Component mounting device and component mounting method

Abstract

To improve the production efficiency of a component mounting device.SOLUTION: A component mounting device includes: a tray feeder which has a component take-out position where a pallet holding a tray that stores a component is placed; a component supply mechanism which supplies the component; a component mounting mechanism which has a mechanism that acquires the component from the tray feeder or the component supply mechanism and mounts it on a substrate; and a control unit. A single operation in which the component mounting mechanism acquires the component from the tray or the component supply mechanism at the component take-out position of the tray feeder and mounts it on the substrate is defined as one turn. If the current turn is the final turn that mounts the component supplied from the tray feeder on the substrate, the control unit initiates processing related to the tray replacement in the tray feeder and continues subsequent turns.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a component mounting apparatus and a component mounting method. [Background technology]

[0002] As disclosed in Patent Document 1, a component mounting device is known that obtains components from a tray feeder and mounts them on a board that has been brought in. The tray feeder stores multiple pallets that hold trays on which components are stored, and when a tray becomes empty of components, the pallet that holds the empty tray is replaced with a pallet that holds a tray that has been refilled with components. Conventionally, this pallet replacement is performed after mounting of components on a board that has been brought in is completed, when the board is brought out and the next board is brought in. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-197516 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, if the time between carrying in and carrying out the boards is short, there is a possibility that the pallet exchange will not be completed in time. In this case, component mounting on the next board carried in cannot be started until the pallet exchange is completed, resulting in a decrease in production efficiency. Alternatively, if a component mounting device is configured as a dual lane, if the pallet exchange is performed after component mounting on the board in the first lane is completed, component mounting on the board already carried in the second lane cannot be started until the pallet exchange is completed, resulting in a decrease in production efficiency.

[0005] An object of the present disclosure is to improve the production efficiency of a component mounting apparatus by appropriately performing processing related to the replacement of pallets in a tray feeder. [Means for solving the problem]

[0006] The component mounting device for mounting components on a board according to the present disclosure comprises a tray feeder having a component removal position where a pallet holding a tray on which the components are stored is located, a component supply mechanism that supplies the components, a component mounting mechanism having a mechanism for obtaining the components from the tray feeder or the component supply mechanism and mounting them on the board, and a control unit, wherein one operation of the component mounting mechanism to obtain the components from the tray at the component removal position of the tray feeder or the component supply mechanism and mount them on the board is counted as one turn, and when the current turn is the final turn for mounting the components supplied from the tray feeder to the board, the control unit starts processing related to tray replacement in the tray feeder and continues with subsequent turns.

[0007] In a component mounting method performed by a component mounting device for mounting components on a board according to the present disclosure, the component mounting device comprises a tray feeder having a component removal position where a pallet holding a tray on which the components are stored is located, a component supply mechanism that supplies the components, and a component mounting mechanism having a mechanism for obtaining the components from the tray feeder or the component supply mechanism and mounting them on the board, wherein one operation of the component mounting mechanism to obtain the components from the tray at the component removal position of the tray feeder or the component supply mechanism and mount them on the board is counted as one turn, and if the current turn is the final turn for mounting the components supplied from the tray feeder to the board, processing related to tray replacement in the tray feeder is started and the subsequent turns are continued.

[0008] Furthermore, these comprehensive or specific aspects may be realized by a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium, or may be realized by any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium. Effect of the Invention

[0009] According to the present disclosure, the production efficiency of component mounting apparatuses is improved. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a plan view of a component mounting device according to an embodiment of the present invention; [Diagram 2] FIG. 1 is a partial cross-sectional view of a component mounting device according to an embodiment of the present invention. [Diagram 3] FIG. 2 is a block diagram illustrating a functional configuration related to control of the component mounting apparatus according to the embodiment; [Figure 4] FIG. 1 is a diagram showing an example of the configuration of mounting data according to the present embodiment; [Diagram 5] 1 is a flowchart showing an example of a component mounting method according to the present embodiment. [Figure 6] A flowchart showing the details of the tray replacement check in FIG. 5. [Figure 7] FIG. 1 is a diagram for explaining a conventional tray replacement, etc. [Figure 8] FIG. 1 is a diagram for explaining tray replacement and the like in this embodiment; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed description of already well-known matters and duplicated description of substantially the same configuration may be omitted. This is to avoid the following description becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0012] For example, the term "unit" or "device" in the embodiments is not limited to a physical configuration that is mechanically realized by hardware, but also includes a configuration whose functions are realized by software such as a program. Also, the functions of one configuration may be realized by two or more physical configurations, or the functions of two or more configurations may be realized by, for example, one physical configuration.

[0013] (Present embodiment) <Component mounting equipment configuration> FIG. 1 is a plan view of a component mounting apparatus 1 according to the present embodiment as viewed from above.

[0014] For ease of explanation, the axis extending in the height direction from the floor surface on which the component mounting device 1 is installed is defined as the Z axis. The axis perpendicular to the Z axis (i.e., parallel to the floor surface) and extending from the front of the component mounting device 1 (the lower side of the paper surface in FIG. 1) to the rear of the component mounting device 1 (the upper side of the paper surface in FIG. 1) is defined as the Y axis. The axis perpendicular to the Y axis and the Z axis is defined as the X axis. For ease of explanation, the positive direction of the Z axis may be referred to as "up", the negative direction of the Z axis as "down", the positive direction of the Y axis as "rear", the negative direction of the Y axis as "front", the positive direction of the X axis as "right", and the negative direction of the Y axis as "left". These expressions relating to directions are used for ease of explanation and are not intended to limit the position of the structure during actual use.

[0015] The component mounting apparatus 1 is arranged in a component mounting line (not shown) that manufactures mounted boards, and is an apparatus that mounts one or more components D onto a carried-in board 3. The component mounting apparatus 1 includes a main body control unit 15 (see FIGS. 2 and 3) that controls each unit of the component mounting apparatus 1 and is housed inside a base 1A (see below).

[0016] 1 (transport direction of the board 3). In other words, the component mounting apparatus 1 has a dual lane configuration capable of transporting two boards 3, respectively. However, the component mounting apparatus 1 may have a single lane configuration capable of transporting one board 3.

[0017] Each of the board transport mechanisms 2A and 2B has a pair of conveyors extending along the X direction, and carries in the board 3 placed on the pair of conveyors, positions it at a predetermined component mounting position, and holds it.

[0018] The component mounting apparatus 1 has a component supply mechanism 4B at the front and a component supply mechanism 4A at the rear, sandwiching board transport mechanisms 2A and 2B that transport a board 3. A tray feeder 5 is detachably disposed in the component supply mechanism 4A. A plurality of tape feeders 6 are detachably disposed in the component supply mechanism 4B. The tray feeder 5 and tape feeder 6 supply board mounting components D to be mounted on the board 3.

[0019] 2, the tray feeder 5 includes a plurality of pallets 24. The pallets 24 hold one or more trays 7 on their upper surfaces. The trays 7 have a lattice arrangement for storing parts, and each of the lattice arrangements stores one part D.

[0020] The tray feeder 5 moves one pallet 24 to a component removal position P (see FIG. 2) and supplies the components D to the component mounting mechanism 12. The configuration of the tray feeder 5 will be described in detail later.

[0021] The tray feeder 5 may be provided with a monitor T on its upper surface. The monitor T is configured using, for example, an LCD (Liquid Crystal Display) or an organic EL (Electroluminescence). The monitor T displays the operating status of the tray feeder 5, information on the pallets 24 stored in each pallet storage unit 23 (see FIG. 2), and the like. The monitor T has a user interface function such as a touch panel, and upon receiving an input operation by an operator OP, converts the input content into an electrical signal and outputs it to the feeder control unit 30. For example, the monitor T receives an input operation related to the removal or movement of an out-of-parts pallet 24.

[0022] The tape feeder 6 is provided with a carrier tape that stores a plurality of components D. The tape feeder 6 pitch-feeds the carrier tape to supply the components D to a component pick-up position (not shown).

[0023] The component mounting mechanism 12 is a mechanism for mounting components on the board 3, and includes a Y-axis beam 8, X-axis beams 9A and 9B, mounting heads 10A and 10B, and a suction nozzle 11 (11A). The mounting heads 10A and 10B may be equipped with a plurality of suction nozzles 11.

[0024] The Y-axis beam 8 is disposed at the right end (or left end) of the upper surface of the base 1A so as to extend in the Y direction.

[0025] X-axis beams 9A and 9B are disposed to extend in the X direction, and one end is movably attached to Y-axis beam 8. X-axis beams 9A and 9B are slidable along Y-axis beam 8 (i.e., in the Y direction) by a linear guide mechanism.

[0026] The mounting head 10A is movably attached to the X-axis beam 9A. The mounting head 10A is slidable along the X-axis beam 9A (that is, in the X direction) by a linear guide mechanism.

[0027] The mounting head 10B is movably attached to the X-axis beam 9B. The mounting head 10B is slidable along the X-axis beam 9B (that is, in the X direction) by a linear guide mechanism.

[0028] As a result, each of the mounting heads 10A and 10B is arbitrarily positioned on a plane approximately parallel to the surface of the substrate 3, that is, on a horizontal plane (XY plane).

[0029] The mounting head 10A moves to the component pick-up position P of the tray feeder 5, and uses the suction nozzle 11 to pick up the component D from the tray 7 of the pallet 24 placed at that component pick-up position P.

[0030] Mounting head 10B moves to a component pick-up position (not shown) of tape feeder 6, and uses suction nozzle 11 to pick up component D from the component pick-up position.

[0031] A board recognition camera 13 is disposed on the plate 9C to which the mounting head 10A is attached. The same is true for the mounting head 10B.

[0032] The mounting heads 10A and 10B move to the position of the board 3 after being transported to the component mounting position, and the board recognition camera 13 captures an image of the board 3 from above to generate a board image. The board recognition camera 13 transmits the board image to the main body control unit 15 (see FIG. 2). The main body control unit 15 measures the attitude and loading position of the board 3 based on the board image.

[0033] A component recognition camera 14 is disposed between the component supply mechanism 4A and the board transport mechanism 2. Similarly, a component recognition camera 14 is disposed between the component supply mechanism 4B and the board transport mechanism 2. Below, the component recognition camera 14 between the component supply mechanism 4A and the board transport mechanism 2 will be described, but the same applies to the component recognition camera 14 between the component supply mechanism 4B and the board transport mechanism 2.

[0034] The mounting head 10A moves and passes above the component recognition camera 14 while suction nozzle 11A is suctioning the component D on the tray feeder 5. At this time, the component recognition camera 14 captures an image of the component D suctioned by the suction nozzle 11A as it passes by from below, and generates a component image. The component recognition camera 14 transmits the component image to the main body control unit 15 (see FIG. 2). Based on the component image, the main body control unit 15 measures the holding attitude, position, etc. of the component D suctioned by the suction nozzle 11A of the mounting head 10A.

[0035] Fig. 2 is a partial cross-sectional view of the component mounting device 1 according to the present embodiment. This partial cross-sectional view corresponds to a cross-sectional view of the component mounting device 1 shown in Fig. 1 when viewed from the positive direction to the negative direction of the X-axis.

[0036] The tray feeder 5 includes a base portion 20, a plurality of wheels 21, a feeder main body portion 22, a lifting mechanism 26, and a pallet holding portion 25.

[0037] A plurality of wheels 21 are provided on the lower surface of the base portion 20. The plurality of wheels 21 enable the tray feeder 5 to be freely moved on the work floor.

[0038] The tray feeder 5 moves and is attached to the component mounting apparatus 1. When the tray feeder 5 is attached to the component mounting apparatus 1, the main body control unit 15 of the component mounting apparatus 1 and a feeder control unit 30 of the feeder main body unit 22 described later are electrically connected to each other.

[0039] Lifting mechanism 26 is disposed on the upper surface of base portion 20, on the side of component mounting apparatus 1. Lifting mechanism 26 includes pallet holding portion 25, and is provided with a mechanism for raising and lowering pallet holding portion 25 in the Z direction. For example, lifting mechanism 26 moves pallet holding portion 25, on which pallet 24 that holds tray 7 is placed, to component removal position P.

[0040] Feeder main body 22 is disposed on the upper surface of base 20 on the operator OP side (Y direction). Feeder main body 22 includes a plurality of pallet storage sections 23, a pallet placement section 27, an opening / closing cover 28, and a feeder control section 30.

[0041] The plurality of pallet storage units 23 are provided in multiple stages in the vertical direction (Z direction) in the feeder main body 22. The pallet storage units 23 are capable of storing pallets 24 that hold the trays 7.

[0042] The pallet placement section 27 is disposed on the uppermost level of the plurality of pallet storage sections 23. The upper side (Z direction) of the pallet placement section 27 is covered by the ceiling section of the feeder main body section 22. The openable cover 28 is provided on the front side (the operator OP side) of the ceiling section of the feeder main body section 22 so as to be openable and closable. The operator OP can open the openable cover 28 to access the pallet placement section 27. For example, the operator OP can open the openable cover 28 to place the pallet 24 holding the tray 7 that has been replenished with parts on the pallet placement section 27. For example, the operator OP can open the openable cover 28 to remove the pallet 24 holding the tray 7 that is out of parts and placed on the pallet placement section 27.

[0043] The feeder control unit 30 controls the operation of the tray feeder 5. The feeder control unit 30 may perform control independently or may perform control in cooperation with the main body control unit 15. The details of the control performed by the feeder control unit 30 will be described later.

[0044] <Functional configuration of component mounting device> FIG. 3 is a block diagram illustrating a functional configuration related to control of the component mounting apparatus 1 according to the present embodiment.

[0045] The component mounting apparatus 1 includes a main body control unit 15, a memory unit 40, a mechanism drive unit 41, a board transport mechanism 2 (2A, 2B), a component mounting mechanism 12, a board recognition camera 13, a component recognition camera 14, an input unit 42, a display unit 43, a tray feeder 5, and a tape feeder 6.

[0046] The main body control unit 15 is configured using, for example, a CPU (Central Processing unit) or an FPGA (Field Programmable Gate Array), and performs various processes and controls in cooperation with the storage unit 40. Specifically, the main body control unit 15 refers to the programs and data stored in the storage unit 40 and executes the programs to realize the functions of each unit.

[0047] When the board 3 is carried in to a predetermined component mounting position by the board transport mechanism 2, the main body control unit 15 causes the board recognition camera 13 to capture an image of the board 3 after it has been carried in. Based on the board image captured by the board recognition camera 13, the main body control unit 15 measures the attitude, the carry-in position, etc. of the transported board 3.

[0048] The main body control unit 15 causes the component recognition camera 14, which is installed between the component removal position P and the board 3, to capture an image of the component when the component held by the component mounting mechanism 12 passes above the component recognition camera 14.

[0049] The main body control unit 15 measures the size, shape, holding posture, position, etc. of the component held by suction based on the component image captured by the component recognition camera 14, and corrects the holding posture and mounting height of the component.

[0050] The main body control unit 15 judges whether or not the component is defective based on the measurement result. When the main body control unit 15 judges that the component sucked and held by the component mounting mechanism 12 is defective, it causes the component mounting mechanism 12 to discard the component.

[0051] The main body control unit 15 counts the production number of mounted boards set by the operator OP. When the pallet 24 is moved to the component removal position P, the main body control unit 15 resets the current production number of mounted boards stored in the memory unit 40 to 0 (zero), and increments the production number of mounted boards stored in the memory unit 40 at the timing when the board 3 is carried to the component mounting position by the board transport mechanism 2.

[0052] After the board 3 is carried out from the component mounting position, the main body control unit 15 judges whether or not there is a board 3 for the next mounted board to be produced. When it is judged that there is a board 3 for the next mounted board to be produced, the main body control unit 15 further judges whether or not the production number of mounted boards stored in the memory unit 40 is the production number of mounted boards set by the operator OP.

[0053] The storage unit 40 has, for example, a RAM (Random Access Memory) as a work memory used when executing each process of the main body control unit 15, and a ROM (Read Only Memory) that stores programs and data that define the operation of the main body control unit 15. The RAM temporarily stores data or information generated or acquired by the main body control unit 15. The ROM has written therein programs that define the operation of the main body control unit 15. The storage unit 40 stores mounting data 40A and component data 40B. The storage unit 40 also stores the number of sheets that have currently been produced.

[0054] The mounting data 40A is information about the board 3 and information about each of the multiple components mounted on the board 3, including, for example, information about the height (thickness) of the board 3, information about the type and number of components mounted on the board 3, the number of mounted boards produced using the components stored in the trays 7 held by one pallet 24, information about the component mounting position for each component, etc. An example of the mounting data 40A will be described later (see FIG. 4).

[0055] The part data 40B includes information on the parts held by each tape feeder 6, information on the type and number of parts stored in each tray 7, information on areas that store parts of the same type, information on the number of trays 7 held by each pallet 24, etc.

[0056] The mechanism driving unit 41 drives each of the board transport mechanism 2 and the component mounting mechanism 12 based on a control command output from the main body control unit 15. The mechanism driving unit 41 drives the board transport mechanism 2A of the first lane to transport the board 3 to the component mounting position. Similarly, the mechanism driving unit 41 drives the board transport mechanism 2B of the second lane to transport the board 3 to the component mounting position.

[0057] Mechanism driving unit 41 drives mounting head 10A of component mounting mechanism 12 to adsorb, hold, and remove components from tray 7 held by pallet 24 positioned at component removal position P of tray feeder 5, and mount the components at the component mounting positions on board 3. Similarly, mechanism driving unit 41 drives mounting head 10B of component mounting mechanism 12 to adsorb, hold, and remove components from the component removal position of tape feeder 6, and mount the components at the component mounting positions on board 3.

[0058] The input unit 42 is a so-called user interface, which receives input operations by an operator OP related to the production of mounted boards executed by the component mounting apparatus 1, converts the results of the input operations into electrical signals, and outputs the electrical signals to the main body control unit 15. The input unit 42 may be realized as a touch panel integrally configured with the above-mentioned display unit 43.

[0059] The display unit 43 is configured using, for example, an LCD or an organic EL. The display unit 43 displays information and the like related to the operating status of the component mounting device 1. When the display unit 43 is configured as a touch panel integrally configured with the input unit 42, it may display buttons and the like capable of accepting control of the component mounting device 1 and may be capable of accepting input operations by the operator OP.

[0060] The feeder control unit 30 of the tray feeder 5 is configured using, for example, a CPU or FPGA, and performs various processes and controls in cooperation with the feeder storage unit 50. Specifically, the feeder control unit 30 refers to the programs and data stored in the feeder storage unit 50 and executes the programs to realize the functions of each unit.

[0061] The feeder control unit 30 transmits the state of the tray feeder 5, such as a command waiting state and a reception interrupted state, to the main body control unit 15. The command waiting state is a state in which a control command to move the pallet 24 holding the tray 7 that is not out of parts to the part removal position P can be received. The reception interrupted state is a state in which reception of a control command is interrupted during a tray replacement operation, etc. A tray replacement operation in progress may be a state in which the pallet 24 holding the tray 7 out of parts has been moved to the pallet placement section 27, and the operator OP is performing a parts supply operation.

[0062] In addition, after receiving a control command from the main body control unit 15, the feeder control unit 30 positions the pallet 24 holding the tray 7 storing the specified parts at the part removal position P and becomes able to supply the parts, and then sends a completion report of the control command to the main body control unit 15.

[0063] The feeder storage unit 50 has, for example, a RAM as a work memory used when executing each process of the feeder control unit 30, and a ROM for storing programs and data that define the operation of the feeder control unit 30. The RAM temporarily stores data or information generated or acquired by the feeder control unit 30. The ROM has written therein a program that defines the operation of the feeder control unit 30.

[0064] <Implementation data configuration> FIG. 4 is a diagram showing an example of the configuration of implementation data 40A according to the present embodiment.

[0065] The mounting data 40A includes, as items, a turn number, a nozzle number, a component ID, a component supply position, an X coordinate, a Y coordinate, and a rotation angle θ.

[0066] The turn number indicates the number of the turn for one board 3. One turn refers to the operation of component mounting mechanism 12 obtaining a component from tray 7 at component removal position P of tray feeder 5 or tape feeder 6, and mounting the component on board 3. In other words, component mounting for one board 3 is completed by performing the turns indicated by the turn numbers in order until the end.

[0067] The nozzle numbers are numbers for identifying each of the multiple suction nozzles 11 provided on the mounting heads 10A and 10B. The mounting data 40A shown in Fig. 4 is an example in which there are four suction nozzles 11. The nozzle numbers correspond to the number of suction nozzles provided on the mounting head 10A.

[0068] The component ID indicates the ID of the component to be picked up by the pickup nozzle 11 indicated by the corresponding nozzle number in the turn indicated by the corresponding turn number.

[0069] The component supply position indicates the position to which the component with the corresponding component ID is supplied. For example, the component supply position indicates in which tape feeder 6 the component is stored. For example, the component supply position indicates in which grid array of the tray 7 placed at the component removal position P of the tray feeder 5 the component is stored. In other words, the main body control unit 15 can know whether the component is to be obtained from the tray feeder 5 or the tape feeder 6 by referring to the component supply position.

[0070] The X coordinate, Y coordinate, and rotation angle θ indicate the X coordinate and Y coordinate at which the component with the corresponding component ID should be placed on the board 3, and the rotation angle θ when the component with the corresponding component ID is placed on the board 3.

[0071] For example, the main body control unit 15 refers to the mounting data 40A and performs the following processes (S11) to (S18) for each turn. (S11) The main body control unit 15 refers to the component supply position in the mounting data 40A, and determines whether to obtain a component from the tray feeder 5 or the tape feeder 6 in the current turn. The case where a component is obtained from the tray feeder 5 will be described below. (S12) The main body control unit 15 moves the mounting head 10A to the tray feeder 5, and causes the suction nozzles corresponding to each nozzle number to suction and hold the components D having the component IDs corresponding to each nozzle number of the current turn number in the mounting data 40A, among the components stored in the tray 7 located at the component removal position P. (S13) The main body control unit 15 causes the mounting head 10A to pass above the component recognition camera 14, and moves it to the position of the board 3. At this time, the main body control unit 15 causes the component recognition camera 14 to capture an image of the component D that is sucked and held by the suction nozzle 11 of the mounting head 10A passing above, and generates an captured component image. (S14) The main body control unit 15 measures the position, posture, etc. of the component D sucked and held by the suction nozzle 11 based on the captured component image. (S15) The main body control unit 15 causes the board recognition camera 13 of the mounting head 10A, which has moved to the position of the board 3, to capture an image of the board 3 and generate an image of the board. (S16) The main body control unit 15 measures the position, orientation, etc. of the board 3 based on the board captured image. (S17) The main body control unit 15 corrects the relative position, posture, etc. of the component D and the board 3 based on the X coordinate, Y coordinate, and rotation angle θ of each nozzle number corresponding to the current turn number in the mounting data 40A, the position, posture, etc. of the component D of the suction nozzle 11 measured in (S14), and the position, posture, etc. of the board 3 measured in (S16). (S18) Using the correction result, main body control unit 15 corrects the position, attitude, etc. of suction nozzle 11 of mounting head 10A, and places component D on board 3.

[0072] <How to install parts> Fig. 5 is a flow chart showing an example of the component mounting method according to the present embodiment. Next, the component mounting method performed by component mounting apparatus 1 according to the present embodiment will be described with reference to Fig. 5.

[0073] The mechanism driving unit 41 instructs the mechanism driving unit 41 to carry in the board 3 (S101). The mechanism driving unit 41 controls the board transport mechanism 2A to carry in the board 3 to the first lane, and controls the board transport mechanism 2B to carry in the board 3 to the second lane. Component mounting on the board 3 described below may be performed alternately on the board 3 in the first lane and the board 3 in the second lane.

[0074] The main body control unit 15 refers to the mounting data 40A and performs one turn of component mounting on the board 3 (S102). Specifically, the main body control unit 15 performs the above-mentioned processes (S11) to (S18).

[0075] The main body control unit 15 judges whether the current turn is the final turn for mounting the component D of the tray 7 on the board 3 (S103). For example, the main body control unit 15 refers to the component supply position in the mounting data 40A, and if there is no turn in the following turns for obtaining a component from the tray feeder 5, it judges that this is the final turn for mounting the component D of the tray 7. Conversely, the main body control unit 15 refers to the component supply position in the mounting data 40A, and if there is a turn in the following turns for obtaining a component D from the tray feeder 5, it judges that this is not the final turn for mounting the component D of the tray 7.

[0076] When the main body control unit 15 determines that the current turn is the final turn for mounting the components D of the tray 7 on the board 3 (S103: YES), it starts a tray change check (S104) and proceeds to step S109 without waiting for the completion of the tray change check. Details of the tray change check will be described later (see FIG. 6).

[0077] When the main body control unit 15 determines that the current turn is not the final turn for mounting the components D of the tray 7 on the board 3 (S103: NO), it determines whether the tray 7 at the component removal position P is out of components (S105). Note that the tray 7 being out of components may mean that there are no components D on the tray 7 (i.e., the tray 7 is empty), or may mean that there are components on the tray 7 but no components D to be mounted on the board 3.

[0078] When the main body control unit 15 determines that the tray 7 at the component removal position P is not out of components (S105: NO), the main body control unit 15 advances the process to step S109.

[0079] When the main body control unit 15 determines that the tray 7 at the component removal position P is out of components (S105: YES), it determines whether a replenished tray 7 is present in the pallet placement unit 27 or the pallet storage unit 23 (S106). A replenished tray 7 means a tray 7 to which components D have been replenished.

[0080] When the main body control unit 15 determines that the replenished tray 7 is present in the pallet placement unit 27 or the pallet storage unit 23 (S106: YES), it instructs the feeder control unit 30 to replace the pallet 24 holding the out-of-parts tray 7 located at the part removal position P with the pallet 24 holding the replenished tray 7 (S107). The details of the process of step S107 will be described later. As a result, the replenished tray 7 is placed at the part removal position P, and the subsequent turn can be continued.

[0081] Note that the main body control unit 15 does not advance the process to step S109 until the process of step S107 is completed, and advances the process to step S109 after the process of step S107 is completed. This is because if the process advances to step S109 in a state where the tray 7 at the component removal position P is out of components even though the current turn is not the final turn for mounting the components D on the tray 7 (i.e., even though step S103 is NO), the components D cannot be obtained from the tray at the component removal position P in the subsequent turn.

[0082] When the main body control unit 15 determines that the replenished tray 7 does not exist in the pallet placement unit 27 or the pallet storage unit 23 (S106: NO), it instructs the feeder control unit 30 to move the pallet 24 holding the out-of-parts tray 7 located at the part removal position P to the pallet placement unit 27 or the pallet storage unit 23 (S108). In this case, the operator OP removes the pallet 24 holding the out-of-parts tray 7 moved to the pallet placement unit 27 or the pallet storage unit 23, and places the pallet 24 holding the replenished tray 7 on the pallet placement unit 27. The feeder control unit 30 drives the pallet holding unit 25 by the lift mechanism 26, and moves the replenished tray 7 placed on the pallet placement unit 27 to the part removal position P. This allows the subsequent turn to be continued. Note that the main body control unit 15 may leave the pallet 24 holding the out-of-parts tray 7 located at the part removal position P in step S108.

[0083] Note that the main body control unit 15 does not advance the process to step S109 until the process of step S108 is completed, and advances the process to step S109 after the process of step S108 is completed. This is because if the process advances to step S109 in a state where the tray 7 at the component removal position P is out of components even though the current turn is not the final turn for mounting the components D on the tray 7 (i.e., even though step S103 is NO), the components D cannot be obtained from the tray 7 at the component removal position P in the subsequent turn.

[0084] In step S109, main body control unit 15 refers to the turn number in mounting data 40A and determines whether or not the current turn is the final turn for mounting components on board 3 carried in in step S101 (S109).

[0085] When the main body control unit 15 determines that the current turn is not the final turn for mounting components on the board 3 (S109: NO), the main body control unit 15 returns the process to step S102 and performs mounting components in the next turn.

[0086] When the main body control unit 15 determines that the current turn is the final turn for mounting components on the board 3 (S109: YES), the main body control unit 15 advances the process to step S110.

[0087] The main body control unit 15 instructs the mechanism drive unit 41 to unload the board 3 of the lane on which component mounting has been completed (S110). The main body control unit 15 advances the process to the next step S111 without waiting for the completion of unloading of the board 3 of this lane.

[0088] The main body control unit 15 determines whether or not there is a next board 3 to be produced (S111).

[0089] If there is a next board 3 to be produced (S111: YES), the main body control unit 15 returns the process to step S101 and performs the above-mentioned component mounting process on the board 3 that has already been carried into a lane different from the lane in which the board 3 on which the above-mentioned components were mounted was located. In this way, compared to a single lane, a dual lane can start component mounting on the next board without waiting for the time for carrying in and out the board 3, thereby improving production efficiency.

[0090] If there is no next board 3 to be produced (S111: NO), the main body control unit 15 ends this process. In other words, when production of all boards 3 is completed, the main body control unit 15 ends this process.

[0091] Through the above process, component mounting apparatus 1 produces a plurality of mounted boards.

[0092] <Parallel operation of tray feeders> Fig. 6 is a flow chart showing details of the tray replacement check in Fig. 5. As described above, the process shown in Fig. 6 is performed in parallel with the process shown in Fig. 5.

[0093] The main body control unit 15 judges whether or not the pallet 24 holding the replenished tray 7 is present in the pallet placement unit 27 (S201).

[0094] If the pallet 24 holding the replenished tray 7 is not present in the pallet placement section 27 (S201: NO), the main body control section 15 ends this process.

[0095] When the pallet 24 holding the replenished tray 7 is present in the pallet placement unit 27 (S201: YES), the main body control unit 15 determines whether the tray 7 located at the component removal position P is out of components (S202).

[0096] If the tray 7 located at the component removal position P is out of components (S202: YES), the main body control unit 15 instructs the feeder control unit 30 to replace the pallet 24 holding the out-of-components tray 7 located at the component removal position P with the pallet 24 holding the replenished tray 7 present in the pallet placement unit 27 (S203). The process of step S203 will be described in detail later. As a result, the replenished tray 7 is placed at the component removal position P. Then, this process ends.

[0097] If the tray 7 located at the component removal position P is not out of components (S202: NO), the main body control unit 15 instructs the feeder control unit 30 to move the pallet 24 holding the replenished tray 7 present in the pallet placement unit 27 to the pallet storage unit 23 (S204). The details of the process of step S204 will be described later. Then, this process ends.

[0098] According to the above process, the process for changing the pallet in the tray feeder 5 is performed.

[0099] <Comparison with conventional operation> Fig. 7 is a diagram for explaining a conventional tray exchange, etc. Fig. 8 is a diagram for explaining a tray exchange, etc. of the present embodiment. In Fig. 7 and Fig. 8, the downward arrows indicate the flow of time.

[0100] As shown in FIG. 7, conventionally, after the final turn (assumed to be the Nth turn) of component mounting on the board 3 is completed, processing such as tray replacement in the tray feeder 5 (for example, processing in step S107, step S203, step S204, etc.) is performed.

[0101] 7, in the conventional dual lane system, even if component mounting on the board 3 in the first lane is completed and the board 3 is carried in on the second lane, component mounting on the board 3 in the second lane cannot start until the tray exchange or other process is completed. This reduces production efficiency when the tray exchange or other process occurs.

[0102] In contrast, as shown in Fig. 8, in this embodiment, processing such as tray replacement (i.e., the tray replacement check processing shown in Fig. 6) is started at the timing when the final turn (assumed to be the Xth turn) of mounting components on the tray 7 onto the board 3 in the first lane is completed. In this case, processing such as tray replacement can be completed by the time component mounting onto the board 3 in the first lane is completed (i.e., by the Nth turn). Therefore, immediately after component mounting onto the board 3 in the first lane is completed, the first turn of component mounting onto the board 3 in the second lane can be started. Therefore, this embodiment improves production efficiency when tray replacement or the like occurs compared to the conventional method.

[0103] Note that if the completion of a process such as tray exchange (i.e., the tray exchange check process shown in FIG. 6), which is performed in parallel with the process of mounting components on the board 3 in the first lane, is not in time for the start of the first turn of mounting components on the board 3 in the second lane, the first turn of mounting components on the board 3 in the second lane may wait. Even in this case, the wait period is not short in this embodiment compared to the conventional method, so that production efficiency when a tray exchange or the like occurs is improved. Note that the same applies when the first lane and the second lane are swapped.

[0104] Alternatively, if the completion of a process such as tray exchange (i.e., the tray exchange check process shown in FIG. 6), which is performed in parallel with the process of mounting components on the board 3 in the first lane, is not in time for the start of the first turn of mounting components on the tray 7 on the board 3 in the second lane, component mounting in the first turn of mounting components on the tray 7 may wait. Even in this case, the wait period is not short in this embodiment compared to the conventional method, so that production efficiency when a tray exchange or the like occurs is improved. The same applies when the first lane and the second lane are swapped.

[0105] <Tray replacement and other processing> 5 may be performed by either of the following method 1 or method 2. The following method may be realized by feeder control unit 30 raising and lowering pallet holding unit 25 using lifting mechanism 26.

[0106] <<Method 1>> (S301) Feeder control unit 30 moves pallet 24 holding tray 7 out of components that is located at component removal position P to pallet placement unit 27. (S302) Feeder control unit 30 removes the supplied tray 7 from pallet storage unit 23 and moves it to component removal position P.

[0107] <<Method 2>> (S401) Feeder control unit 30 moves pallet 24 holding tray 7 out of components, which is located at component removal position P, to any available pallet storage unit 23. (S402) The feeder control unit 30 moves the pallet 24 holding the replenished tray 7 present in the pallet placement unit 27 to any one of the pallet storage units 23 that is empty. (S403) Feeder control unit 30 moves pallet 24 holding out-of-part tray 7, which was moved to pallet storage unit 23 in step S401, to pallet placement unit 27. (S404) Feeder control unit 30 moves pallet 24 holding replenished tray 7, which was moved to pallet storage unit 23 in step S402, to component removal position P.

[0108] The process of tray exchange and the like in step S203 shown in FIG.

[0109] The process of tray exchange and the like in step S204 shown in FIG. 6 may be performed by the following method. (S501) Feeder control unit 30 moves pallet 24 holding tray 7 that is not out of components and is located at component removal position P to any available pallet storage unit 23. (S502) The feeder control unit 30 moves the pallet 24 holding the replenished tray 7 present in the pallet placement unit 27 to any one of the pallet storage units 23 that is empty. (S503) Feeder control unit 30 moves pallet 24 holding tray 7 that is not out of parts and that was moved to pallet storage unit 23 in step S501, to part removal position P.

[0110] (Summary of this embodiment) The above description of the present embodiment discloses the following techniques.

[0111] <Technology 1> The component mounting device 1 according to the present embodiment includes a tray feeder 5 having a component take-out position P where a pallet 24 holding a tray 7 storing components is located, a component supply mechanism (e.g., a tape feeder 6) that supplies components, a component mounting mechanism 12 having a mechanism for acquiring components from the tray feeder 5 or the component supply mechanism and mounting them on a board 3, and a control unit (e.g., a main body control unit 15 or a feeder control unit 30). One operation of the component mounting mechanism 12 acquiring components from the tray 7 or the component supply mechanism at the component take-out position P of the tray feeder 5 and mounting them on a board 3 is defined as one turn. If the current turn is the final turn for mounting components supplied from the tray feeder 5 on the board 3, the control unit starts processing related to tray replacement in the tray feeder 5 and continues with the following turns. This allows the next turn to continue without waiting for the tray exchange process to be completed, thereby improving the production efficiency of mounted boards.

[0112] <Technology 2> In the component mounting device 1 described in Technology 1, the tray feeder 5 further includes a pallet placement unit 27 on which a replenished pallet, which is a pallet 24 that holds a tray 7 that has been replenished with components, is placed. As a process related to tray replacement in the tray feeder, when the replenished pallet is placed on the pallet placement unit 27, the control unit executes tray replacement in the tray feeder 5. This allows tray feeder 5 to execute tray exchange when a replenished pallet is prepared on pallet placement section 27.

[0113] <Technology 3> In the component mounting device 1 described in Technology 2, when performing tray replacement in the tray feeder, if the tray 7 at the component removal position P is out of components, the control unit retracts the pallet 24 holding the out-of-components tray 7 located at the component removal position P, and moves the refilled pallet placed on the pallet placement section 27 to the component removal position P. As a result, if the tray 7 at the component pick-up position P is out of components, a replenished pallet can be moved to the component pick-up position P while continuing the subsequent turn. This reduces the waiting time for tray replacement, improving the production efficiency of mounted boards.

[0114] <Technology 4> In the component mounting device 1 described in Technique 2 or 3, the tray feeder 5 includes a plurality of pallet storage units 23 capable of storing pallets 24, a component removal position P, a pallet placement unit 27, and a pallet holding unit 25 for moving the pallet 24 between the pallet storage unit 23. When the tray 7 held by the pallet 24 located at the component removal position P is out of components, the control unit executes replacement of the tray 7 in the tray feeder 5 by using the pallet holding unit 25 to move the first pallet, which is the pallet 24 that is located at the component removal position P and holds the out-of-component tray 7, to the pallet storage unit 23, moves the resupplied pallet placed on the pallet placement unit 27 to the pallet storage unit 23, moves the first pallet moved to the pallet storage unit 23 to the pallet placement unit 27, and moves the resupplied pallet moved to the pallet storage unit 23 to the component removal position P. As a result, while continuing the subsequent turn, the pallet (first pallet) holding the tray 7 out of parts that was in the part removal position P can be moved to the pallet storage section 23, and the replenished pallet that was in the pallet placement section 27 can be moved to the part removal position P.

[0115] <Technology 5> In the component mounting device 1 described in any one of Techniques 2 to 4, the tray feeder 5 includes a plurality of pallet storage units 23 capable of storing pallets 24, a component removal position P, a pallet placement unit 27, and a pallet holding unit 25 for moving the pallet 24 between the pallet storage units 23. When the tray 7 held by the pallet 24 located at the component removal position P is not out of components, the control unit executes replacement of the tray 7 in the tray feeder 5 by using the pallet holding unit 25 to move a second pallet, which is the pallet 24 that holds the tray 7 that is not out of components and is located at the component removal position P, to the pallet storage unit 23, moves the refilled pallet placed on the pallet placement unit 27 to the pallet storage unit 23, and moves the second pallet moved to the pallet storage unit 23 to the component removal position P, if the tray 7 held by the pallet 24 located at the component removal position P is not out of components. As a result, the replenished pallet that was in the pallet placement section 27 can be moved to the pallet storage section 23 while continuing the subsequent turn.

[0116] <Technology 6> In the component mounting apparatus 1 according to any one of Techniques 1 to 5, the component supply mechanism is a tape feeder 6.

[0117] <Technology 7> The component mounting apparatus 1 described in any one of Techniques 1 to 5 includes a first lane and a second lane for transporting a board 3. A control unit controls the component mounting mechanism 12 to start mounting components onto the board in the second lane after mounting of components onto the board in the first lane is completed, or to start mounting components onto the board in the first lane after mounting of components onto the board in the second lane is completed. This allows, for example, after the mounting of components on a board in the first lane is completed, the mounting of components on a board in the second lane can begin without waiting for the completion of the tray exchange process. The same applies when the first lane and the second lane are switched. This improves the production efficiency of mounted boards.

[0118] <Technology 8> The component mounting device 1 according to the present embodiment includes a tray feeder 5 having a component take-out position P where a pallet 24 holding a tray 7 storing components is located, a component supply mechanism (e.g., a tape feeder 6) that supplies components, and a component mounting mechanism 12 having a mechanism for acquiring the components from the tray feeder 5 or the component supply mechanism and mounting them on a board 3. One operation of the component mounting mechanism to acquire components from the tray 7 at the component take-out position P of the tray feeder 5 or the component supply mechanism and mount them on a board 3 is defined as one turn. In the component mounting method, when the current turn is the final turn for mounting components supplied from the tray feeder 5 on the board 3, the component mounting device 1 starts a process related to tray exchange in the tray feeder 5 and continues with the following turns. This allows the next turn to continue without waiting for the tray exchange process to be completed, thereby improving the production efficiency of mounted boards.

[0119] Although the embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, corrections, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also belong to the technical scope of the present disclosure. In addition, the components in the above-mentioned embodiments may be arbitrarily combined within the scope of the invention. [Industrial Applicability]

[0120] The technology of the present disclosure is useful for component mounting devices that use tray feeders. [Explanation of symbols]

[0121] 1. Component mounting equipment 1A base 2, 2A, 2B Substrate transport mechanism 3. Substrate 4A,4B Parts supply mechanism 5 Tray Feeder 6 Tape Feeder 7 Tray 8 Y-axis beam 9A, 9B X-axis beam 9C Plate 10A, 10B Mounting head 11,11A Suction nozzle 12 Component mounting mechanism 13 Circuit Board Recognition Camera 14 Parts Recognition Camera 15 Main unit control section 20 Base 21 wheels 22 Feeder body 24 Palettes 23 Pallet storage area 25 Pallet holder 26 Lifting mechanism 27 Pallet placement section 28 Opening and closing cover 30 Feeder control section 40 Storage section 40A Mounting Data 40B Parts Data 41 Mechanism drive unit 42 Input section 43 Display section 50 Feeder memory unit

Claims

1. A component mounting device for mounting components on a substrate, comprising: a tray feeder having a part pick-up position in which a pallet holding a tray on which the parts are stored is located; A part supply mechanism for supplying the part; a component mounting mechanism including a mechanism for acquiring the components from the tray feeder or the component supply mechanism and mounting the components on the board; A control unit, one operation of the component mounting mechanism to obtain the component from the tray at the component removal position of the tray feeder or from the component supply mechanism and mount the component on the board is defined as one turn; The control unit is if the current turn is the final turn for mounting the components supplied from the tray feeder onto the board, start a process for tray replacement in the tray feeder and continue with the subsequent turns; Component mounting equipment.

2. the tray feeder further includes a pallet placement section on which a replenished pallet, which is a pallet that holds the tray replenished with parts, is placed; As a process related to tray replacement in the tray feeder, the control unit executes tray replacement in the tray feeder when the replenished pallet is placed on the pallet placement unit. The component mounting device according to claim 1 .

3. As the execution of the tray replacement in the tray feeder, when the tray at the part removal position is out of parts, the control unit: Retracting a pallet holding a tray of parts that is out of parts and located at the part removal position; moving the replenished pallet placed on the pallet placement unit to the part removal position; The component mounting apparatus according to claim 2 .

4. The tray feeder comprises: A plurality of pallet storage units capable of storing the pallets; a pallet holding unit for moving the pallet between the part removal position, the pallet placement unit, and the pallet storage unit, As the execution of the tray replacement in the tray feeder, when the tray held by the pallet located at the part removal position is out of parts, the control unit uses the pallet holding unit to: a first pallet that is located at the part removal position and that holds a tray of out-of-parts is moved to the pallet storage unit; The replenished pallet placed on the pallet placement section is moved to the pallet storage section, The first pallet that has been moved to the pallet storage section is moved to the pallet placement section; The replenished pallet that has been moved to the pallet storage section is moved to the part removal position. The component mounting apparatus according to claim 2 .

5. The tray feeder comprises: A plurality of pallet storage units capable of storing the pallets; a pallet holding unit for moving the pallet between the part removal position, the pallet placement unit, and the pallet storage unit, As the execution of the tray replacement in the tray feeder, when the tray held by the pallet located at the part removal position is not out of parts, the control unit uses the pallet holding unit to: a second pallet, which is a pallet holding a tray that is not out of parts and is located at the part removal position, is moved to the pallet storage unit; The replenished pallet placed on the pallet placement section is moved to the pallet storage section, The second pallet that has been moved to the pallet storage section is moved to the part removal position. The component mounting apparatus according to claim 2 .

6. The component supply mechanism is a tape feeder. The component mounting device according to claim 1 .

7. A first lane and a second lane for transporting a substrate are provided, The control unit controls the component mounting mechanism, After the placement of components on the boards in the first lane is completed, placement of components on the boards in the second lane is started; or After the mounting of components onto the board in the second lane is completed, the mounting of components onto the board in the first lane is started. The component mounting device according to claim 1 .

8. A component mounting method performed by a component mounting apparatus for mounting components on a substrate, comprising: The component mounting apparatus includes: a tray feeder having a part pick-up position in which a pallet holding a tray on which the parts are stored is located; A part supply mechanism for supplying the part; a component mounting mechanism having a mechanism for acquiring the components from the tray feeder or the component supply mechanism and mounting the components on the board; one operation of the component mounting mechanism to obtain the component from the tray at the component removal position of the tray feeder or from the component supply mechanism and mount the component on the board is defined as one turn; if the current turn is the final turn for mounting the components supplied from the tray feeder onto the board, start a process for tray replacement in the tray feeder and continue with the subsequent turns; Component mounting method.

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