Component loading device, component loading system and substrate holding method

Abstract

To provide a component loading device capable of preventing substrate loading work from being executed in a state where a substrate is not normally held, a component loading system and a substrate holding method.SOLUTION: A component loading device comprises: an elevating body 41 which is elevated at a lower side of a substrate KB; a movable clamper 34 which is pushed up by the rising elevating body 41 and carries up the substrate KB located at a predetermined position; and a stationary clamper 35 which is located above the movable clamper 34 and on which a top face of the substrate KB carried up by the movable clamper 34 abuts. The component loading device further comprises: a height detection section 63 which detects a height of the elevating body 41; and a storage section for storing data of a known abutment height as a height of the elevating body 41 in the case where the top face of the substrate KB abuts on the stationary clamper 35. It is determined whether or not the substrate KB abuts on the stationary clamper 35 by comparing a stop height ΔTK, which is a height of the elevating body 41 detected by the height detection section 63 in a state where the elevating body 41 stops rising, with the abutment height.SELECTED DRAWING: Figure 14

Description

[Technical field]

[0001] The present invention relates to a component mounting device, a component mounting system, and a substrate holding method for mounting components on a substrate. [Background technology]

[0002] A component mounting device that mounts components on a board transports the board on which the components are to be mounted to a work position by a transport conveyor, holds the board at that position, and then mounts the components on the board. For example, a configuration for holding the board is known in which a pair of fixed clampers are disposed above a pair of movable clampers that support both ends of the board from below, a lifting body is raised from below the board to push up the pair of movable clampers, and both ends of the board are lifted by the movable clampers and brought into contact with the fixed clampers (for example, see Patent Document 1 below). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-149433 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned Patent Document 1, if a foreign object becomes caught between the member supporting the fixed clamper and the lifting body, the lifting body's ascent will be restricted before the movable clamper presses the board against the fixed clamper, and there is a risk that component mounting work will be performed without the board being properly held (clamped).

[0005] SUMMARY OF THE PRESENT DISCLOSURE An object of the present invention is to provide a component mounting device, a component mounting system, and a board holding method that can prevent a board mounting operation from being performed in a state where the board is not held properly. [Means for solving the problem]

[0006] The component mounting device of the present invention is a component mounting device for mounting components onto a substrate, and includes a lifting body that rises and falls below the substrate positioned at a predetermined position, a movable side member that is pushed up by the rising lifting body and lifts the substrate positioned at the predetermined position, a fixed side member that is positioned above the movable side member and against which the upper surface of the substrate lifted by the movable side member abuts, a height detection unit that detects the height of the lifting body, a memory unit that stores data on a contact height that is known as the height of the lifting body when the upper surface of the substrate abuts against the fixed side member, and a judgment unit that compares a stop height, which is the height of the lifting body detected by the height detection unit when the rise of the lifting body has stopped, with the contact height to judge whether the substrate has abutted against the fixed side member.

[0007] The component mounting system of the present invention is a component mounting system for mounting components on a substrate, and includes a lifting body that rises and falls below the substrate positioned at a predetermined position, a movable side member that is pushed up by the rising lifting body and lifts the substrate positioned at the predetermined position, a fixed side member that is positioned above the movable side member and against which the upper surface of the substrate lifted by the movable side member abuts, a height detection unit that detects the height of the lifting body, a memory unit that stores data on a contact height that is known as the height of the lifting body when the upper surface of the substrate abuts against the fixed side member, and a judgment unit that compares a stop height, which is the height of the lifting body detected by the height detection unit when the rise of the lifting body has stopped, with the contact height to judge whether the substrate has abutted against the fixed side member.

[0008] The substrate holding method of the present invention is a method for holding a substrate by raising a lifting body from below a substrate positioned at a predetermined position and abutting the upper surface of the substrate, which is lifted by a movable side member pushed up by the raised lifting body, against a fixed side member, and holding the substrate, the method comprising: a stop height detection step for detecting a stop height, which is the height of the lifting body when the lifting has stopped; and a determination step for comparing the stop height detected in the stop height detection step with a contact height, which is known as the height of the lifting body when the upper surface of the substrate abuts against the fixed side member, to determine whether the substrate has abutted against the fixed side member. Effect of the Invention

[0009] According to the present invention, it is possible to prevent a substrate mounting operation from being performed in a state where the substrate is not properly held. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a simplified configuration diagram of a component mounting system according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a perspective view of a component mounting device according to an embodiment of the present invention; [Diagram 3] FIG. 2 is a block diagram showing a control system of a component mounting device according to an embodiment of the present invention. [Figure 4] 1 is a side view of a substrate transport and holding unit provided in a component mounting device according to an embodiment of the present invention; [Diagram 5] FIG. 1 is a perspective view of a substrate transport and holding unit according to an embodiment of the present invention; [Figure 6] FIG. 1 is an exploded perspective view of a portion of a substrate transport and holding unit according to an embodiment of the present invention. [Figure 7] 1A and 1B are explanatory diagrams illustrating the operation of a substrate transport and holding unit according to an embodiment of the present invention; [Figure 8] FIG. 1 is a perspective view of a portion of a substrate transport and holding unit according to an embodiment of the present invention; [Figure 9] 1A and 1B are diagrams illustrating how a substrate transport and holding unit clamps a substrate according to an embodiment of the present invention; [Figure 10]1A and 1B are diagrams illustrating how a substrate transport and holding unit clamps the thinnest substrate in an embodiment of the present invention; [Figure 11] 1A and 1B are diagrams illustrating how a substrate transport and holding unit clamps the thickest substrate in an embodiment of the present invention; [Figure 12] 1A and 1B are explanatory diagrams illustrating a clamping operation of a substrate (without foreign matter) by a substrate transport and holding unit according to an embodiment of the present invention; [Figure 13] 1A and 1B are explanatory diagrams of a procedure for calculating the height of a lifting body provided in a substrate transport and holding unit according to an embodiment of the present invention; [Figure 14] 1A and 1B are explanatory diagrams illustrating a clamping operation of a substrate by a substrate transport and holding unit (with a foreign object) according to an embodiment of the present invention; [Figure 15] 1 is a flowchart showing a procedure of a substrate holding operation by a substrate transport and holding unit according to an embodiment of the present invention. [Figure 16] FIG. 13 is a diagram showing a modification of a height detection unit provided in the component mounting device according to the embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 shows a component mounting system 1 in one embodiment of the present invention. From the upstream side, the component mounting system 1 comprises a printing device 2, a component mounting device 3, an inspection device 4, and a reflow device 5. The printing device 2, the component mounting device 3, the inspection device 4, and the reflow device 5 sequentially deliver a board KB in this order, and each perform a required operation on the board KB.

[0012] The printing device 2 carries in the board KB and prints solder on the top surface of the board KB. When the solder printing is completed, the printing device 2 carries the board KB downstream. The component mounting device 3 receives the board KB from the printing device 2, mounts components BH on the board KB, and carries it downstream. Details of the component mounting device 3 will be described later.

[0013] The inspection device 4 receives the board KB from the component mounting device 3, inspects each component BH mounted on the board KB by capturing images with a camera, etc., and then conveys it downstream. The reflow device 5 receives the board KB from the inspection device 4 and performs a solder reflow process while conveying it downstream. The solder reflow process fixes the components BH mounted by the component mounting device 3 onto the board KB. The mounted board JK is completed when the board KB passes through the reflow device 5 (Fig. 1).

[0014] The component mounting device 3 will now be described. As described above, the component mounting device 3 is a device that mounts components BH on a board KB, and as shown in Fig. 2, it is equipped with a base 11, a board transport holder 12, a plurality of part feeders 13, a head moving mechanism 14, and a mounting head 15. For ease of explanation, the left-right direction of the component mounting device 3 as seen by the worker OP is defined as the X direction, and the front-rear direction of the component mounting device 3 as seen by the worker OP is defined as the Y direction. The up-down direction is defined as the Z direction.

[0015] 2, the board transport and holding unit 12 supports both ends of the board KB in the Y direction from below, transports the board KB in the X direction, positions the board KB at a predetermined working position, and holds the board KB. Each of the part feeders 13 is detachably attached to a feeder base 11F located at the end of the base 11 in the Y direction. Each part feeder 13 supplies a part BH to a part supply port 13K.

[0016] 2, the head moving mechanism 14 includes a fixed beam 14a and a moving beam 14b. The fixed beam 14a extends in the Y direction and is fixed to the base 11. The moving beam 14b extends in the X direction and has one end attached to the fixed beam 14a. The moving beam 14b is movable in the Y direction along the fixed beam 14a.

[0017] 2, the mounting head 15 is attached to a moving beam 14b and is movable in the X direction along the moving beam 14b. The mounting head 15 moves in the horizontal plane (XY plane) in the space above the base 11 by the movement of the moving beam 14b in the Y direction relative to the fixed beam 14a and the movement of the mounting head 15 itself in the X direction relative to the moving beam 14b.

[0018] The mounting head 15 is equipped with a plurality of nozzles 15N extending downward. The mounting head 15 generates a vacuum suction force at the lower end of each nozzle 15N, and picks up the components BH supplied to the component supply port 13K by each part feeder 13 by suctioning them onto the nozzle 15N.

[0019] Fig. 3 shows the control system of the component mounting device 3. In Fig. 3, a control unit 16 provided in the component mounting device 3 controls the operations of the board transport and holding unit 12, the head moving mechanism 14, and the mounting head 15. The board transport and holding unit 12 is controlled by the control unit 16 to transport the board KB, position it at a work position, and hold the board KB. The head moving mechanism 14 is controlled by the control unit 16 to move the mounting head 15 in a horizontal plane. The mounting head 15 is controlled by the control unit 16 to adsorb a component BH to the nozzle 15N, and to release the adsorbed component BH from the nozzle 15N.

[0020] 3, the control unit 16 includes a mounting operation execution control unit 16a. The mounting operation execution control unit 16a operates the board transport and holding unit 12, the head moving mechanism 14, and the mounting head 15 to cause the component mounting device 3 to perform a component mounting operation of mounting components BH on the board KB.

[0021] In the component mounting operation, first, the board conveying and holding unit 12 operates to receive the board KB sent from the device (printing device 2) on the upstream process side of the component mounting device 3. Then, the board KB is positioned at the work position and held there (FIG. 2).

[0022] Once the board KB is held, each part feeder 13 supplies a component BH to the component supply port 13K, and the head movement mechanism 14 moves the mounting head 15 back and forth between a position above the part feeder 13 and a position above the board KB. As the mounting head 15 moves between a position above the part feeder 13 and a position above the board KB, it picks up the component BH supplied by the part feeder 13 with the nozzle 15N, and releases the component BH from the nozzle 15N above the board KB.

[0023] When all the components BH to be mounted on the board KB have been mounted by the above-mentioned operation of the mounting head 15, the board transport and holding unit 12 is operated to transport the board KB to a downstream process device (inspection device 4). This completes the component mounting operation for one board KB.

[0024] In the component mounting device 3 having such a configuration, in this embodiment, the configuration of the substrate transport and holding unit 12 is distinctive, and will be described below.

[0025] 4, the substrate transport holder 12 includes a conveyor stand 21 provided on the base 11, and two transport conveyors 22, one at the front and one at the back, provided on the conveyor stand 21. As shown in Fig. 5, each transport conveyor 22 extends in the X direction as a whole, and the two transport conveyors 22 are arranged parallel to each other in the Y direction (front-rear direction). The left and right ends (X direction) of each transport conveyor 22 are fixed to the conveyor stand 21 by fixtures 23, respectively.

[0026] 5 and 6, the transport conveyor 22 includes a base member 31 having a shape extending along the XZ plane, pulleys 32 provided on the left and right sides of the inner surface of the base member 31 (the surface on which the two opposing base members 31 face each other), and a transport belt 33 stretched around the left and right pulleys 32. One of the left and right pulleys 32 is a drive pulley 32a driven by a drive motor 32M, and the other is a driven pulley 32b. The transport belt 33 runs when the drive pulley 32a is rotated by the drive motor 32M.

[0027] 5 and 6, a movable clamper 34 extending in the vertical direction is provided on the inner surface of each of the two front and rear base members 31. A plate-shaped fixed clamper 35 is provided on the upper end of each of the two base members 31. Each fixed clamper 35 is positioned to protrude above (directly above) the movable clamper 34 below it.

[0028] 5 and 6, a vertically extending long hole 36 is provided at the left and right ends of each of the two front and rear movable clampers 34, penetrating the plate thickness direction (Y direction). A screw member 37 attached to the inside of the corresponding base member 31 passes through each long hole 36. Therefore, the movable clamper 34 is freely movable in the vertical direction (Z direction) relative to the base member 31, using the two left and right long holes 36 as guides. The movable clamper 34 can be raised and lowered between a lowest position (FIG. 7(a)) where the upper edge of the long hole 36 abuts against the screw member 37 and hangs down under its own weight, and a highest position (FIG. 7(b)) where the lower edge of the long hole 36 abuts against the screw member 37.

[0029] 4 and 5, a lifting body 41 having a shape extending along the XY plane is provided below the two front and rear transport conveyors 22. A plate-shaped plate member 42 is attached to the upper surface of the lifting body 41, and a plurality of support pins 43 are detachably attached to the upper surface of the plate member 42. The lifting body 41 can be raised and lowered by a lifting cylinder 44 (FIG. 4) provided on the conveyor base 21.

[0030] 4, 5 and 8, post members 45 are provided to protrude downward from both left and right ends of the lower end of the movable clamper 34. Meanwhile, flange portions 41F extending upward are formed on both left and right sides of the lifting body 41.

[0031] In Fig. 8, the post member 45 located on the left side of the front movable clamper 34 and the post member 45 located on the left side of the rear movable clamper 34 are located directly above the flange portion 41F located on the left side of the lifting body 41. The post member 45 located on the right side of the front movable clamper 34 and the post member 45 located on the right side of the rear movable clamper 34 are located directly above the flange portion 41F located on the right side of the lifting body 41 (see also Figs. 4 and 5).

[0032] When the lifting body 41 is in the standby position, which is the lowest position in the vertical movement range, as shown in Fig. 9(a), the flanges 41F of the lifting body 41 are spaced downward from the post members 45 that face them vertically. When the lifting cylinder 44 is actuated to lift the lifting body 41 from the standby position, first, the plate member 42 and the multiple support pins 43 attached thereto start to rise together with the lifting body 41, and then the two flanges 41F of the lifting body 41 come into contact with and push up the four post members 45, so that the front and rear two movable clampers 34 rise together with the lifting body 41 (Fig. 9(b)).

[0033] In Fig. 7(a), when the movable clamper 34 is in the lowest position, the upper end 34T of the movable clamper 34 is located at a position lower than the transport surface (substrate transport surface HM) of the substrate KB, which is the upper surface of the transport belt 33. When the movable clamper 34 rises from the lowest position, the upper end 34T of the movable clamper 34 passes above the substrate transport surface HM, and when the movable clamper 34 is in the highest position, the upper end 34T of the movable clamper 34 abuts against the lower surface of the fixed clamper 35 (Fig. 7(b)). When the movable clamper 34 is in the highest position, no gap is generated in the Z direction between the upper end 34T and the lower surface of the fixed clamper 35 (Fig. 7(b)), so that substrates KB of various thicknesses can be held by the substrate transport holder 12.

[0034] When the lifting body 41 is raised from the standby position by the lifting cylinder 44 while the substrate KB, both ends of which in the front-rear direction (Y direction) are supported by the two front and rear conveyor belts 33, is positioned at the working position, the two movable clampers 34 are pushed up by the lifting body 41, as described above. As a result, the upper ends 34T of the two movable clampers 34 come into contact with the lower surface of the substrate KB (the part inside the part in contact with the two conveyor belts 33) from below, and the substrate KB is lifted while being maintained in a horizontal position (FIG. 9(a)→FIG. 9(b)). As a result, the lower surface of the substrate KB moves upward away from the two conveyor belts 33, and the end of the upper surface of the substrate KB comes into contact with the lower surface of the fixed clamper 35 from below (FIG. 9(b)).

[0035] As described above, the component mounting device 3 in this embodiment is configured to include a lifting body 41 that rises and falls below the substrate KB located at a predetermined position (working position), a movable clamper 34 as a movable side member that is pushed up by the rising lifting body and lifts the substrate KB located at the working position, and a fixed clamper 35 as a fixed side member that is located above the movable clamper 34 and against which the upper surface of the substrate KB lifted by the movable clamper 34 abuts.

[0036] When the edge of the upper surface of the substrate KB abuts against the lower surface of the fixed clamper 35 as described above, both the front and rear ends of the substrate KB are clamped by the fixed clamper 35 and the movable clamper 34, respectively, and the substrate KB is held relative to the base 11 (FIG. 4). Hereinafter, the position of the lifting body 41 at which the substrate KB is clamped by the movable clamper 34 and the fixed clamper 35 will be referred to as the "clamped position." When the lifting body 41 is positioned at the clamped position and reaches its operating limit at which it cannot move the substrate KB any further upward, the lifting cylinder 44 completes the operation of lifting the lifting body 41 and holds the lifting body 41 in that position (clamped position).

[0037] The amount of upward displacement of the lifting body 41 from when it starts to rise from the standby position until the top surface of the substrate KB abuts against the fixed clamper 35 and the lifting body 41 reaches its operating limit (the state where the substrate KB cannot be moved any further upward, as described above) varies depending on the thickness TH (FIG. 9(a)) of the substrate KB (the smaller the thickness TH of the substrate KB, the greater the amount of upward displacement of the lifting body 41). Therefore, the operating time of the lifting cylinder 44 required to clamp the substrate KB, i.e., the time required from when the lifting body 41 starts to rise from the standby position until clamping of the substrate KB is completed, varies depending on the thickness TH of the substrate KB.

[0038] In this embodiment, the time slightly longer than the operation time of the lift cylinder 44 when clamping the substrate KB having the smallest thickness TH is defined as the "cylinder operation time." Data on this cylinder operation time is stored in the memory unit 16b (FIG. 3) included in the control unit 16.

[0039] When the control unit 16 starts to control the lifting body 41 to rise from the standby position by operating the lifting cylinder 44, it stops the operation of the cylinder when the cylinder operation time has elapsed. Therefore, after the cylinder operation time has elapsed since the lifting body 41 started to rise from the standby position, under normal circumstances where there is no abnormality in the clamping process of the substrate KB, the substrate KB is always clamped by the movable clamper 34 and the fixed clamper 35 regardless of its thickness TH (FIG. 10(a)→FIG. 10(b), FIG. 11(a)→FIG. 11(b)). Here, FIG. 10(a)→FIG. 10(b) shows the operation of the transport conveyor 22 when the substrate KB with the smallest thickness TH is clamped, and FIG. 11(a)→FIG. 11(b) shows the operation of the transport conveyor 22 when the substrate KB with the largest thickness TH is clamped.

[0040] 10(b) and 11(b), under normal circumstances when there is no abnormality in the process of clamping the substrate KB, the lifting body 41 does not come into contact with the lower end 31T of the base member 31, even after clamping of the substrate KB has been completed, regardless of the thickness TH of the substrate KB. In other words, under normal circumstances, the upward movement of the lifting body 41 is not restricted except by the upper surface of the substrate KB coming into contact with the fixed clamper 35.

[0041] 4 and 8, a dog 51 is provided on the lower surface of the lifting body 41 and has a shape extending parallel to the lower surface of the lifting body 41. The dog 51 is attached to the lifting body 41. Therefore, when the lifting body 41 is lifted or lowered by the lifting cylinder 44, the dog 51 also lifts or lowers integrally with the lifting body 41.

[0042] 4 and 8, two horizontal inspection light projectors that project inspection light (horizontal inspection light) in the horizontal direction (here, the X direction) are provided side by side in the vertical direction on the conveyor stand 21. These two horizontal inspection light projectors are composed of a lower projector 52 that projects a lower horizontal inspection light L1 and an upper projector 53 that projects an upper horizontal inspection light L2.

[0043] The control unit 16 includes a lifting body position determination unit 16c (FIG. 3). The lifting body position determination unit 16c determines where the lifting body 41 is located in the height direction based on a state in which the dog 51, which moves up and down integrally with the lifting body 41, blocks the lower horizontal inspection light L1 projected by the lower light projector 52 or the upper horizontal inspection light L2 projected by the upper light projector 53.

[0044] In this embodiment, when the lift body 41 is located at the standby position, the lower horizontal inspection light L1 is projected in the horizontal direction at a height where it is blocked by the dog 51. Therefore, the lift body position determination unit 16c determines that the lift body 41 is located at the standby position by detecting a state where the lower horizontal inspection light L1 is blocked by the dog 51.

[0045] A reference height position HT0 is set at a position at a predetermined height (higher than the standby position) from an arbitrary reference surface (for example, the top surface of the conveyor base 21) (FIGS. 12(a) and 12(b)). When the lifting body 41 is located at the reference height position HT0, the upper horizontal inspection light L2 is projected at a height where it is blocked by the upper end of the dog 51. Therefore, the lifting body position determination unit 16c of the control unit 16 determines that the lifting body 41 is located at (reaches) the reference height position HT0 at the timing when the lifting body 41 rises from the standby position and the upper horizontal inspection light L2 switches from a non-blocking state to a blocking state.

[0046] 12(a) and (b), the dog 51 has a certain thickness dimension in the height direction (Z direction), and even if the lifting body 41 further rises after its upper end reaches the reference height position HT0, the upper horizontal inspection light L2 projected by the upper projector 53 remains blocked by the dog 51. Furthermore, even when the board KB is located at the clamp position, the upper horizontal inspection light L2 remains blocked by the dog 51.

[0047] This is also true in the state where the height of the lifting body 41 during clamping is the highest and the board KB with the smallest thickness TH is clamped. Therefore, in the state where clamping of the board KB is normally completed, the upper horizontal inspection light L2 projected by the upper projector 53 is blocked by the dog 51 regardless of the thickness TH of the board KB. Therefore, the lifting body position determination unit 16c determines that the lifting body 41 is located at the clamp position when the upper horizontal inspection light L2 projected by the upper projector 53 is blocked (however, as will be described later, even if the upper horizontal inspection light L2 projected by the upper projector 53 is blocked, there may be a situation where the lifting body 41 is not actually located at the clamp position).

[0048] In this manner, in this embodiment, the dog 51, the lower light projector 52, the upper light projector 53 and the lifting body position determination unit 16c of the control unit 16 constitute a lifting body position detection unit 54 that detects the position of the lifting body 41 (when it is in the standby position or the clamped position) (Figure 3).

[0049] 8 and 12(a) and (b), a reflecting member 61 having a shape extending along the XY plane is provided on one side of the lifting body 41. The reflecting member 61 is provided on the lifting body 41. Therefore, when the lifting body 41 is lifted or lowered by the lifting cylinder 44, the reflecting member 61 also lifts or lowers integrally with the lifting body 41.

[0050] 8 and 12(a) and (b), a vertical inspection light projector / receiver 62 that projects inspection light (vertical inspection light L3) along the vertical direction is provided on the conveyor base 21. The vertical inspection light projector / receiver 62 is provided below the reflecting member 61, and has a light projecting unit 62a that projects the vertical inspection light L3 upward (i.e., toward the reflecting member 61) and a light receiving unit 62b that receives reflected light LR of the vertical inspection light L3 projected by the light projecting unit 62a.

[0051] 3, the control unit 16 includes a height calculation unit 16d (see also FIGS. 12(a) and 1(b)). The height calculation unit 16d detects the height of the lifting body 41 based on the angle between the vertical inspection light L3 projected by the light projecting unit 62a of the vertical inspection light projector / receiver 62 toward the reflecting member 61 and the reflected light LR that is the vertical inspection light L3 projected by the light projecting unit 62a and reflected by the reflecting member 61 and returned to the light receiving unit 62b of the vertical inspection light projector / receiver 62. In detail, the height of the lifting body 41 is calculated based on the difference between the angle Θ1 (Figure 13(a)) between the vertical inspection light L3 projected by the light-projecting unit 62a toward the reflecting member 61 and the reflected light LR of the vertical inspection light L3 projected by the light-projecting unit 62a reflected by the reflecting member 61 located at a reference height and returning to the light-receiving unit 62b, and the angle Θ2 (Figure 13(b)) between the vertical inspection light L3 projected by the light-projecting unit 62a toward the reflecting member 61 and the reflected light LR of the vertical inspection light L3 projected by the light-projecting unit 62a reflected by the reflecting member 61 located at the actual height and returning to the light-receiving unit 62b.

[0052] In this embodiment, the reflecting member 61 that moves up and down integrally with the lifting body 41 and the vertical inspection light projector / receiver 62 that projects the vertical inspection light L3 along the vertical direction constitute a height detection unit 63 that detects the height of the lifting body 41 based on the angle between the vertical inspection light L3 projected by the light projector 62a toward the reflecting member 61 and the light (reflected light LR) that is the vertical inspection light L3 projected by the light projector 62a and reflected by the reflecting member 61 and returned to the light receiver 62b (FIG. 3). Note that the reflecting member 61 may be provided on the conveyor rack 21, and the vertical inspection light projector / receiver 62 may be provided on the lifting body 41 so as to be located above the reflecting member 61, projecting the vertical inspection light L3 downward (i.e., toward the reflecting member 61).

[0053] In this embodiment, the height detection unit 63 detects the height of the lifting body 41 when the upper end of the dog 51 blocks the upper horizontal inspection light L2 of the upper projector 53 (when the lifting body 41 reaches the reference height position HT0) after the lifting body 41 starts to rise from the standby position, and sets this as the "first height TK1" (FIG. 12(a)). Next, the height detection unit 63 detects the height of the lifting body 41 when the lifting cylinder 44 reaches its operating limit, and sets this as the "second height TK2" (FIG. 12(b)). Then, the difference between the first height TK1 and the second height TK2, that is, ΔTK (=TK2-TK1), which is the upward displacement of the lifting body 41 from the reference height position HT0, is detected as the height of the lifting body detected when the lifting body 41 stops rising ("stop height ΔTK") (FIG. 12(b)).

[0054] As described above, this embodiment includes the dog 51 which rises and falls integrally with the lifting body 41, and the upper light projector 53 which serves as a dog detector that detects the dog 51 when the lifting body 41 is located at the predetermined reference height position HT0. The height detector 63 detects the amount of upward displacement of the lifting body 41 from the time when the dog 51 which rises together with the lifting body 41 is detected by the upper light projector 53 as the height of the lifting body 41.

[0055] The aforementioned memory unit 16b stores data on the contact height TT, which is known as the height (height from the reference height position HT0) of the lifting body 41 when the upper surface of the substrate KB contacts the fixed clamper 35. Note that this contact height TT is stored here as a relative height from the reference height position. When the substrate KB is normally pressed against the fixed clamper 35 by the movable clamper 34 rising together with the lifting body 41, the stop height ΔTK detected by the height detection unit 63 coincides with the contact height TT stored in the memory unit 16b.

[0056] 3, the control unit 16 includes a timer 16e. The timer 16e measures the time that has elapsed since the lifting body 41 started to rise from the standby position. The control unit 16 determines that the lifting body 41 has stopped rising (the lifting body 41 can no longer be pushed up any further) when the elapsed time measured by the timer 16e exceeds the aforementioned cylinder operation time stored in the memory unit 16b.

[0057] When the stopping height ΔTK is detected by the height detection unit 63 as described above, the determination unit 16f (FIG. 3) included in the control unit 16 compares the detected stopping height ΔTK with the contact height TT, which is known data stored in the memory unit 16b. Then, based on whether the stopping height ΔTK is smaller than the contact height TT, it is determined whether the substrate KB has contacted the fixed clamper 35. Note that the stopping height ΔTK detected when the substrate KB is normally clamped by the movable clamper 34 and the fixed clamper 35 may be used as the contact height TT.

[0058] Specifically, when the stopping height ΔTK is not smaller (the same) as the contact height TT, the determination unit 16f determines that the substrate KB is in contact with the fixed clamper 35. On the other hand, when the stopping height ΔTK is smaller than the contact height TT, the determination unit 16f determines that the substrate KB is not in contact with the fixed clamper 35. Note that the data of the contact height TT used in this determination is data of the contact height TT corresponding to the thickness TH of the substrate KB to be clamped.

[0059] In FIG. 3, the control unit 16 includes a notification control unit 16g. When the determination unit 16f determines that the stopping height ΔTK is smaller than the contact height TT, the notification control unit 16g determines that an abnormality has occurred in the clamping process of the board KB. Then, the notification control unit 16g notifies the operator OP of the error through a notification means 70 (FIG. 3) provided in the component mounting device 3. Examples of the notification means include a display device such as a touch panel, a buzzer, a lamp, and the like. On the other hand, when the determination unit 16f determines that the stopping height ΔTK is not smaller (the same) than the contact height TT, the notification control unit 16g determines that no abnormality has occurred in the clamping process of the board KB, and does not particularly notify. Note that, when determining the stopping height ΔTK relative to the contact height TT, the allowable value of the difference of the stopping height ΔTK relative to the contact height TT can be set arbitrarily.

[0060] 14(a), an abnormality occurs in the process of clamping the substrate KB when, for example, a foreign object IB is present between the lifting body 41 and the base member 31. As described above, the lifting body 41 normally does not come into contact with the lower end of the base member 31 from the time it starts to rise from the standby position until it finishes clamping the substrate KB, regardless of the thickness TH of the substrate KB, and the rise of the lifting body 41 is not restricted except by the upper surface of the substrate KB coming into contact with the fixed clamper 35.

[0061] However, as described above, when there is a foreign object IB between the lifting body 41 and the base member 31 and the vertical dimension SP of the foreign object IB has a certain size, the foreign object IB on the lifting body 41 comes into contact with the lower end 31T of the base member 31 before the upper surface of the substrate KB comes into contact with the fixed clamper 35 (FIG. 14(b)). This prevents the lifting body 41 from rising, and the lifting body 41 reaches its operating limit (a state in which the substrate KB cannot be moved any further upward) without the upper surface of the substrate KB coming into contact with the fixed clamper 35, so that clamping of the substrate KB remains incomplete. Moreover, depending on the vertical dimension SP of the foreign object IB, the upper horizontal inspection light L2 of the upper projector 53 is blocked by the dog 51, so that a situation may arise in which it is determined that clamping of the substrate KB has been completed normally, even though the substrate KB is not actually clamped.

[0062] For this reason, in this embodiment, as described above, when the lifting body 41 is raised by the lifting cylinder 44, the stopping height ΔTK, which is the height of the lifting body 41 from the reference height position HT0 when the lifting of the lifting body 41 is stopped (when the lifting cylinder 44 has reached its operating limit), is detected by the height detection unit 63, and the detected stopping height ΔTK is compared with the contact height TT, which is known data stored in the memory unit 16b, and the judgment unit 16f judges whether the substrate KB has contacted the fixed clamper 35 or not.

[0063] Next, the operation of holding the substrate KB (substrate holding method) by the substrate transport and holding part 12 will be described with reference to the flow chart in Fig. 15. In the operation of positioning the substrate KB, first, from a state in which the lifting body 41 is located at the standby position, the pair of transport belts 33 are caused to travel to carry in the substrate KB and position it at the working position (step ST1).

[0064] After the substrate KB is positioned at the work position, the lift cylinder 44 is operated to start lifting the lift body 41, and the timer 16e starts timing (step ST2). Then, based on whether the upper horizontal inspection light L2 projected by the upper light projector 53 switches from a non-shielded state to a shading state, it is determined whether the lift body 41 has reached the reference height position HT0 (step ST3). Then, if it is determined that the lift body 41 has reached the reference height position HT0, the height detector 63 detects the height (first height TK1) of the lift body 41 (step ST4).

[0065] After detecting the height (first height TK1) of the lifting body 41 when it reaches the reference height position HT0, it is determined whether the operation time of the lifting cylinder 44 has exceeded a predetermined cylinder operation time based on the time measured by the timer 16e (step ST5). If it is determined that the operation time of the lifting cylinder 44 has exceeded the cylinder operation time, the operation of the lifting cylinder 44 is stopped, and the timer 16e is terminated (step ST6), and the height detection unit 63 detects the height (second height TK2) of the lifting body 41 when the operation of the lifting cylinder 44 has stopped (step ST7).

[0066] After detecting the height (second height TK2) of the lift body 41 when the operation of the lift cylinder 44 is stopped, the stop height ΔTK (=TK2-TK1), which is the height of the lift body 41 when the lift is stopped (the amount of upward displacement from the reference height position HT0), is detected (calculated) (step ST8, stop height detection step).Then, the detected stop height ΔTK is compared with the contact height TT stored in the memory unit 16b, and it is determined whether the substrate KB has contacted the fixed clamper 35 or not based on whether the stop height ΔTK is smaller than the contact height TT (step ST9, determination step).

[0067] If it is determined in step ST9 that the board KB is not in contact with the fixed clamper 35, it is determined that an abnormality has occurred in the process of clamping the board KB, and an error is notified to the operator OP through the notification means 70 (step ST10, notification process), and the component mounting operation is interrupted (step ST11).On the other hand, if it is determined in step ST9 that the board KB is in contact with the fixed clamper 35, it is determined that no abnormality has occurred in the process of clamping the board KB, and the series of board holding operations is terminated.

[0068] As described above, the component mounting device 3 in this embodiment is equipped with a height detection unit 63 that detects the height of the lifting body 41, a memory unit 16b that stores data on the contact height TT, which is known as the height of the lifting body 41 when the upper surface of the substrate KB contacts the fixed clamper 35, and a judgment unit 16f that compares the stop height ΔTK, which is the height of the lifting body 41 detected by the height detection unit 63 when the lifting of the lifting body 41 has stopped, with the contact height TT to judge whether the substrate KB has contacted the fixed clamper 35.

[0069] In addition, in this embodiment, the method of holding the substrate when the upward movement has stopped is to detect the height of the lifting body 41 as a stopping height ΔTK by the height detection unit 63 (stopping height detection process), and to compare the detected height of the lifting body 41 (stopping height ΔTK) with a contact height TT, which is known as the height of the lifting body 41 when the upper surface of the substrate KB abuts against the fixed clamper 35, and to determine whether the substrate KB has abutted against the fixed clamper 35 by the judgment unit 16f (judgment process).

[0070] Therefore, according to the component mounting device 3 (substrate holding method) of this embodiment, if it is determined that the substrate KB is not in contact with the fixed clamper 35, an error notification is issued via the notification means 70 (notification process), thereby alerting the operator OP, and the abnormality that occurred when clamping the substrate KB can be eliminated, and the substrate KB can be securely clamped before the component mounting operation can be performed.

[0071] 16 shows a modified example (reference numeral 63A) of the height detection unit 63 provided in the component mounting device 3. The height detection unit 63A according to the modified example includes a mark member 81, a mark inspection light projector 82, and a counting unit 83. The mark member 81 includes a plurality of marks (here, slits) 81M arranged at equal intervals in the vertical direction, is attached to the lower surface of the lifting body 41, and moves up and down integrally with the lifting body 41. The mark inspection light projector 82 projects mark inspection light LT in the horizontal direction. The counting unit 83 is provided in the control unit 16, and counts the number of marks 81M that cross the mark inspection light LT as the lifting body 41 rises.

[0072] In the height detection unit 63A according to the modified example, the mark inspection light LT is projected horizontally at the height of the reference height position HT0, as in the above-mentioned upper projector 53. The control unit 16 detects the height of the lifting body based on the known height at which the mark inspection light LT is projected and the number of marks 81M counted by the counting unit 83. For this reason, for example, as shown in FIG. 16, when the height at which the mark inspection light LT is projected is HT1, the interval between adjacent marks 81M is ΔHT, and the counting unit 83 counts N marks 81M that cross the mark inspection light LT after the lifting body 41 reaches the position of height HT1, the height SKT of the lifting body 41 from the position of height HT1 can be calculated as SKT=HT1+ΔHT×N. The mark member 81 may be configured such that the mark 81M is formed on the dog 51. Also, the mark 81M does not have to be a slit, and in that case, the mark inspection light LT will read the mark as an image, or the like.

[0073] As described above, the component mounting device 3 in this embodiment includes the lifting body 41 that moves up and down below the substrate KB located at a predetermined position, the movable clamper 34 that is pushed up by the rising lifting body 41 and lifts the substrate KB located at a predetermined position, and the fixed clamper 35 that is located above the movable clamper 34 and against which the upper surface of the substrate KB lifted by the movable clamper 34 abuts, and further includes a height detection unit 63 that detects the height of the lifting body 41, and a memory unit 16b that stores data on a contact height TT that is known as the height of the lifting body 41 when the upper surface of the substrate KB abuts against the fixed clamper 35. Then, the stop height ΔTK, which is the height of the lifting body 41 detected by the height detection unit 63 when the rise of the lifting body 41 is stopped, is compared with the abutment height TT to determine whether the substrate KB abuts against the fixed clamper 35. Based on the result of this judgment, if an abnormality occurs during the clamping process of the substrate KB, this can be detected, and the abnormal state that has occurred can be resolved by issuing an error notification to the operator OP, etc. Therefore, according to this embodiment, it is possible to prevent the substrate mounting operation from being performed in a state in which the substrate KB is not properly held.

[0074] Although the embodiment of the present invention has been described so far, the present invention is not limited to the above, and various modifications are possible. For example, in the above embodiment, the height detection unit 63 detects the height of the lifting body 41 as the height from the reference height position HT0 set at a position higher than the standby position, but it may be detected as the height from the standby position (equivalent to setting the reference height position HT0 to the standby position). In addition, the height detection unit 63 may detect the height of the lifting body 41 using other detection tools, such as a linear scale extending in the vertical direction.

[0075] In addition, in the above-described embodiment, the memory unit 16b for storing data on the known contact height TT and the judgment unit 16f for judging whether the substrate KB has contacted the fixed clamper 35 are provided in the component mounting device 3 (more specifically, the control unit 16 of the component mounting device 3), but the memory unit 16b and the judgment unit 16f may be provided in the control unit of a device other than the component mounting device 3 of the component mounting system 1. [Industrial Applicability]

[0076] Provided are a component mounting device, a component mounting system, and a substrate holding method that can prevent substrate mounting work from being performed in a state where the substrate is not normally held. [Explanation of symbols]

[0077] 1. Parts mounting system 3. Parts mounting equipment 12 Substrate transport holder 16b Storage section 16c Lifting body position determination unit 16d Height calculation section 16e Timer 16f Judgment section 16g Notification control section 22 Transport Conveyor 34 Movable clamper (movable side member) 35 Fixed clamper (fixed side member) 41 Lifting body 43 Support pin 44 Lifting cylinder 51 Height detection dog (dog) 52 Lower floodlight 53 Upper light emitter (dog detection section) 54 Lifting body position detection unit 61 Reflective material 62 Vertical inspection light emitter / receiver 62a Light projector 62b Light receiving section 63,63A Height detection unit 81 Marking material 81M mark 82 Mark inspection light projector 83 Counting section TH Thickness L1 Lower horizontal inspection light L2 Upper horizontal inspection light L3 Vertical inspection light LT Mark Inspection Light HT0 Reference height position TK1 1st Height TK2 2nd Height ΔTK Stop height TT Contact height BH Parts IB foreign body SP Vertical dimension KB board

Claims

1. A component mounting device that mounts components on a substrate, a lifting body that moves up and down below the substrate located at a predetermined position; a movable member that is pushed up by the ascending lift body and lifts up the substrate positioned at the predetermined position; a fixed-side member that is positioned above the movable-side member and against which an upper surface of the substrate lifted by the movable-side member comes into contact; A height detection unit that detects the height of the lifting body; a storage unit that stores data on a contact height, which is a known height of the lifting body when the upper surface of the substrate contacts the fixed member; a determination unit that determines whether or not the board has come into contact with the fixed-side member by comparing a stop height, which is the height of the lifting body detected by the height detection unit when the lifting body stops rising, with the contact height; and A component mounting device comprising:

2. 2. The component mounting device according to claim 1, wherein the height detection unit includes a reflective member that rises and falls integrally with the lifting body, a light-projecting unit that projects vertical inspection light along the vertical direction, and a light-receiving unit that receives the vertical inspection light projected from the light-projecting unit and reflected by the reflective member and returning, and detects the height of the lifting body based on an angle of the vertical inspection light projected by the light-projecting unit and reflected by the reflective member and returning to the light-receiving unit.

3. 2. The component mounting device according to claim 1, further comprising: a dog which rises and falls integrally with the lifting body; and a dog detection unit which detects the dog when the lifting body is located at a predetermined reference height position, wherein the height detection unit detects an amount of upward displacement of the lifting body from a time when the dog which rises together with the lifting body is detected by the dog detection unit as a height of the lifting body, and the abutment height is a relative height from the reference height position.

4. 2. The component mounting device of claim 1, wherein the height detection unit comprises: a mark member having a plurality of marks arranged at equal intervals in the vertical direction and which rises and falls integrally with the lifting body; a mark inspection light projector which projects mark inspection light in a direction along the horizontal direction; and a counting unit which counts the number of marks which cross the mark inspection light as the lifting body rises, and detects the height of the lifting body based on a known height at which the mark inspection light is projected and the number of marks counted by the counting unit.

5. 5. The component mounting device according to claim 4, wherein the mark is a slit.

6. 2. The component mounting device according to claim 1, wherein the data on the contact height is stored in the storage unit for each thickness of the board.

7. 2. The component mounting device according to claim 1, further comprising a notification unit that notifies an error when the determination unit determines that the stopping height is smaller than the contact height.

8. A component mounting system for mounting components on a substrate, comprising: a lifting body that moves up and down below the substrate located at a predetermined position; a movable member that is pushed up by the ascending lift body and lifts up the substrate positioned at the predetermined position; a fixed-side member that is positioned above the movable-side member and against which an upper surface of the substrate lifted by the movable-side member comes into contact; A height detection unit that detects the height of the lifting body; a storage unit that stores data on a contact height, which is a known height of the lifting body when the upper surface of the substrate contacts the fixed member; a determination unit that determines whether or not the board has come into contact with the fixed-side member by comparing a stop height, which is the height of the lifting body detected by the height detection unit when the lifting body stops rising, with the contact height; and A component mounting system equipped with

9. 9. The component mounting system according to claim 8, further comprising a notification means for notifying an error when the determination unit determines that the stopping height is smaller than the contact height.

10. A substrate holding method comprising: lifting a lifting body from below a substrate located at a predetermined position; and holding the substrate by bringing an upper surface of the substrate, which is lifted by a movable member pushed up by the lifting body, into contact with a fixed member, the method comprising the steps of: a stop height detection step of detecting a stop height, which is the height of the lift body when the lifting is stopped; a determination step of comparing the stop height detected in the stop height detection step with a contact height, which is a known height of the lifting body when the upper surface of the substrate contacts the fixed member, to determine whether or not the substrate has contacted the fixed member; The substrate holding method includes:

11. 11. The substrate holding method according to claim 10, further comprising a notifying step of notifying an error when it is determined in the determining step that the substrate is not in contact with the fixed member.

Images