly head 43 to the top of the suction nozzle station 47.

[0035] The substrate recognition camera 45 is arranged in a row with the assembly head 43 and is provided on the X-axis moving body 42. The substrate recognition camera 45 is arranged in a posture with the optical axis facing downward. The substrate recognition camera 45 photographs the position reference mark attached to the substrate K from above. The acquired image data is image processed to accurately determine the assembly implementation position of the substrate K. As the substrate recognition camera 45, a digital imaging device having an imaging element such as a CCD (Charge Coupled Device) and a CMOS (Complementary Metal Oxide Semiconductor) can be exemplified.

[0036] The component recognition camera 7 is provided on the right side of the nozzle station 47 on the base 10. The component recognition camera 7 is arranged in a posture with the optical axis facing upward. The component recognition camera 7 photographs the component adsorbed on the normal nozzle 49 from below when the assembly head 43 moves from the component supply device 3 to the substrate K. In addition, the component recognition camera 7 also performs the same photography with respect to the nozzle 5 and the recovery nozzle 48. As the component recognition camera 7, a digital camera having a photography element such as a CCD or a CMOS can be exemplified.

[0037] Furthermore, a discard box 37 and an adhesive recovery unit 38 are disposed on the right side of the tray device 33. The discard box 37 and the adhesive recovery unit 38 constitute a discard unit 39 for discarding unnecessary columnar elements P. The discard box 37 is formed in a box shape opened upward, and contains unnecessary columnar elements P inside. The adhesive recovery unit 38 recovers unnecessary columnar elements P by adhesive force (details will be described later).

[0038] The control device 8 is assembled on the base 10, and its configuration position is not particularly limited. The control device 8 is composed of a computer device having a CPU and operating by software. In addition, the control device 8 can also be composed of multiple CPUs dispersedly configured in the machine and connected by communication. The control device 8 controls the substrate conveying device 2, the component supply device 3, the component transfer device 4 and the component recognition camera 7 based on the operation data of each type of substrate K to promote the assembly operation of the component. The operation data is data that describes the detailed process of the assembly operation, the implementation method, etc.

[0039] 2. Structure of the suction nozzle 5 of the embodiment

[0040] Next, refer to Figure 2 to Figure 6 The structure of the suction nozzle 5 of the embodiment will be described. Figure 2 and Figure 3 As shown, the nozzle 5 has a nozzle base 51 and a nozzle front end 55 as main components, and has an air passage 6 formed therein. The nozzle base 51 is formed by connecting a flange 52, a shaft 53, and a mounting portion 54 in this order from the upper side.

[0041] The flange portion 52 is formed in a disk shape that expands in the horizontal direction. The flange portion 52 has a notch portion 521 formed at one location around it (see Figure 3 ). Thus, the suction nozzle 5 can be easily confirmed by visual observation in the posture and single product of being held in the suction nozzle holding seat 44. Figure 5 As shown, when the flange portion 52 is held by the nozzle holding seat 44 of the mounting head 43, the entire suction nozzle 5 is held.

[0042] If described in detail, the lower part of the nozzle holding seat 44 is formed in a cylindrical shape. The nozzle holding seat 44 has a central air passage 441 on the central axis, and has peripheral air passages 442 at multiple locations deviated from the central axis. The central air passage 441 and the peripheral air passage 442 are open downward to control the flow of air respectively. The nozzle holding seat 44 reaches the top of the flange portion 52 through the movement of the assembly head 43, and descends to contact the upper surface 522 of the flange portion 52. Moreover, if negative pressure air is supplied to the peripheral air passage 442, the nozzle holding seat 44 adsorbs and holds the flange portion 52. However, it is not limited to this, and the nozzle holding seat 44 may also have a clamping head mechanism for clamping the nozzle 5.

[0043] The shaft portion 53 is located at the center of the lower side of the flange portion 52. The shaft portion 53 is formed into a cylindrical shape with a smaller diameter than the flange portion 52. The mounting portion 54 is located on the lower side of the shaft portion 53. The planar shape of the upper portion 541 of the mounting portion 54 is a shape in which four corners are removed from a square. Mounting holes 542 are formed by passing through from top to bottom at four locations close to the outer periphery of the upper portion 541. The mounting hole 542 is formed with a small diameter on the upper side and a large diameter on the lower side. The planar shape of the lower portion 543 of the mounting portion 54 is a shape that is one circle smaller than the upper portion 541. A sealing groove 544 is engraved in a manner surrounding the outer periphery of the lower portion 543. An O-ring 545 is embedded in the sealing groove 544 to ensure airtightness.

[0044] The front end portion 55 of the suction nozzle is formed by connecting the fixed portion 56 on the upper side and the adsorption structure portion 59 on the lower side. The fixed portion 56 is formed in a frame shape surrounding the outer periphery of the lower portion 543 of the mounting portion 54. An O-ring 545 is crimped onto the inner surface of the fixed portion 56. A fastened component 561 is erected and fixed at four locations on the upper surface of the fixed portion 56 that are opposite to the mounting hole 542. The fastened component 561 is formed with an internal thread and is inserted into the large diameter portion on the lower side of the mounting hole 542. Therefore, by inserting the fastening screw 58 into the mounting hole 542 from the upper side and rotating it, the fastening screw 58 can be screwed into the internal thread of the fastened component 561. Thus, the suction nozzle base 51 holds the front end portion 55 of the suction nozzle in a manner that allows loading and unloading.

[0045] The adsorption structure 59 is formed in a plate shape that expands in the horizontal direction. The adsorption structure 59 is slightly separated from the lower surface of the lower portion 543 of the mounting portion 54 and is arranged. Thus, between the adsorption structure 59 and the lower portion 543 of the mounting portion 54, a planar air passage 65 that expands in two horizontal directions is divided by a separation distance D in the height direction (see Figure 6 The planar air passage 65 is airtightly secured by an O-ring 545. The lower surface of the adsorption structure 59 is divided into an adsorption region 5A and a non-adsorption region 5C.

[0046] The adsorption area 5A is formed with a plurality of adsorption holes 5B that are open downward. The adsorption holes 5B are the locations where the columnar components P are adsorbed. The arrangement positions of the plurality of adsorption holes 5B correspond to the configuration of the plurality of mounting positions set on the substrate K for mounting the plurality of columnar components P. Regardless of how the plurality of mounting positions on the substrate K side are two-dimensionally arranged, the shape and size of the adsorption area 5A including all the adsorption holes 5B can be appropriately set to match the configuration conditions. In addition, the adsorption area 5A may be dispersedly arranged at two or more locations. Figure 4 In the example shown, the adsorption region 5A is set to a square frame shape. The number of adsorption holes 5B in the adsorption region 5A is 304, but is not limited thereto.

[0047] The adsorption hole 5B is a vertical hole extending axially up and down, and is formed as a circular hole to match the cylindrical shape of the adsorbed columnar element P. The inner diameter of the adsorption hole 5B is set to be slightly larger than the maximum diameter of the dimensional tolerance based on the diameter of the columnar element P. The depth of the adsorption hole 5B is set to be slightly shorter than the length of the columnar element P. Through these settings, the vertical posture of the columnar element P adsorbed to the adsorption hole 5B is stabilized. In addition, when the columnar element P is a prism shape, it is preferable to make the adsorption hole 5B a hole of the same prism shape. Figure 6 As shown, the deepest portion (highest position) of the adsorption hole 5B communicates with the planar air passage 65 .

[0048] exist Figure 4 In the example shown, the non-adsorption region 5C is an area inside the adsorption region 5A and an area outside the adsorption region 5A. The lower surface of the adsorption region 5A protrudes downward than the lower surface of the non-adsorption region 5C. Here, when the length of the columnar component P is greater than the height of other components, the other components are first assembled to the substrate K, and then the columnar component P is assembled. When the suction nozzle 5 is lowered to assemble the columnar component P to the substrate K, the non-adsorption region 5C retreats upward than the adsorption region 5A, and therefore does not interfere with the assembled component. If it is assumed that the columnar component P is assembled first, when other components are assembled later, the assembled columnar component P is likely to interfere with the normal suction nozzle 49.

[0049] A nozzle position mark 5D is provided near the outer edge of the non-adsorption area 5C. The nozzle position mark 5D indicates the reference of the position of the nozzle 5. The nozzle position mark 5D can be photographed by the component recognition camera 7. That is, the component recognition camera 7 functions as a nozzle photographing camera that photographs the nozzle position mark 5D and obtains image data. By making the nozzle position mark 5D a plurality of ( Figure 2 In the example of four), the detection accuracy of the position of the suction nozzle 5 is improved. In addition, the rotation state of the suction nozzle 5 in the circumferential direction can be detected.

[0050] Next, the air passage 6 capable of supplying negative pressure air to a plurality of suction holes 5B at the same time is described. The air passage 6 is composed of a central air passage 61, a branch air passage 62, a descending air passage 64, and the aforementioned planar air passage 65. The central air passage 61 is formed by passing through the center of the nozzle base 51 from top to bottom. When the nozzle 5 is held on the nozzle holding seat 44, the central air passage 61 is connected to the central air passage 441 of the nozzle holding seat 44, and negative pressure and positive pressure air are selectively supplied from the assembly head 43. The lower end of the central air passage 61 is connected to the central position of the planar air passage 65.

[0051] When viewed from above, four branch air passages 62 are formed at 90° intervals. The branch air passages 62 are respectively branched from the mid-height of the central air passage 61 and extend horizontally toward the radially outer side. When formed by passing through two branch air passages 62, a transverse hole is perforated in the mounting portion 54 of the nozzle base 51. The opening of the transverse hole is sealed by a plug 63. The descending air passage 64 extends downward from a position close to the radially outer side of the branch air passage 62. The lower end of the descending air passage 64 is connected to a position outside the adsorption area 5A of the planar air passage 65.

[0052] According to the structure of the air passage 6, when negative pressure air is supplied to the upper end of the central air passage 61, the air passage 6 can be connected to each of the plurality of adsorption holes 5B and supply negative pressure air at the same time. In addition, the planar air passage 65 is connected to the deepest part of the adsorption hole 5B from the entire circumferential direction orthogonal to the axial direction of the adsorption hole 5B. Therefore, for the columnar element P adsorbed to the adsorption hole 5B, its upper end is not attracted in a specific direction, but maintains a vertical posture.

[0053] If a structure without the branch air passage 62 and the descending air passage 64 is assumed, the upper end of the columnar element P is attracted toward the center. Therefore, the columnar element P is easily adsorbed in a posture tilted by the dimensional tolerance of the diameter. As a result, the vertical accuracy of the columnar element P when mounted on the substrate K is reduced.

[0054] In the suction nozzle 5 of the embodiment, the plurality of suction holes 5B of the suction nozzle front end 55 can be arranged corresponding to the two-dimensional arrangement of the plurality of mounting positions set on the substrate K, and are not restricted by the arrangement conditions. Furthermore, the plurality of suction holes 5B are simultaneously supplied with negative pressure air from the air passage 6, so that the columnar components P can be respectively sucked and then mounted on the substrate K. Therefore, the suction nozzle 5 can suck all the required number of columnar components P and mount them on the substrate K at one time, and can efficiently perform suction and mounting.

[0055] Furthermore, the nozzle tip 55 is held on the nozzle base 51 in a detachable manner. Therefore, other nozzle tip 55 with different adsorption holes 5B can be manufactured for other types of substrates K with different arrangements of assembly positions of the plurality of columnar elements P, and mounted on the nozzle base 51 to correspond. That is, it is easy to correspond to other types of substrates K, and the cost for the correspondence is low. In addition, the nozzle tip 55 can be removed, so maintenance such as cleaning of the adsorption holes 5B and the air passage 6 is easier.

[0056] 3. Restore the nozzle 48

[0057] Next, refer to Figure 7 and Figure 8 The recovery nozzle 48 is described. When the columnar components P mounted on the substrate K are insufficient, the recovery nozzle 48 is responsible for the recovery of the insufficient columnar components P. The recovery nozzle 48 is composed of a flange portion 481 and a shaft portion 482 connected together, and an air passage 484 is formed inside. The flange portion 481 is formed to have the same diameter as the flange portion 52 of the suction nozzle 5. Similar to the suction nozzle 5, if the flange portion 481 is adsorbed and held on the suction nozzle holding seat 44, the entirety of the recovery nozzle 48 is maintained.

[0058] The shaft portion 482 is located at the center of the lower side of the flange portion 481 and extends downward. The shaft portion 482 is formed in a hollow cylindrical shape, and the lower portion is reduced in diameter to form a suction hole 483. The inner diameter and depth of the suction hole 483 are set to be the same as the suction hole 5B of the suction nozzle 5. The outer diameter of the shaft portion 482 around the suction hole 483 is set to be thinner so as not to interfere with other assembled columnar components P.

[0059] The air passage 484 is formed by passing through the flange portion 481 and the shaft portion 482 from top to bottom. When the recovery nozzle 48 is held in the nozzle holding seat 44, the air passage 484 is connected to the central air passage 441 of the nozzle holding seat 44, and negative pressure and positive pressure air are selectively supplied from the assembly head 43. The lower end of the air passage 484 is connected to the suction hole 483. Therefore, when negative pressure air is supplied to the air passage 484, the columnar component P is sucked at the suction hole 483.

[0060] 4. Supply of columnar components P from tray 35

[0061] Next, refer to Fig. 9The supply of a plurality of columnar components P using the tray 35 will be described. The tray 35 holds three component groups consisting of 304 columnar components P adsorbed by one adsorption operation of the suction nozzle 5. Three group holding portions 351 holding the component groups are arranged in the long side direction of the rectangular tray 35. The group holding portions 351 are each formed in a square frame shape having the same shape as the adsorption area 5A of the suction nozzle 5. The four sides of the group holding portion 351 are parallel to the four sides of the tray 35.

[0062] The group holding portion 351 has 304 holding holes arranged in the same manner as the suction holes 5B of the suction nozzle 5. However, the holding holes of the group holding portion 351 are formed shallower than the suction holes 5B of the suction nozzle 5, so that it is easier to take out the columnar component P. In addition, the tray 35 may hold one or two component groups, or may hold a plurality of component groups exceeding three groups.

[0063] Group position marks 352 are provided near the two corners on the diagonal line of the square frame-shaped group holding portion 351. The group position marks 352 form a pair with respect to the group holding portion 351. The group position marks 352 serve as a reference for the position of the component group held by the group holding portion 351. The group position mark 352 can be photographed by the substrate recognition camera 45. That is, the substrate recognition camera 45 functions as a tray shooting camera that shoots the group position mark 352 and obtains image data. In addition, when there are restrictions on the shooting field of view, the substrate recognition camera 45 can also shoot a pair of group position marks 352 twice. By making the group position marks 352 a pair, the detection accuracy of the position of the component group is improved. In addition, the error of the rotation angle in the horizontal plane of the component group can be detected.

[0064] Furthermore, the tray 35 has a single product holding portion 353 capable of supplying the columnar components P one by one. The single product holding portion 353 is arranged parallel to the long side at a position near the long side of one side of the tray 35. The single product holding portion 353 holds the columnar components P in a plurality of holding holes that are separated and arranged in a row. Thus, the component group and single products of the columnar components P are supplied from one tray 35, which is more convenient. Single product position marks 354 are respectively provided at positions near both ends of the single product holding portion 353. A pair of single product position marks 354 serve as a reference for the position of the columnar component P held by the single product holding portion 353. Similar to the group position mark 352, the single product position mark 354 is photographed by the substrate recognition camera 45.

[0065] 5. Adhesion recovery unit 38

[0066] Next, refer to Fig.10The structure of the adhesive recovery unit 38 is described. As shown in the figure, the adhesive recovery unit 38 is formed using a conveyor device. That is, a double-sided adhesive tape 382 is attached to a conveyor belt 381 of the conveyor device to form the adhesive recovery unit 38. The double-sided adhesive tape 382 is transferred and pressed on the unnecessary columnar element P. Therefore, the double-sided adhesive tape 382 can hold and recover the columnar element P by the adhesive force.

[0067] like Figure 1 As shown in the figure, the front part of the adhesive recovery section 38 is pulled out of the machine on the front side of the component assembly machine 1. Therefore, if the conveyor belt 381 rotates, the double-sided adhesive tape 382 is transferred to the outside of the machine. Therefore, the double-sided adhesive tape 382 can be peeled off outside the machine without stopping the component assembly machine 1 and discarded together with the unnecessary columnar components P. This discarding operation is carried out after the columnar components P of a number commensurate with the area of ​​the double-sided adhesive tape 382 are recovered. Thereafter, the new double-sided adhesive tape 382 is attached to the conveyor belt 381, and the conveyor belt 381 rotates again. As a result, the adhesive recovery section 38 returns to a state where the columnar components P can be recovered.

[0068] In addition, the adhesive recovery unit 38 may also be a simple structure in which the double-sided adhesive tape 382 is attached to the base 10. However, in this structure, when attaching or peeling the double-sided adhesive tape 382, ​​the component mounting machine 1 needs to be stopped and the safety cover (not shown) needs to be opened. Similarly, when the columnar components P stored in the discard box 37 are discarded, the component mounting machine 1 also needs to be stopped and the safety cover needs to be opened.

[0069] 6. Control structure of component mounting machine 1

[0070] Next, refer to Fig.11 The control structure of the component mounting machine 1 is described. As described above, the control device 8 controls the substrate conveying device 2, the component supply device 3, the component transfer device 4, and the component recognition camera 7 to promote the component mounting operation. In addition, the control device 8 has a correction unit 81, a component detection unit 82, a discard control unit 83, a position detection unit 84, and a cleaning control unit 85 as control function units that perform control related to the suction nozzle 5.

[0071] The correction unit 81 functions when the suction nozzle 5 is held by the nozzle holding seat 44. Here, the relative position of the suction nozzle 5 to the mounting head 43 may change every time the suction nozzle 5 is repeatedly attached to and detached from the nozzle holding seat 44 and held. The correction unit 81 corrects the change in the relative position.

[0072] The calibration unit 81 first moves the nozzle 5 held on the nozzle holding seat 44 to above the component recognition camera 7. The calibration unit 81 then causes the component recognition camera 7 (nozzle shooting camera) to shoot multiple nozzle position marks 5D and acquire image data. In addition, when there are restrictions on the shooting field of view, the component recognition camera 7 may also shoot multiple nozzle position marks 5D in multiple times. The calibration unit 81 receives the image data for the third time and performs image processing to calibrate the relative position of the nozzle 5 with respect to the assembly head 43. In addition, the calibration unit 81 calibrates the circumferential rotation angle of the nozzle 5.

[0073] If supplementation is performed, the position error of the actual installation position of the suction nozzle 5 relative to the reference installation position set in the assembly head 43 is calculated through image processing. The following position control of the assembly head 43 is performed in consideration of the position error. Alternatively, the reference installation position is corrected based on the position error. In addition, the angular error of the actual installation angle of the suction nozzle 5 relative to the reference installation angle set in the suction nozzle holding seat 44 is calculated through image processing. The following rotation control of the suction nozzle holding seat 44 is performed in consideration of the angular error. Alternatively, the reference installation angle is corrected based on the angular error. Through the implementation of the correction, the following position control and rotation control of the suction nozzle 5 are accurately performed.

[0074] The component detection unit 82 detects whether there are columnar components P in each of the multiple suction holes 5B of the suction nozzle 5. The component detection unit 82 first moves the suction nozzle 5 to the top of the component recognition camera 7. The component detection unit 82 then causes the component recognition camera 7 (suction nozzle shooting camera) to shoot the suction holes 5B to obtain image data. In addition, the image data at this time can also be shared with the image data obtained by the correction unit 81. In addition, when there are restrictions on the shooting field of view, the component recognition camera 7 can also shoot multiple suction holes 5B in multiple times. The component detection unit 82 receives the image data for the third time and performs image processing to detect whether there are columnar components P in the suction holes 5B. The presence or absence of columnar components P is detected, for example, by the difference in brightness in the image data.

[0075] The component detection unit 82 functions before and after the suction operation in which the suction nozzle 5 sucks the columnar component P to the suction hole 5B. The component detection unit 82 can detect a first abnormality that the columnar component P is already present in at least one suction hole 5B at a time point before the suction operation. In addition, the component detection unit 82 can detect a second abnormality that the columnar component P is not present in at least one suction hole 5B at a time point after the suction operation.

[0076] Furthermore, the component detection unit 82 functions after the suction nozzle 5 performs the mounting operation of mounting the columnar component P on the substrate K. The component detection unit 82 can detect the third abnormality that the columnar component P remains in at least one suction hole 5B at a time point after the mounting operation. The third abnormality refers to the shortage of the columnar component P mounted on the substrate K. The first to third abnormalities are caused, for example, by the intrusion of tiny dust into the suction hole 5B and clogging.

[0077] The discard control unit 83 is a part of the discard unit 39. The discard control unit 83 functions when the component detection unit 82 detects an unnecessary columnar component P, in other words, when the first abnormality and the third abnormality are detected. The discard control unit 83 moves the suction nozzle 5 to the top of the discard box 37, supplies positive pressure air to the adsorption hole 5B from the air passage 6, blows away the columnar component P, and drops it into the discard box 37 for discarding. The pressure of the positive pressure air during discarding is set higher than the pressure of the positive pressure air during component assembly. The discard control unit 83 determines whether it can actually be discarded by photographing and image processing performed again by the component recognition camera 7.

[0078] If the component cannot be discarded, the discard control unit 83 lowers the nozzle 5 from above the double-sided adhesive tape 382 of the adhesive recovery unit 38 to press the columnar component P against the double-sided adhesive tape 382. Thus, the columnar component P is recovered and discarded by the adhesive force of the double-sided adhesive tape 382. The discard control unit 83 determines whether the component can actually be discarded by the third shooting and image processing by the component recognition camera 7.

[0079] The position detection unit 84 functions before the suction nozzle 5 sucks the columnar component P from the tray 35. The position detection unit 84 first moves the substrate recognition camera 45 to the top of the tray 35. The position detection unit 84 then causes the substrate recognition camera 45 (tray imaging camera) to capture the group position mark 352 and acquire image data. The position detection unit 84 receives the image data for the third time and performs image processing to detect the position of the component group held in the group holding unit 351. In addition, the position detection unit 84 can detect the position of the columnar component P held in the single product holding unit 353 through the same imaging and image processing.

[0080] The cleaning control unit 85 cleans the suction nozzle 5. Specifically, the cleaning control unit 85 supplies positive pressure air to the adsorption hole 5B from the air passage 6 to blow air into the adsorption hole 5B. The pressure of the positive pressure air during cleaning is set to be higher than the pressure of the positive pressure air during component assembly. The period when the cleaning control unit 85 functions is set to before the assembly head 43 removes the suction nozzle 5 and places it on the suction nozzle station 47. In addition, the cleaning control unit 85 can also use the intermittent time of operation to clean the suction nozzle 5. Thereby, the suction nozzle 5 is maintained in a good state by blowing away the dust and the like in the adsorption hole 5B. In addition, whenever the recovery suction nozzle 48 is used, the cleaning control unit 85 can clean the recovery suction nozzle 48 by the same method as the cleaning of the suction nozzle 5.

[0081] 7. Operation of component mounting machine 1

[0082] Next, refer to Fig.12 The action flow of the component assembly machine 1 is described. In the assembly operation of the component assembly machine 1, first, the substrate conveying device 2 is operated to carry in the substrate K and position it at the assembly implementation position. Next, the assembly head 43 holds the suction nozzle 49 normally and assembles the components that do not interfere with the assembly action of the suction nozzle 5 on the substrate K. Fig.12 The subsequent action flow is shown.

[0083] exist Fig.12 In step S1, the control device 8 moves the assembly head 43 to the nozzle station 47, removes the normal nozzle 49 from the assembly head 43, and replaces it with the nozzle 5. Next, the correction unit 81 functions to correct the relative position and installation angle of the nozzle 5 with respect to the assembly head 43. In the next step S2, the component detection unit 82 detects whether there is a columnar component P in the adsorption hole 5B. When there are more than one unnecessary columnar components P (the first abnormality), the action flow is branched to step S11.

[0084] In step S11, the discard control unit 83 discards the columnar component P into the discard box 37. In the next step S12, the discard control unit 83 determines whether the discard is successful by image processing. In the case of successful discarding, the state of the adsorption hole 5B returns to normal, so the action flow returns to step S2. In step S13 in the case of failed discarding, the discard control unit 83 discards the columnar component P into the adhesive recovery unit 38. In the next step S14, the discard control unit 83 determines whether the discard is successful by image processing. In the case of successful discarding, the action flow returns to step S2. In the case of failed discarding, the columnar component P cannot be removed from the adsorption hole 5B, and the component assembly machine 1 stops due to an error. The control device 8 notifies that an error has occurred and stops.

[0085] In step S2, when there is no columnar component P in the suction hole 5B (normal state), the operation flow proceeds to step S3. In step S3, the position detection unit 84 detects the position of the component group held in the group holding unit 351 of the tray 35 by image processing. Next, the control device 8 controls the operation of the suction nozzle 5 to suck the columnar component P of the component group.

[0086] In the next step S4, the component detection unit 82 determines whether there are columnar components P in all the adsorption holes 5B by image processing. If at least one columnar component P is insufficient (second abnormality), the operation flow is branched to step S5. In step S5, the control device 8 stores the position of the columnar component P that the adsorption nozzle 5 cannot adsorb. The stored position corresponds to the insufficient position where the columnar component P is not mounted on the substrate K.

[0087] In step S4, when the columnar components P exist in all the adsorption holes 5B (normal state) and after step S5 is executed, the operation flow merges into step S6. In step S6, the control device 8 controls the assembly operation of the columnar components P onto the substrate K. In the next step S7, the component detection unit 82 determines whether there is a columnar component P in the adsorption hole 5B. In the case where even one columnar component P remains (third abnormality), the operation flow branches to step S8.

[0088] In step S8, the control device 8 stores the position (insufficient position) of the insufficient amount of columnar components P that are not mounted on the substrate K due to remaining in the adsorption holes 5B. After step S8 is executed, the operation flow is advanced to step S11. The subsequent operation flow is the same as the above, but if the columnar components P are successfully discarded in steps S12 and S14, the operation flow is advanced to step S9 (see the dotted arrow).

[0089] In step S7, when no columnar component P remains in the adsorption hole 5B (normal state), the operation flow merges with step S9. In step S9, the control device 8 determines whether all columnar components P can be mounted on the substrate K. In the case where both step S5 and step S8 are not performed, the control device 8 determines that all columnar components P can be adsorbed and mounted without omission. In this case, the operation flow ends. In other cases, the operation flow is advanced to step S10.

[0090] In step S10, the control device 8 controls the recovery action of the recovery nozzle 48. At this time, the control device 8 performs control based on the insufficient position stored in at least one of step S5 and step S8. The control method for the recovery nozzle 48 is the same as the control method for the nozzle 5, except that the columnar component P to be adsorbed and assembled is one. That is, the control device 8 controls the recovery nozzle 48 to adsorb the columnar component P from the single product holding portion 353 of the tray 35 and assemble it at the insufficient position on the substrate K. At this time, the position of the columnar component P is detected based on image processing and the presence or absence of the columnar component P is determined, etc., as with the nozzle 5. The action flow ends with the execution of step S10.

[0091] In addition, the execution of step S10 means that at least one of the second abnormality and the third abnormality has occurred, which is not preferred. Therefore, the control device 8 can also be controlled so that when the number of executions and the execution frequency of step S10 exceed the specified value, the component assembly machine 1 generates an error and stops. Thus, the control device 8 can monitor the operating state of the suction nozzle 5 to detect performance degradation represented by the clogging of the suction hole 5B.

[0092] The substrate K after the assembly operation is completed is carried out of the machine by the substrate transport device 2. On the other hand, the cleaning control unit 85 cleans the suction nozzle 5 and the recovery suction nozzle 48. Thereafter, the assembly head 43 places the suction nozzle 5 and the recovery suction nozzle 48 on the suction nozzle station 47, and holds the normal suction nozzle 49 again. In addition, the tray 35 in which all three sets of component groups have been consumed is returned to the storage rack 34, and a new tray 35 is pulled out. Thus, the preparation for the next assembly operation of the substrate K is completed.

[0093] According to the component mounting machine 1 of the embodiment, the effect described above with respect to the suction nozzle 5 is the same, and all the required number of columnar components P can be sucked and mounted on the substrate K at one time, and the suction and mounting can be performed efficiently. Furthermore, if the suction nozzle 5 is manufactured, the other structural elements of the component mounting machine 1 can use existing products, so the introduction cost is low.

[0094] 8. Application and Variation of Implementation Methods

[0095] In addition, the suction nozzle 5 can be fixedly set on the assembly head 43 to become a dedicated component assembly machine 1 for assembling only the columnar component P. In this case, the cleaning control unit 85 preferably performs cleaning corresponding to each predetermined number of actions of the suction nozzle 5 or performs cleaning when an abnormality occurs. In addition, one of the waste box 37 and the adhesive recovery unit 38 constituting the waste unit 39 can be omitted. Various applications and modifications can also be made to this embodiment.

[0096] Description of Reference Numerals

[0097] 1: Component assembly machine 2: Board conveying device 3: Component supply device 33: Tray device 34: Storage rack 35: Tray 351: Group holding part 352: Group position mark 353: Single product holding part 354: Single product position mark 37: Waste box 38: Adhesion recovery part 39: Waste part 4: Component transfer device 43: Assembly head 44: Nozzle holding seat 45: Board recognition camera 47: Nozzle station 48: Recovery nozzle 483: Adsorption hole 484: Air passage 49: Commonly used suction nozzle 5: suction nozzle 51: suction nozzle base 55: suction nozzle front end 59: suction structure 5A: suction area 5B: suction hole 5C: non-suction area 5D: suction nozzle position mark 6: air passage 61: central air passage 62: branch air passage 64: descending air passage 65: planar air passage 8: control device 81: correction unit 82: component detection unit 83: discard control unit 84: position detection unit 85: cleaning control unit K: substrate P: columnar component.

Claims

1. A component assembly machine comprising: A component transfer device, comprising an assembly head for holding a suction nozzle and a head driving mechanism for moving the assembly head, wherein the suction nozzle has a suction nozzle front end and an air passage, wherein the suction nozzle front end has a plurality of suction holes, wherein the plurality of suction holes are arranged corresponding to the configuration of a plurality of assembly positions set on a substrate for assembling a plurality of columnar components and can respectively absorb the columnar components, and the air passage can be respectively connected to the plurality of suction holes and simultaneously supply negative pressure air; A substrate transporting device for transporting the substrate; and A component supply device supplies the columnar component. The nozzle has a nozzle position mark indicating a reference of the position, The assembly head holds the suction nozzle in a detachable manner. The component assembly machine comprises: A nozzle shooting camera is used to shoot the nozzle position mark and obtain image data; and The correction unit performs image processing on the image data to correct the relative position of the suction nozzle with respect to the mounting head.

2. The component mounting machine according to claim 1, wherein The front end of the suction nozzle has: a suction area in which the suction holes opening downward are arranged; and a non-adsorption region in which the adsorption holes are not arranged, wherein the adsorption region protrudes downward than the non-adsorption region.

3. The component mounting machine according to claim 1, wherein The air passage communicates with the adsorption hole from a plurality of directions intersecting with an axial direction in which the adsorption hole extends.

4. The component mounting machine according to claim 3, wherein: The air passage communicates with the deepest portion of the adsorption hole from the entire circumferential direction perpendicular to the axial direction.

5. The component mounting machine according to any one of claims 1 to 4, wherein: The nozzle includes a nozzle base that detachably holds the nozzle front end portion.

6. The component mounting machine according to claim 1, wherein The component assembly machine comprises: A nozzle shooting camera is used to shoot the suction hole of the nozzle and obtain image data; and The component detection unit performs image processing on the image data to detect whether the columnar component exists in the adsorption hole.

7. The component mounting machine according to claim 6, wherein The nozzle photographing camera photographs the suction hole at one or more times before and after the suction nozzle adsorbs the columnar component to the suction hole and before and after the suction nozzle assembles the columnar component to the substrate.

8. The component mounting machine according to claim 6 or 7, wherein: The component mounting machine includes a discarding section configured to discard the unnecessary columnar component by supplying positive pressure air from the air passage to the adsorption hole when the component detection section detects the unnecessary columnar component.

9. The component mounting machine according to claim 8, wherein: The discarding section includes at least one of a discarding box for storing the unnecessary columnar elements and an adhesive recovery section for recovering the unnecessary columnar elements by adhesive force.

10. The component mounting machine according to claim 6 or 7, wherein: The assembly head holds the suction nozzle in a detachable manner. The component assembly machine includes a recovery nozzle. When the component detection unit detects that the columnar components assembled on the substrate are insufficient, the recovery nozzle is held on the assembly head in a detachable manner and performs an adsorption operation on the insufficient columnar components and an assembly operation on the substrate.

11. The component mounting machine according to claim 10, wherein The recovery nozzle includes: a suction hole capable of sucking the columnar element; and an air passage communicating with the suction hole and capable of supplying negative pressure air.

12. The component mounting machine according to any one of claims 1, 6 and 7, wherein: The component supply device includes a tray that holds one or more component groups, wherein the component group is composed of a plurality of the columnar components adsorbed by a single adsorption operation.

13. The component mounting machine according to claim 12, wherein The tray has a group position mark that serves as a reference for the position of the component group. The component assembly machine comprises: a tray photographing camera, photographing the group of position marks and acquiring image data; and The position detection unit performs image processing on the image data to detect the position of the component group.

Images