Component crimping device and component crimping method

Abstract

Provided is a component crimping device and the like capable of suppressing the inability to appropriately crimp a component to a substrate. A control unit (232) provided in a component crimping device (200) performs first control in which a cylinder (205) is controlled to move a piston rod (208) toward one end and support the piston rod (208) on a support body (220), thereby generating a pressing force acting on the support body (220) from the piston rod (208) toward the one end, and performing control so that the pressing force becomes a first pressure, and then performs second control in which the piston rod (208) moves toward the one end and is supported on the support body (220) so that the pressing force becomes a second pressure. And a second control for controlling the motor (214) to move the support body (220) together with the piston rod (208) toward the one end side and causing the crimping head (203) to crimp the member (160) toward the substrate (150), the first control being performed such that the pressing force becomes a second pressure greater than the first pressure, and then the first control being performed such that the pressing force becomes the first pressure, and the second control being performed such that the pressing force becomes the first pressure, by controlling the motor (214) to move the support body (220) together with the piston rod (208) toward the one end side and causing the crimping head (203) to crimp the member (160) toward the substrate (150).

Description

Technical Field

[0001] The invention relates to a component crimping device and a component crimping method. Background Art

[0002] Conventionally, there is a component crimping device that crimps a component to a substrate using an air cylinder (for example, refer to Patent Document 1).

[0003] The pressurizing device disclosed in Patent Document 1 as an example of a component crimping device uses an air cylinder to generate a pressurizing force (also called a pressing force) at a crimping head provided at the end of a piston rod of the air cylinder to mount a component on a substrate.

[0004] Prior Art Literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent No. 5009738 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] The present invention provides a component crimping device and the like which can prevent a situation where a component cannot be properly crimped to a substrate.

[0009] Technical solutions to solve problems

[0010] A component crimping device according to one embodiment of the present invention comprises: a cylinder having a piston rod; a crimping head mounted on one end in the longitudinal direction of the piston rod; a support body for supporting the piston rod; a motor for moving the support body; and a control unit for controlling the cylinder and the motor to move the support body together with the piston rod toward the one end side, thereby causing the crimping head to crimp the component to a substrate, wherein the control unit performs a first control, wherein the first control controls the cylinder to move the piston rod toward the one end side and be supported on the support body, thereby generating a pressing force from the piston rod to the support body toward the one end side, and controls the pressing force to become a first pressure, and then the control unit performs a second control, wherein the second control controls the motor to move the support body together with the piston rod toward the one end side, and causes the crimping head to crimp the component to the substrate, wherein in the first control, after controlling the pressing force to become a second pressure greater than the first pressure, the control unit performs a control to become the first pressure.

[0011] The component crimping method involved in one embodiment of the present invention is a component crimping method performed by a component crimping device, the component crimping device comprising: a cylinder having a piston rod; a crimping head installed at one end of the piston rod in the longitudinal direction; a support body for supporting the piston rod; and a motor for moving the support body. The component crimping method performs a first control, wherein the first control controls the cylinder to move the piston rod toward the one end side and support the support body, thereby generating a pressing force from the piston rod acting on the support body toward the one end side, and controls the pressing force to become a first pressure. Thereafter, a second control is performed, wherein the motor is controlled to move the support body together with the piston rod toward the one end side, and the crimping head crimps the component to the substrate. In the first control, after controlling the pressing force to become a second pressure greater than the first pressure, control is performed to make the pressing force become the first pressure.

[0012] Effects of the Invention

[0013] According to the present invention, it is possible to provide a component pressure-bonding device and the like that can suppress the inability to appropriately perform pressure-bonding of a component to a substrate. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram showing the structure of a component crimping device according to an embodiment.

[0015] Figure 2 These are diagrams for explaining the operation of the piston rod and the support body included in the component crimping device according to the embodiment.

[0016] Figure 3 This is a diagram for explaining the crimping time.

[0017] Figure 4 It is a flowchart showing the processing procedure of the component crimping device according to the embodiment.

[0018] Figure 5 It is a diagram for explaining a specific example of the change in the pressing force in the first mode.

[0019] Figure 6 It is a diagram for explaining a specific example of the change in the pressing force in the second mode.

[0020] Description of Reference Numerals

[0021] 131: supporting workbench;

[0022] 150: substrate;

[0023] 160: Parts;

[0024] 200: component crimping device;

[0025] 201: Abutment;

[0026] 201a: support part;

[0027] 202: Pillar;

[0028] 203: crimping joint;

[0029] 204: moving guide;

[0030] 205: Cylinder;

[0031] 206: Main body;

[0032] 207: Piston;

[0033] 207a: Ring member;

[0034] 208: piston rod;

[0035] 211: stopper;

[0036] 213: Pressure control unit;

[0037] 214: Motor;

[0038] 218: Ball screw;

[0039] 220: support body;

[0040] 230: control device;

[0041] 232: Control Department;

[0042] 235: Storage unit. DETAILED DESCRIPTION

[0043] (Process of realizing the present invention)

[0044] Conventionally, in crimping of components using an air cylinder, a pressurizing operation is performed by lowering a crimping head to a pressurizing position at a load set in the device, regardless of the magnitude of a load applied to the component when crimping the component to a substrate.

[0045] Here, in recent years, when producing small panels for smart watches and the like, it is envisaged that a lower load than before will be applied to the components. At this time, due to the influence of the sliding resistance of the cylinder that moves the crimping head, the descent speed of the piston rod is reduced, and sometimes the piston rod becomes unable to follow the movement speed of the support body (the shaft of the head) used to prevent the piston rod from falling sharply. In addition, in the past, the crimping time (pressing time) of the crimping head to crimp the component was measured after the support body completed the descent to a given position. In other words, the crimping time is measured in conjunction with the position of the support body, so if the piston rod does not move in a manner supported by the support body, the problem of the actual crimping time becoming shorter than the expected time arises.

[0046] Therefore, the inventors of the present application have finally created the present invention in order to solve such problems.

[0047] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, the embodiments described below all show general or specific examples. The numerical values, shapes, materials, constituent elements, configuration positions of constituent elements, connection methods, steps, order of steps, etc. shown in the following embodiments are examples, and the main purpose is not to limit the present invention. In addition, for the constituent elements in the following embodiments that are not recorded in the independent claims, they are described as arbitrary constituent elements.

[0048] In addition, each figure is a schematic diagram and does not necessarily illustrate strictly. Therefore, for example, the scales in each figure are not necessarily the same. In addition, in each figure, the same reference numerals are marked for substantially the same structure, and repeated descriptions are omitted or simplified.

[0049] In the present specification and drawings, the X-axis, Y-axis, and Z-axis represent three axes of a three-dimensional orthogonal coordinate system. In the following embodiments, the Z-axis direction is the up-down direction (vertical direction), and the positive direction of the Z-axis is the upward direction.

[0050] Furthermore, the terms “above” and “below” are applied not only to a case where two components are arranged with a space between them and another component is present, but also to a case where two components are arranged closely to each other and in contact with each other.

[0051] In the present specification, ordinal numbers such as “first” and “second” do not refer to the number or order of components unless otherwise specified, but are used to avoid confusion between the same components or to distinguish them.

[0052] In the present specification, for example, when the terms "above a threshold value" and "below a threshold value" are described in comparison, this means that the threshold value is used as a boundary, and may respectively mean "greater than the threshold value" and "below the threshold value".

[0053] (Implementation Method)

[0054] [structure]

[0055] First, the structure of the component crimping device 200 will be described.

[0056] Figure 1 It is a schematic diagram showing the structure of a component crimping device 200 according to the embodiment.

[0057] The component pressure-bonding device 200 is a device that pressure-bonds (that is, mounts) the component 160 to the substrate 150. A production system including the component pressure-bonding device 200 is a system that produces display panels such as liquid crystal displays.

[0058] As the substrate 150 , a display panel using a glass substrate or the like can be exemplified.

[0059] Examples of the component 160 include TCP (Tape Carrier Package), flexible components such as FPC (Flexible Printed Circuits), and IC (Integrated Circuit) chips.

[0060] The production system is composed of, for example, an ACF (Anisotropic Conductive Film) pasting device, a temporary crimping (component placement) device, a component crimping device 200, and a conveying device.

[0061] The ACF sticking device is a device that sticks the ACF tape to an electrode terminal portion provided on the peripheral edge of a substrate 150 such as a glass plate having an electrode terminal.

[0062] Here, the so-called "ACF tape" refers to a tape-shaped anisotropic conductive film, which is composed of a raw material in which conductive fine metal particles are mixed in a thermosetting resin. By pressing under conditions corresponding to the properties of the ACF tape such as type and size, the conductivity between the upper and lower terminals is maintained and the bonding and curing are performed.

[0063] The temporary pressure-bonding device is a device that attaches the component 160 to the terminal of the electrode to which the ACF tape is attached on the peripheral edge of the substrate 150 .

[0064] The transport device is a device that transports the substrate 150 between the ACF pasting device, the temporary pressure-bonding device, and the component pressure-bonding device 200 .

[0065] The component crimping device 200 is a so-called full crimping device, which crimps the substrate 150 and the component 160 by pressing the component 160 and the substrate 150 on which the component 160 is mounted under a given crimping condition through the ACF tape attached to the peripheral edge of the substrate 150. As a result, the ACF tape is cured, and the terminals of the electrodes of the substrate 150 and the terminals of the electrodes of the component 160 are brought into electrical connection.

[0066] Here, the so-called pressing conditions refer to the conditions for pressing the component 160 (that is, the conditions for pressing the component 160 to the substrate 150). The so-called pressing conditions include, for example, the time for pressing the component 160 to the substrate 150 (pressing time), the temperature during the pressing, and the pressure during the pressing.

[0067] The component crimping device 200 is specifically a device for crimping the substrate 150 supported by the support table 131 and the component 160. In the present embodiment, the component crimping device 200 crimps the component 160 to the substrate 150 by pressing the substrate 150 supported by the support portion 201a below the end of the substrate 150 and placing the component 160 above the end with the crimping head 203 from above. The component crimping device 200 includes a base 201, a support portion 201a, a support column 202, a crimping head 203, a cylinder 205, a stopper 211, a pressure control portion 213, a motor 214, a support body 220, and a control device 230.

[0068] The base 201 is a base for supporting the cylinder 205 (more specifically, the main body 206 ) and the motor 214 , etc. The base 201 is provided with a support portion 201 a and a support column 202 .

[0069] The support part 201a is a lower receiving part that supports the substrate 150. Specifically, the support part 201a supports the peripheral edge of the substrate 150 to which the component 160 is joined from below, and is a support stage that supports the components 160 from below when the components 160 are pressed against the substrate 150.

[0070] The support column 202 is a columnar member vertically erected on the base 201. The support column 202 includes a ball screw 218 and a movement guide 204.

[0071] The ball screw 218 is threadedly engaged with the support body 220 , and is a columnar member provided with a thread groove that supports the support body 220 so as to be movable in the extending direction of the ball screw 218 .

[0072] The movement guide 204 is a guide that restricts movement of the crimping head 203 relative to the component 160 in a direction along the support 202 .

[0073] The air cylinder 205 is provided on the support column 202 and is a component that generates a pressing force for pressing the substrate 150 and the component 160. In the present embodiment, the air cylinder 205 is a pneumatic cylinder that generates a pressing force by air supplied from a pressure control unit 213 having a supply unit such as a pump for supplying air. The air cylinder 205 includes a main body 206, a piston 207, and a piston rod 208.

[0074] The main body 206 is a cylinder tube fixedly provided with respect to the support 202. Specifically, the main body 206 is fixedly arranged on the support 202 so that the relative positional relationship with respect to the support 202 does not change. The main body 206 is a hollow cylinder inside which a fluid, i.e., a gas (e.g., air), which is a pressure transmission medium, flows in and out.

[0075] In addition, the fluid that becomes the pressure transmission medium may be any of a compressed fluid such as a gas and a non-compressed fluid such as a liquid. In addition, in the present embodiment, air (Air) is supplied to the cylinder 205, but other gases may be supplied.

[0076] The piston 207 is a disc-shaped part that reciprocates inside the main body 206. Air applies pressure to the piston 207 to press the substrate 150 and the component 160. The piston 207 has a ring member 207a attached to its outer peripheral surface in contact with the main body 206 in order to improve airtightness and smooth movement.

[0077] The piston rod 208 is connected to the piston 207 and is a columnar member that reciprocates in conjunction with the reciprocating motion of the piston 207. The piston rod 208 is configured to be movable along the support column 202. Specifically, the piston rod 208 is a columnar member that extends in a direction parallel to the extension direction of the support column 202 and is configured to be movable (lifting and lowering) in a direction parallel to the extension direction of the support column 202. In addition, the piston rod 208 extends to both sides of the piston 207 in the sliding direction of the piston 207.

[0078] The crimping head 203 is mounted on one end (in the present embodiment, the end on the negative side of the Z-axis) in the longitudinal direction (in the present embodiment, the Z-axis direction) of the piston rod 208, and is a head for crimping the component 160 to the substrate 150 by pressing the substrate 150 supported by the support portion 201a. Specifically, the crimping head 203 is mounted on one end (front end) of the two ends arranged along the extending direction of the piston rod 208, which is the side where the substrate 150 and the component 160 are arranged, and crimps the component 160 to the substrate 150 supported by the support portion 201a by pressing the component 160. The crimping head 203 moves in conjunction with the movement of the piston rod 208 along the extending direction of the support 202. The crimping head 203 is also provided with a heater for heating and bonding the component 160 to the substrate 150 via the ACF tape.

[0079] The stopper 211 is a member provided at the other end portion (in the present embodiment, the upper end portion) of the piston rod 208 on the opposite side to the one end portion. The stopper 211 is fixed to the piston rod 208 .

[0080] The support body 220 is a member for supporting the piston rod 208. Specifically, the support body 220 is provided to be movable along the support column 202, and supports the piston rod 208 from one end side of the piston rod 208 via the stopper 211. In other words, the support body 220 is a member for supporting the upper end of the piston rod 208 from the lower end side by supporting the lower end of the stopper 211. Specifically, the support body 220 is provided to be movable along the support column 202, and supports the piston rod 208 from one end side via the stopper 211. More specifically, the support body 220 supports the stopper 211 from below from the side opposite to the direction in which the cylinder 205 pressurizes (in this embodiment, the negative direction of the Z axis), and supports the piston rod 208 via the stopper 211. The support body 220 is screwed with the ball screw 218, and moves in a direction parallel to the extension direction of the support column 202 in conjunction with the rotation of the ball screw 218. This movement causes the piston rod 208 supported by the support body 220 , the crimping head 203 provided on the piston rod 208 , and the like to move along the support column 202 .

[0081] The pressure control unit 213 is a device for controlling the pressing force of the air cylinder 205 so that the air cylinder 205 generates the pressing force required to apply the target load to the substrate 150 and the component 160. The pressure control unit 213 is realized by, for example, a pump (air source) that supplies air to the air cylinder 205, a regulator such as an electromagnetic valve that controls the supply amount of air, and a solenoid valve.

[0082] The motor 214 is a motor that moves the support body 220. Specifically, the motor 214 moves the support body 220 along the support column 202. More specifically, the motor 214 is a driving source that rotates the ball screw 218 and moves the support body 220 screwed with the ball screw 218 along the support column 202. That is, the motor 214 moves the support body 220 in a direction parallel to the extension direction of the piston rod 208. In the present embodiment, the motor 214 is a servo motor (more specifically, an AC servo motor) having an encoder and a driver.

[0083] The control device 230 is a control device that executes instructions for controlling the driving of the motor 214 to the driver, and controls the pressing force of the cylinder 205 by controlling the pressure control unit 213. The control device 230 controls the rotation amount of the motor 214 based on information such as the torque from the motor 214, thereby controlling the start of movement, the speed of movement, and the configuration after movement of the support body 220. In addition, the control device 230 obtains information indicating the total thickness of the substrate 150 and the component 160, and information indicating the pressing force generated by the cylinder 205, etc. from the storage unit 235, etc., and determines the position where the support body 220 should be configured based on the obtained information.

[0084] The control device 230 is implemented, for example, by an interface connected to a control line for controlling the pressure control unit 213 and the motor 214, a non-volatile memory for storing programs, a volatile memory as a temporary storage area for executing programs, an input and output port for sending and receiving signals, and a processor for executing the program.

[0085] The control device 230 includes a control unit 232 and a storage unit 235 .

[0086] The control unit 232 is a processing unit that controls the air cylinder 205 (more specifically, the pressure control unit 213) and the motor 214. Specifically, the control unit 232 controls the air cylinder 205 and the motor 214 to move the support body 220 together with the piston rod 208 toward one end side, thereby causing the crimping head 203 to crimp the component 160 to the substrate 150. More specifically, the control unit 232 controls the air cylinder 205 and the motor 214 to move the support body 220 together with the piston rod 208 toward one end side of the piston rod 208, thereby causing the crimping head 203 to crimp the component 160 to the substrate 150 supported by the support portion 201a.

[0087] Figure 2 It is a diagram for explaining the operation of the piston rod 208 and the support body 220 included in the component crimping device 200 according to the embodiment.

[0088] like Figure 2As shown in (a), for example, before the component crimping device 200 crimps the component 160 to the substrate 150, the piston rod 208 is positioned in a state where the stopper 211 located at the other end of the piston rod 208 is not in contact with the support body 220. That is, in this state, the piston rod 208 is not supported by the support body 220.

[0089] Then, if Figure 2 As shown in (b), when the component crimping device 200 crimps the component 160 to the substrate 150, the control unit 232 controls the cylinder 205 to move the piston rod 208 downward, so that the stopper 211 located at the other end of the piston rod 208 contacts the support body 220. As a result, the piston rod 208 is supported by the support body 220. At this time, a pressing force is generated on the support body 220 from the piston rod 208 to the side of one end of the piston rod 208.

[0090] Then, if Figure 2 As shown in (c), the control unit 232 controls the motor 214 to move the piston rod 208 downward and the support body 220 downward. Thus, the control unit 232 causes the crimping head 203 to crimp the component 160 to the substrate 150. That is, in a state where a pressing force toward one end side of the piston rod 208 is generated, the crimping head 203 contacts the component 160. Furthermore, by moving the support body 220 downward, the pressing force applied to the support body 220 is applied to the component 160. Thus, a load from the cylinder 205 (more specifically, the piston rod 208) corresponding to the pressing force can be applied to the substrate 150 and the component 160, and the component 160 can be crimped to the substrate 150.

[0091] In the present embodiment, the control unit 232 controls the change of the pressing force based on a given condition from the time when the stopper 211 contacts the support body 220 until the piston rod 208 moves downward together with the support body 220 and the crimping head 203 is crimped to the component 160 on the substrate 150. Specifically, the control unit 232 controls the change of the air pressure supplied to the cylinder 205 for controlling the pressing force.

[0092] Figure 3 is a diagram for explaining the crimping time. Specifically, Figure 3 (a) is a graph schematically showing the time variation of the height of the crimping head 203. In addition, Figure 3 (b) is a diagram for explaining the air pressure in the cylinder 205. Figure 3 (c) is a graph schematically showing a temporal change in the load applied to the component 160 when the pressing head 203 presses the component 160 against the substrate 150 .

[0093] like Figure 3 As shown, if the supply of air to the pressurized side port of the cylinder 205 starts at time T1, in other words, if the supply of air to the main body 206 (also called the supply of air pressure) starts to move the piston rod 208 downward, the motor 214 moves the support body 220 downward together with the piston rod 208, and the height of the crimping head 203 is reduced.

[0094] In the present embodiment, for example, if the crimping head 203 moves to a given position (given height) at time T2, the air pressure supplied to the cylinder 205 is reduced. For example, at time T2, the air pressure is reduced from the second air pressure to the first air pressure. After waiting for a given time from time T2 to time T3, the crimping head 203 moves in a state where the air pressure is reduced, and crimps the component 160 to the substrate 150 by the crimping head 203 during the crimping time from time T4 to time T5. Thus, a load (set load) appropriate for the crimping of the component 160 to the substrate 150 is applied to the component 160. This state is maintained, thereby applying a load for the crimping time required for crimping to be performed to the component 160.

[0095] The load varies according to the air pressure. Figure 3 In the example shown, the air pressure required to apply the set load is the first air pressure. Before the crimping head 203 is crimped, the control unit 232 controls the air cylinder 205 (more specifically, the pressure control unit 213) to achieve an air pressure higher than the air pressure required to apply the set load.

[0096] As such, in this embodiment, the control unit 232 performs the first control, which controls the cylinder 205 to move the piston rod 208 toward one end side and support it on the support body 220, thereby generating a pressing force from the piston rod 208 to the support body 220 toward one end side, and controls so that the pressing force becomes the first pressure, and then performs the second control, which controls the motor 214 to move the support body 220 together with the piston rod 208 toward one end side, and causes the crimping head 203 to crimp the component 160 to the substrate 150.

[0097] For example, the first control is Figure 3 The control from time T1 to time T3 shown in FIG. Figure 3 The control after time T3 is shown.

[0098] Here, in the first control, the control unit 232 controls the pressing force to become the second pressure greater than the first pressure, and then controls the pressing force to become the first pressure. For example, the first pressure is the pressing force corresponding to the first air pressure, and the second pressure is the pressing force corresponding to the second air pressure. For example, the control unit 232 controls the air pressure of the piston 207 so that the first pressure or the second pressure is generated.

[0099] In addition, for example, in the first control, when the first pressure is smaller than a given threshold value, the control unit 232 controls the pressing force to become a second pressure greater than the first pressure, and then controls the pressing force to become the first pressure. On the other hand, for example, in the first control, when the first pressure is greater than a given threshold value, the control unit 232 controls the pressing force to become the first pressure without controlling the pressing force to become the second pressure.

[0100] In addition, for example, in the first control, after controlling the pressing force to become the second pressure, the control unit 232 controls the motor 214 to move the support body 220 together with the piston rod 208 to a given position toward one end side, and controls the pressing force to become the first pressure.

[0101] In addition, for example, in the first control, the control unit 232 moves the support body 220 to a given position and then moves the support body 220 to a given position at a given time (at a given time). Figure 3 In the example shown, during the period from time T2 to time T3 , the support body 220 is not moved from a predetermined position, and control is performed so that the pressing force becomes the first pressure.

[0102] In addition, specific values ​​such as the first pressure, the second pressure, the first air pressure, the second air pressure, the given time, and the given threshold value can be determined arbitrarily without particular limitation. For example, the first air pressure is determined to be 30N, and the second air pressure is determined to be 100N. For example, when the control unit 232 sets the load to be less than 50N, it controls the pressure to be the second air pressure before crimping, and then controls the pressure to be the first air pressure. On the other hand, when the control unit 232 sets the load to be more than 50N, it controls the pressure to be the first air pressure without controlling the pressure to be the second air pressure before crimping.

[0103] Furthermore, for example, the given time is determined to be 0.5 sec. or the like.

[0104] In addition, such a predetermined time may not be provided. For example, the support body 220 may be lowered while being controlled so that the pressing force changes from the second pressure to the first pressure.

[0105] In addition, the moving speed and moving amount of the support body 220 can be arbitrarily determined in advance and are not particularly limited. For example, the control unit 232 controls the motor 214 so that the moving speed of the support body 220 in the first control is faster than the moving speed of the support body 220 in the second control. In addition, for example, the control unit 232 controls the motor 214 so that the moving amount of the support body 220 in the first control is greater than the moving amount of the support body 220 in the second control.

[0106] The control unit 232 is implemented by, for example, a memory storing a control program and a processor such as a CPU (Central Processing Unit) executing the control program.

[0107] The storage unit 235 is a storage device that stores various data required for component crimping processing, such as information representing threshold values, dimensions of the substrate 150, types of components 160 mounted on the substrate 150, mounting positions, mounting directions, actions of various devices, timing of the actions, timing of conveying the substrate 150, etc.

[0108] The storage unit 235 is implemented by, for example, a HDD (Hard Disc Drive) or a semiconductor memory.

[0109] [Processing steps]

[0110] Next, the processing procedure of the component crimping device 200 will be described.

[0111] Figure 4 2 is a flowchart showing the processing steps of the component crimping device 200 according to the embodiment. Specifically, Figure 4 It is a flowchart showing a specific example of a processing procedure executed by the control unit 232 by controlling the air cylinder 205 (more specifically, the pressure control unit 213 ) and the motor 214 .

[0112] First, the control unit 232 determines whether the pressing force generated by the support body 220 when the component 160 is mounted on the substrate 150, that is, the first pressure, is smaller than a given threshold value (S10). The first pressure is a value arbitrarily determined according to, for example, the type of panel to be produced. For example, the user uses a user interface such as a keyboard to input information indicating the first pressure and information indicating a given threshold value. The control unit 232 obtains this information to perform the determination in step S10.

[0113] When the control unit 232 determines that the first pressure is lower than the given threshold value (Yes in S10), the control unit 232 executes the process in the first mode. Specifically, when the first pressure is lower than the given threshold value, the control unit 232 executes the following steps S20 to S50.

[0114] More specifically, the control unit 232 performs the first control (S20~S40), which controls the cylinder 205 to move the piston rod 208 toward one end side and support it on the support body 220, thereby generating a pressing force from the piston rod 208 to the support body 220 toward one end side, and controls so that the pressing force becomes the first pressure.

[0115] In this embodiment, the control unit 232 controls the air cylinder 205 to make the support body 220 support the piston rod 208 via the stopper 211. In addition, the control unit 232 causes the pressure control unit 213 to supply a given air pressure to the main body 206, so that the piston rod 208 moves downward and the lower end side of the stopper 211 is supported by the support body 220, thereby making the support body 220 support the piston rod 208 fixed to the stopper 211 from the lower side. Thus, the control unit 232 generates the second pressure acting on the support body 220 from the piston rod 208.

[0116] In the first control, the control unit 232 controls the pressing force to become a second pressure greater than the first pressure ( S20 ). The control unit 232 controls the pressure control unit 213 to supply air to the pressurizing side port of the main body 206 so as to generate the second pressure.

[0117] Next, the control unit 232 controls the motor 214 to move (lower) the support body 220 to a predetermined position while the second pressure is generated ( S30 ). As a result, the piston rod 208 moves (lowers) following the movement of the support body 220 .

[0118] Next, the control unit 232 controls the air cylinder 205 so that the pressing force changes from the second pressure to the first pressure (S40). The control unit 232 controls the pressure control unit 213 to supply air to the pressurizing side port of the main body 206 so as to generate the first pressure.

[0119] In addition, at this time, the control unit 232 may also control the motor 214 so that the support body 220 does not move within a given time.

[0120] The given time can be determined arbitrarily and is not particularly limited.

[0121] Next, the control unit 232 performs a second control (S50) that controls the motor 214 to move the support body 220 together with the piston rod 208 toward one end side, and to press the crimping head 203 against the substrate 150 to contact the component 160. The control unit 232 brings the crimping head 203 into contact with the component 160 while the first pressure is generated, and further moves the support body 220, thereby applying a load corresponding to the first pressure acting on the support body 220 to the component 160. Thus, the control unit 232 causes the crimping head 203 to press the component 160 against the substrate 150 using the load corresponding to the first pressure.

[0122] On the other hand, when the control unit 232 determines that the first pressure is equal to or greater than the given threshold value (No in S10), the control unit 232 executes the process in the second mode. Specifically, when the first pressure is equal to or greater than the given threshold value, the control unit 232 executes the following steps S60 and S70.

[0123] First, the control unit 232 controls the cylinder 205 to move the piston rod 208 toward one end side and support it on the support body 220, thereby generating a pressing force from the piston rod 208 to the support body 220 toward one end side, and controls so that the pressing force becomes the first pressure. Here, in the second mode, the control unit 232 controls so that the pressing force becomes the first pressure instead of controlling so that the pressing force becomes the second pressure (S60). Specifically, the control unit 232 controls the pressure control unit 213 to supply air to the pressurized side port of the main body 206, so that the first pressure is generated.

[0124] Next, the control unit 232 controls the motor 214 to move the support body 220 together with the piston rod 208 toward one end side while the first pressure is generated, and causes the crimping head 203 to crimp the component 160 to the substrate 150 ( S70 ).

[0125] Figure 5 : is a diagram for explaining a specific example of the change in the pressing force in the first mode. Specifically, Figure 5 (a) is a graph schematically showing the time variation of the downward driving force applied to the piston rod 208 in the first mode. Figure 5 (b) is a graph schematically showing the time variation of the height of the crimping head 203 in the first mode. Figure 5 (c) is a graph schematically showing the time variation of the force with which the piston rod 208 presses the support body 220 (that is, the pressing force acting on the support body 220) in the first mode. Figure 5 (d) is a graph schematically showing the time variation of the height of the support body 220 in the first mode. Figure 5(e) is a graph schematically showing the temporal change in the load applied to the component 160 when the pressure-bonding head 203 presses the component 160 against the substrate 150 in the first mode.

[0126] First, at time t1, the control unit 232 starts supplying air to the pressurized port of the cylinder 205 by controlling the cylinder 205 (more specifically, the pressure control unit 213). In other words, the control unit starts supplying air to the main body 206 (also referred to as supplying air pressure) through the first control, so that the piston rod 208 moves downward. As a result, the height of the support body 220 does not change, but the height of the crimping head 203 decreases. In other words, the piston rod 208 moves downward.

[0127] Next, at time t2, the stopper 211 comes into contact with the support body 220. As a result, a pressing force is generated on the support body 220. In the first mode, the control unit 232 controls the air cylinder 205 so that the pressing force generated at this time becomes the second pressure.

[0128] Next, at time t3 , the control unit 232 controls the motor 214 to move the support body 220 downward to a predetermined position in a state where the second pressure is generated.

[0129] Next, at time t4, the control unit 232 moves the support body 220 downward to a given position and then stops the support body 220 at the given position by controlling the motor 214. In addition, the control unit 232 controls the cylinder 205 so that the pressing force acting on the support body 220 changes from the second pressure to the first pressure.

[0130] Furthermore, for example, the control unit 232 controls the motor 214 to stop the support body 220 at a predetermined position during a predetermined period from time t4 to time t5 , and controls the air cylinder 205 to set the pressing force acting on the support body 220 to the first pressure.

[0131] Next, at time t5, the control unit 232 moves the support body 220 downward by controlling the motor 214. For example, the control unit 232 controls the motor 214 so that the descending speed of the support body 220 from time t5 to time t6 is slower than the descending speed of the support body 220 from time t3 to time t4.

[0132] Next, at time t6, the crimping head 203 comes into contact with the component 160. Thus, crimping of the component 160 to the substrate 150 by the crimping head 203 starts.

[0133] The control unit 232 lowers the support body 220 to a position where the piston rod 208 (more specifically, the stopper 211) is no longer supported by the support body 220. As a result, the first pressure that originally acted on the support body 220 no longer acts on the support body 220, and instead, a load corresponding to the first pressure is applied to the component 160. In other words, the pressing force that originally acted on the support body 220, that is, the first pressure, is applied to the component 160 as a load.

[0134] Figure 6 2 is a diagram for explaining a specific example of a change in the pressing force in the second mode. Specifically, Figure 6 (a) is a graph schematically showing the time variation of the downward driving force applied to the piston rod 208 in the second mode. Figure 6 (b) is a graph schematically showing the time variation of the height of the crimping head 203 in the second mode. Figure 6 (c) is a graph schematically showing the time variation of the force (pressing force) with which the piston rod 208 presses the support body 220 in the second mode. Figure 6 (d) is a graph schematically showing the time variation of the height of the support body 220 in the second mode. Figure 6 (e) is a graph schematically showing the temporal change in the load applied to the component 160 when the pressure-bonding head 203 presses the component 160 against the substrate 150 in the second mode.

[0135] First, at time t11, the control unit 232 starts supplying air to the pressurized port of the cylinder 205, in other words, starts supplying air (also referred to as supplying air pressure) to the main body 206 by controlling the cylinder 205 (more specifically, the pressure control unit 213), so that the piston rod 208 moves downward. As a result, the height of the support body 220 does not change, but the height of the crimping head 203 decreases. In other words, the piston rod 208 moves downward.

[0136] Next, at time t12, the stopper 211 contacts the support body 220. As a result, a pressing force acting on the support body 220 is generated. In the second mode, the control unit 232 controls the air cylinder 205 so that the pressing force generated at this time becomes the first pressure. In this way, in the second mode, unlike the first mode, the pressing force is not controlled so that it becomes the second pressure, but is controlled so that it becomes the first pressure.

[0137] Next, at time t13 , the control unit 232 controls the motor 214 to move the support body 220 downward while the first pressure is generated.

[0138] Next, at time t14 , the control unit 232 controls, for example, the motor 214 so that the descending speed of the support body 220 from time t14 to time t15 is slower than the descending speed of the support body 220 from time t13 to time t14 .

[0139] Next, at time t15, the crimping head 203 comes into contact with the component 160. Thus, crimping of the component 160 to the substrate 150 by the crimping head 203 starts.

[0140] The control unit 232 lowers the support body 220 to a position where the piston rod 208 (more specifically, the stopper 211) is no longer supported by the support body 220. As a result, the first pressure originally applied to the support body 220 no longer acts on the support body 220, and instead, a load corresponding to the first pressure is applied to the component 160.

[0141] [Effects, etc.]

[0142] Hereinafter, the techniques obtained based on the disclosure of this specification are exemplified, and the effects etc. obtained based on the exemplified techniques are described.

[0143] Technology 1 is a component crimping device 200, which includes a cylinder 205 having a piston rod 208, a crimping head 203 installed at one end in the length direction of the piston rod 208, a support body 220 for supporting the piston rod 208, a motor 214 for moving the support body 220, and a control unit 232. The control unit 232 controls the cylinder 205 and the motor 214 to move the support body 220 and the piston rod 208 toward one end side, thereby causing the crimping head 203 to crimp the component 160 to the substrate 150. The control unit 232 performs a first control, and the first control controls the cylinder 205 to The piston rod 208 is moved toward one end side and supported on the support body 220, thereby generating a pressing force from the piston rod 208 to the support body 220 toward one end side, and the pressing force is controlled to become a first pressure. Thereafter, a second control is performed, which controls the motor 214 to move the support body 220 together with the piston rod 208 toward one end side, and causes the crimping head 203 to crimp the component 160 to the substrate 150. In the first control, after the pressing force is controlled to become a second pressure greater than the first pressure, the pressing force is controlled to become the first pressure.

[0144] In a structure that uses the air cylinder 205 to press-bond the component 160 to the substrate 150, a support body 220 is sometimes provided to limit the movement of the piston rod 208 so that the piston rod 208 does not move suddenly. In such a structure, for example, the movement speed of the piston rod 208 is controlled by appropriately controlling the motor 214 for moving the support body 220.

[0145] Here, if the load applied to the component 160 when the component 160 is pressed against the substrate 150 is too small, the influence of the sliding resistance of the cylinder 205 becomes large, and the moving speed of the piston rod 208 becomes slow. For example, if the conventional control is performed when the load (set load) is small, the movement speed of the piston rod 208 becomes slower than when the set load is large (also called normal time). Figure 5 The driving force of the piston rod 208 corresponding to (a) becomes smaller. Figure 5 The height of the crimping head 203 corresponding to (b) is slowly lowered. Therefore, the contact time between the crimping head 203 and the component 160 is slower than usual. In addition, since the piston rod 208 cannot follow the speed at which the support body 220 is lowered, there is no contact with the support body 220. Figure 5 (c) corresponds to the pressing force. Figure 5 The start of the load application to the component 160 by the crimping head 203 corresponding to (e) is later than usual. Figure 5 The movement of the support body 220 corresponding to (d) does not change compared to the normal state.

[0146] In addition, in the past, the measurement of the crimping time of the crimping head 203 to crimp the component 160 was started after the support body 220 completed the descent to the height at which the crimping head 203 pressurized the component 160. That is, since the crimping time is measured according to the position of the support body 220, if the piston rod 208 does not move in a manner supported by the support body 220, the problem of the actual crimping time being shorter than the time originally spent on crimping occurs. In addition, if the moving speed of the piston rod 208 is slow, the time spent on crimping becomes longer, and the production cycle time spent on production becomes longer. Therefore, for example, the control unit 232 uses a high pressure (the second pressure) to move the piston rod 208 quickly, and then controls it to an appropriate pressure (the first pressure) for crimping. According to this, the situation where the crimping time is shorter than expected can be suppressed. Therefore, according to the component crimping device 200, it is possible to suppress the inability to properly crimp the component to the substrate 150. In addition, the production cycle time of production caused by the slow movement of the piston rod 208 can be suppressed.

[0147] Technology 2 is a component crimping device 200 described in technology 1 as follows: in the first control, the control unit 232 controls the pressing force to become the first pressure after controlling the pressing force to become the second pressure greater than the first pressure when the first pressure is smaller than a given threshold.

[0148] If the pressing force is high enough, the piston rod 208 can move quickly even if there is sliding resistance. Therefore, when the first pressure is lower than a given threshold, the control unit 232 controls the pressing force to become a second pressure higher than the first pressure before controlling the pressing force to the first pressure. Accordingly, the control unit 232 can appropriately control the pressing force when it is necessary to increase the pressing force.

[0149] Technique 3 is the component crimping device 200 described in Technique 1 or 2 as follows: in the first control, when the first pressure is equal to or higher than a given threshold, the control unit 232 controls the pressing force to become the first pressure instead of controlling the pressing force to become the second pressure.

[0150] According to this, for example, when there is no need to increase the pressing force because the pressing force during crimping is high, the pressing force is not increased unnecessarily, and it is possible to suppress a situation in which the component cannot be crimped to the substrate 150 appropriately.

[0151] Technology 4 is a component crimping device 200 described in any one of the following technologies 1 to 3: in the first control, the control unit 232 controls so that the pressing force becomes the second pressure, and then controls the motor 214 to move the support body 220 together with the piston rod 208 toward one end side to a given position, and controls so that the pressing force becomes the first pressure.

[0152] This can prevent the component from being pressed and bonded to the substrate 150 appropriately, and can prevent the production tact time from being prolonged due to the slow movement of the piston rod 208 .

[0153] Technology 5 is a component crimping device 200 described in any one of the following technologies 1 to 4: in the first control, the control unit 232 does not move the support body 220 from the given position within a given time after moving the support body 220 to a given position, and controls so that the pressing force becomes the first pressure.

[0154] According to this, by appropriately setting a given time, it is possible to suppress the situation where the first pressure is not reached when the component 160 is pressed against the substrate 150 .

[0155] Technique 6 is the component crimping device 200 described in any one of Techniques 1 to 5 as follows: the control unit 232 controls the motor 214 so that the moving speed of the support body 220 in the first control is faster than the moving speed of the support body 220 in the second control.

[0156] This can prevent the component from being pressed and bonded to the substrate 150 appropriately, and can also prevent the production tact time from being prolonged due to the slow movement of the piston rod 208 .

[0157] Technique 7 is the component crimping device 200 described in any one of Techniques 1 to 6 as follows: the control unit 232 controls the motor 214 so that the movement amount of the support body 220 in the first control is greater than the movement amount of the support body 220 in the second control.

[0158] This can prevent the component from being pressed and bonded to the substrate 150 appropriately, and can also prevent the production tact time from being prolonged due to the slow movement of the piston rod 208 .

[0159] Technology 8 is a component crimping method, which is a component crimping method performed by a component crimping device 200, wherein the component crimping device 200 includes a cylinder 205 having a piston rod 208, a crimping head 203 installed at one end of the piston rod 208 in the longitudinal direction, a support body 220 for supporting the piston rod 208, and a motor 214 for moving the support body 220. In the component crimping method, a first control (S20 to S40) is performed, and the first control controls the cylinder 205 to move the piston rod 208 toward one end and support it on the support body 220, This generates a pressing force from the piston rod 208 acting on the support body 220 toward one end side, and the pressing force is controlled to become the first pressure. Thereafter, the second control (S50) is performed, which controls the motor 214 to move the support body 220 and the piston rod 208 toward one end side, and causes the crimping head 203 to crimp the component 160 to the substrate 150. In the first control, after the pressing force is controlled to become the second pressure greater than the first pressure (S20), the pressing force is controlled to become the first pressure (S40).

[0160] This provides the same effects as those of the component crimping device 200 .

[0161] In addition, these general or specific aspects may also be implemented by a system, method, integrated circuit, computer program, or a recording medium such as a computer-readable CD-ROM, or by any combination of systems, methods, integrated circuits, computer programs, and recording media. For example, the present invention may also be implemented as a control device 230 having a control unit 232, wherein the control unit 232 performs a first control, wherein the first control controls the cylinder 205 to move the piston rod 208 toward one end side and support it on the support body 220, thereby generating a pressing force from the piston rod 208 to the support body 220 toward one end side, and after controlling the pressing force to become the first pressure, performs a second control, wherein the second control controls the motor 214 to move the support body 220 together with the piston rod 208 toward one end side, and causes the crimping head 203 to crimp the component 160 to the substrate 150, wherein in the first control, after controlling the pressing force to become the second pressure greater than the first pressure, the control is performed so that the pressing force becomes the first pressure. In addition, the present invention may also be implemented as a control method for executing the above-mentioned processing steps performed by the control unit 232. In addition, the present invention may also be implemented as a program for causing a computer to execute the control method. For example, in addition, the present invention may also be implemented as a computer-readable non-transitory recording medium storing the program.

[0162] (Other embodiments)

[0163] As mentioned above, although the component crimping device and the like according to the present embodiment have been described based on the above-mentioned embodiment, the present invention is not limited to the above-mentioned embodiment.

[0164] In the above embodiment, the component crimping device 200 has one crimping head 203, but may also have multiple crimping heads. For example, the component crimping device may also have multiple groups of crimping heads and cylinders, and when each group is controlled by one motor (height control), the total value of the pressing force generated by each cylinder is used to determine whether each cylinder functions normally.

[0165] Furthermore, for example, the motor 214 may be a pulse motor, a linear motor, or the like instead of a servo motor.

[0166] In addition, for example, in the above-mentioned embodiment, all or part of the components of the processing unit of the control device 230 may be formed by dedicated hardware, or may be implemented by executing a software program suitable for each component. Each component may also be implemented by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded in a recording medium such as a HDD or a semiconductor memory.

[0167] Furthermore, the processing unit included in the control device 230 may be composed of one or more electronic circuits. Each of the one or more electronic circuits may be a general-purpose circuit or a dedicated circuit.

[0168] In one or more electronic circuits, for example, semiconductor devices, ICs or LSIs (Large Scale Integration) and the like may also be included. ICs or LSIs may be integrated into one chip or into multiple chips. Here, although they are called ICs or LSIs, the names may vary depending on the degree of integration, and may be called system LSIs, VLSIs (Very Large Scale Integration), or ULSIs (Ultra Large Scale Integration). In addition, FPGAs (Field Programmable Gate Arrays) programmed after the manufacture of LSIs can also be used for the same purpose.

[0169] In addition, the present invention also includes various modifications that can be conceived by those skilled in the art to the embodiments and embodiments achieved by arbitrarily combining components and functions in the embodiments without departing from the gist of the present invention.

[0170] Industrial Applicability

[0171] The present invention can be utilized in a crimping device for crimping a component onto a substrate.

Claims

1. A component crimping device, comprising: A cylinder having a piston rod; A crimping head, mounted on one end of the piston rod in the length direction; A supporting body, used for supporting the piston rod; A motor to move the support body; and The control unit controls the cylinder and the motor to move the support body together with the piston rod toward the one end side, thereby causing the crimping head to crimp the component to the substrate. The control unit performs a first control, wherein the first control controls the air cylinder to move the piston rod toward the one end side and support the piston rod on the support body, thereby generating a pressing force from the piston rod to the support body toward the one end side, and controls the pressing force to become a first pressure. Then, the control unit performs a second control, wherein the second control controls the motor to move the support body together with the piston rod toward the one end side, and causes the crimping head to crimp the component to the substrate. In the first control, the control unit controls the pressing force to become the first pressure after performing control so that the pressing force becomes a second pressure greater than the first pressure. Thereafter, the control unit controls so that the pressing force becomes the first pressure.

2. The component crimping device according to claim 1, wherein: When the first pressure is smaller than a predetermined threshold value, in the first control, the control unit controls the pressing force to become the first pressure after performing control to make the pressing force become a second pressure greater than the first pressure. Thereafter, the control unit controls the pressing force to become the first pressure.

3. The component crimping device according to claim 2, wherein: When the first pressure is equal to or higher than the predetermined threshold value, the control unit performs control so that the pressing force becomes the first pressure instead of performing control so that the pressing force becomes the second pressure.

4. The component crimping device according to any one of claims 1 to 3, wherein: In the first control, the control unit controls the pressing force to become the second pressure, and then controls the motor to move the support body together with the piston rod toward the one end to a given position and controls the pressing force to become the first pressure.

5. The component crimping device according to claim 4, wherein: In the first control, the control unit controls the pressing force to become the first pressure, and then does not move the supporting body from the predetermined position for a predetermined time after moving the supporting body to the predetermined position.

6. The component crimping device according to claim 4, wherein: The control unit controls the motor so that a moving speed of the support body in the first control is faster than a moving speed of the support body in the second control.

7. The component crimping device according to claim 4, wherein: The control unit controls the motor so that the movement amount of the support body in the first control is larger than the movement amount of the support body in the second control.

8. A component crimping method, which is a component crimping method performed by a component crimping device, wherein the component crimping device comprises: A cylinder having a piston rod; A crimping head, mounted on one end of the piston rod in the length direction; a supporting body for supporting the piston rod; and a motor to move the support body, In the component crimping method, performing a first control, wherein the first control controls the air cylinder so that the piston rod moves toward the one end side and is supported by the support body, thereby generating a pressing force from the piston rod acting on the support body toward the one end side, and controlling so that the pressing force becomes a first pressure, Then, a second control is performed, wherein the second control controls the motor to move the support body together with the piston rod toward the one end side, and causes the crimping head to crimp the component to the substrate. In the first control, after the pressing force is controlled to become a second pressure greater than the first pressure, control is performed so that the pressing force becomes the first pressure.

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