Component holding device

Abstract

To provide a component holding device that has a compact structure and is capable of reducing the load applied to an electronic component.SOLUTION: A control holding part 42 supports a connecting member 31 without allowing relative movement of the connecting member 31 and a component holding part with respect to the control holding part 42 in a retreat direction D2, when a force smaller than a pressing set value acts on the connecting member 31 in the retreat direction D2. On the other hand, when a force equal to or greater than the pressing set value acts on the connecting member 31 in the retreat direction D2, the control holding part 42 allows relative movement of the connecting member 31 and the component holding part with respect to the control holding part 42 in the retreat direction D2, and the connecting member 31 moves in the retreat direction D2 relative to the control holding part 42, together with the component holding part, against magnetic force.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a component holding device that holds an electronic component. [Background technology]

[0002] BACKGROUND ART Electronic components used in various equipment such as semiconductor devices are lifted from or placed on a mounting surface by a component holding device such as a pickup device in various situations such as manufacturing processes, inspection processes, packaging processes, and transportation processes.

[0003] The component holder contacts the target electronic component, applies a load to the electronic component, holds the electronic component, and then lifts the electronic component. Therefore, various configurations have been proposed to limit the load on the electronic component so that the component holder does not apply an excessive load to the electronic component. For example, it is possible to reduce the load on the electronic component by using a spring or a voice coil motor (VCM) to absorb part of the load on the electronic component.

[0004] Patent Document 1 discloses an electronic component holder that uses a thrust force output from a voice coil motor to press a suction nozzle against an electronic component and suck it up. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] International Publication No. 2012 / 073282 Summary of the Invention [Problem to be solved by the invention]

[0006] An object of the present disclosure is to provide a component holder that has a compact configuration and is capable of reducing the load applied to electronic components. [Means for solving the problem]

[0007] One aspect of the present disclosure relates to a component holding device that lifts or releases electronic components, the component holding device comprising: a load control unit having a component holding unit configured to hold an electronic component being pressed against it, a connection member connected to the component holding unit, and a control holding unit that supports the connection member via magnetic force; and a pickup movement drive unit that supports the connection member via the control holding unit and moves the component holding unit together with the connection member and control holding unit so as to press the connection member in an advance direction against the electronic component, wherein when a force less than a set pressure value acts on the connection member in a retraction direction opposite to the advance direction, the control holding unit supports the connection member without allowing relative movement of the connection member and the component holding unit relative to the control holding unit in the retraction direction; and when a force equal to or greater than the set pressure value acts on the connection member in the retraction direction, the control holding unit allows relative movement of the connection member and the component holding unit in the retraction direction relative to the control holding unit, and the connection member moves together with the component holding unit in the retraction direction relative to the control holding unit against the magnetic force.

[0008] The component holding device may include a holding and movement support unit that movably supports multiple component holding units and sequentially positions the multiple component holding units at processing positions, and the pickup movement drive unit may selectively move the component holding units positioned at the processing positions in a forward direction.

[0009] The connecting member has a support extension portion that extends in the forward direction and is connected to the component holding portion at one end, and a magnetic force action portion that receives magnetic force from the control holding portion acting in the forward direction, and the magnetic force action portion may receive magnetic force via a spacer interposed between the magnetic force action portion and the control holding portion.

[0010] The component holding device may include a temperature adjusting unit that adjusts the temperature of the control holding unit.

[0011] The component holding device may be equipped with a current control unit that controls the current flowing through the control holding unit using a PWM method, and the magnitude of the magnetic force may be variable depending on the magnitude of the current flowing through the control holding unit.

[0012] The pickup movement drive unit may have a power generating unit and a lifting extension unit that moves up and down in the lifting direction in accordance with the power output from the power generating unit, the control holder is attached to the lifting extension unit and moves up and down in the lifting direction together with the lifting extension unit, and the connecting member may have a protrusion that extends in the lifting direction so as to penetrate the control holder unit and protrudes from the control holder unit at one end, and an overlapping unit that is connected to the other end of the protrusion and extends so as to overlap with the control holder unit in the lifting direction on the opposite side to the component holder unit via the control holder unit, the overlapping unit being supported by the control holder unit via magnetic force and attached to the lifting extension unit via the control holder unit. [Effects of the Invention]

[0013] According to the present disclosure, it is possible to provide a component holder that has a compact configuration and is capable of reducing the load applied to electronic components. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a diagram for explaining the load that an electronic component receives from a suction nozzle of a pickup device. [Figure 2] FIG. 2 is a diagram for explaining the load that an electronic component receives from a suction nozzle of a pickup device. [Figure 3] FIG. 3 is a diagram for explaining the load that an electronic component receives from the suction nozzle of the pickup device. [Figure 4] FIG. 4 is a side external view showing an example of a pickup device. [Figure 5] FIG. 5 is an enlarged cross-sectional view showing an example of a load control section of the pickup device. [Figure 6] FIG. 6 is a functional block diagram showing an example of the control configuration of the pickup device. [Figure 7] Figure 7 is a graph showing an example of the relationship between the voltage (volts; vertical axis) applied to an electric wire wound around the magnetic material of the control and hold unit when a current is passed through the wire and the load (grams; horizontal axis) corresponding to the magnetic force exerted by the control and hold unit. [Figure 8]FIG. 8 is a graph showing an example of control using the PWM method. [Figure 9] FIG. 9 is a flowchart showing an example of a method for lifting an electronic component by a pickup device. [Figure 10] FIG. 10 is a flowchart showing an example of a method for lifting an electronic component by a pickup device. [Figure 11] FIG. 11 is a flowchart showing an example of a method for releasing an electronic component from a release device (particularly, a suction nozzle). [Figure 12] FIG. 12 is a flowchart showing an example of a method for releasing an electronic component from a release device (particularly, a suction nozzle). DETAILED DESCRIPTION OF THE INVENTION

[0015] In the following description, unless otherwise specified, directional expressions such as "up," "down," "left," and "right" are merely based on the state shown in the corresponding drawing, and do not limit the actual orientation of each element.

[0016] 1 to 3 are diagrams for explaining the load that an electronic component W receives from a suction nozzle 11 of a pickup device (component holding device) 10. FIG.

[0017] In order to lift the electronic component W on the placement surface 80 by the suction nozzle 11 of the pickup device 10, the suction nozzle 11 descends to a descending position toward the electronic component W, and then ascends while suctioning the electronic component W.

[0018] When the lowering position is predetermined, if the electronic component W has the expected thickness as shown in FIG. 1, the suction nozzle 11 will not apply excessive load to the electronic component W. However, if the electronic component W has a thickness greater than expected as shown in FIG. 2, the electronic component W may be subjected to excessive load from the suction nozzle 11.

[0019] Furthermore, as shown in FIG. 3, if an electronic component W that should normally be accommodated in the accommodation recess 81a of the accommodation case 81 climbs up onto the accommodation step 81b of the accommodation case 81, the electronic component W may be subjected to an excessive load from the suction nozzle 11.

[0020] In this way, when the electronic component W is lifted by the pickup device 10 and placed on the placement surface 80 by the pickup device 10, an excessive load may be applied to the electronic component W due to various factors.

[0021] On the other hand, the component holding device (pickup device 10 and release device) of this embodiment described below effectively prevents the electronic component W from being subjected to excessive load from the component holding device when the electronic component W is lifted from the mounting surface 80 and when it is placed on the mounting surface 80.

[0022] Fig. 4 is a side external view showing an example of a pickup device (component holding device) 10. Fig. 5 is an enlarged cross-sectional view showing an example of a load control unit 13 of the pickup device 10. Fig. 6 is a functional block diagram showing an example of the control configuration of the pickup device 10.

[0023] The pickup device 10 shown in FIG. 4 includes a pickup movement driver 12 and a load controller 13 in addition to a suction nozzle (component holder) 11.

[0024] 1 to 3, the suction nozzle 11 shown in Fig. 4 is provided so as to be able to move up and down under the control of the control unit 50, and is configured to hold an electronic component that is pressed against it, and also to release (release) the held electronic component. Specifically, when the suction nozzle 11 holds an electronic component, the suction portion of the suction nozzle 11 is evacuated, and the electronic component is vacuum-sucked by the suction portion. On the other hand, when releasing an electronic component from the suction nozzle 11, the suction portion of the suction nozzle 11 is adjusted to a pressure equal to or higher than atmospheric pressure, and the electronic component is released from the vacuum suction by the suction portion.

[0025] 4, a holding, moving, and supporting unit 14 (in this example, a disk-shaped rotary conveying table) movably supports a plurality of suction nozzles 11, and sequentially positions the plurality of suction nozzles 11 at processing positions (for example, a pick-up position P or a release position (not shown)). Specifically, a plurality of suction nozzles 11 are attached at equal intervals (equal angular intervals) on the outer periphery of the holding, moving, and supporting unit 14, and as the holding, moving, and supporting unit 14 intermittently rotates its axis under the control of the control unit 50, one suction nozzle 11 is intermittently positioned at each of the pick-up position P and the release position. Therefore, each suction nozzle 11 moves horizontally in a circular motion around the rotation axis of the holding, moving, and supporting unit 14.

[0026] The holding, moving, and supporting part 14 is penetrated by a nozzle connecting extension part 61 that extends in the lifting and lowering direction (height direction) D. The nozzle connecting extension part 61 also penetrates a connecting support part 62 that is fixedly attached to the upper surface of the holding, moving, and supporting part 14, and can move up and down in the lifting and lowering direction D without being restricted by the holding, moving, and supporting part 14 and the connecting support part 62.

[0027] A nozzle connection end member 60 is fixedly attached to the upper end of the nozzle connection extension portion 61, and the suction nozzle 11 is fixedly attached to the lower end of the nozzle connection extension portion 61 via a nozzle support member 64. The nozzle connection extension portion 61 moves up and down integrally with the nozzle connection end member 60, which is provided above the holding / moving support portion 14, and the nozzle support member 64 and suction nozzle 11, which are provided below the holding / moving support portion 14.

[0028] The nozzle connection extension 61 extends to penetrate through a connection spring 63 provided between the nozzle connection end member 60 and the connection support member 62, and supports the connection spring 63. The connection spring 63 is formed of a compression spring, and applies an upward force (retraction direction D2) to the nozzle connection end member 60 (i.e., an elastic force acting in a direction away from the connection support member 62), and therefore applies an upward force (retraction direction D2) to the nozzle connection extension 61, the nozzle support member 64, and the suction nozzle 11.

[0029] The set of the above-mentioned nozzle connection end member 60, nozzle connection extension portion 61, connection support portion 62, connection spring 63 and nozzle support member 64 is provided for each suction nozzle 11 and moves integrally with the assigned suction nozzle 11 in accordance with the axial rotation of the holding, moving support portion 14.

[0030] The pickup movement drive unit 12 functions as an elevation drive means for raising and lowering the suction nozzle 11. That is, as will be described later, the pickup movement drive unit 12 supports the connecting member (plunger) 31 via the control holding unit 42 (see FIG. 5 ) of the load control unit 13, and moves the suction nozzle 11 together with the control holding unit 42 and the connecting member 31 along the elevation direction D so as to press the suction nozzle 11 against the electronic component in the forward direction D1.

[0031] The pickup movement drive unit 12 of this embodiment selectively moves the suction nozzle 11 positioned at the pickup position P in the forward direction D1. That is, only the suction nozzle 11 positioned at the pickup position P is moved in the forward direction D1 by the pickup movement drive unit 12 from the transport height position (see the height position of the suction nozzle 11 shown in FIG. 4) to the lowered position (see the height position of the suction nozzle 11 shown in FIGS. 1 to 3).

[0032] The pickup movement driving unit 12 has a power generating unit 21 and an elevation extending unit 22 that moves up and down along an elevation direction D (advance direction D1 and retreat direction D2) in response to the power output from the power generating unit 21.

[0033] The power generating unit 21 in this example includes a motor (e.g., a servo motor) that is fixedly supported by the fixed block 24 and driven under the control of the control unit 50 (see FIG. 6 ), and the axial rotation of the output shaft of the motor rotates the lifting / lowering drive cam 25 attached to the output shaft. As the lifting / lowering drive cam 25 rotates, a lifting / lowering cam follower 26 that is provided so as to come into contact with the lifting / lowering drive cam 25 moves in the lifting / lowering direction D. The lifting / lowering cam follower 26 is supported by the fixed block 24 so as to be able to move freely in the lifting / lowering direction D, and can move up and down without being hindered in its movement in the lifting / lowering direction D by the fixed block 24.

[0034] The control method of the power generating unit 21 by the control unit 50 is not limited. The control unit 50 may control the power generating unit 21 by, for example, a position control method or a speed control method so as to operate the power generating unit 21 (output shaft) at high speed. The control unit 50 may also control the power generating unit 21 by combining a torque control method with a position control method or a speed control method.

[0035] An elevation drive shaft 27 extending in an elevation direction D (particularly, a forward direction D1 (downward in FIG. 4)) is attached to the elevation cam follower 26. The elevation drive shaft 27 extends downward from the elevation cam follower 26, passes through a support extension 29 fixedly supported by the fixed block 24, and is attached to the load control section 13 (particularly, the casing 41).

[0036] The lifting / lowering drive shaft 27 extends to pass through the lifting / lowering drive spring 28 provided between the lifting / lowering cam follower portion 26 and the support extension portion 29, and supports the lifting / lowering drive spring 28. The lifting / lowering drive spring 28 is formed of a compression spring, and applies an upward force to the lifting / lowering cam follower portion 26 (i.e., an elastic force acting in a direction away from the support extension portion 29), pressing the lifting / lowering cam follower portion 26 against the lifting / lowering drive cam 25.

[0037] In the pickup movement drive unit 12 having the above-described configuration, when the power generating unit 21 rotates the lift drive cam 25, the lift drive shaft 27 moves in the lift direction D together with the lift cam follower 26, and as a result, the load control unit 13 (casing 41, etc.) attached to the lift drive shaft 27 also moves in the lift direction D. Although the lift drive shaft 27 passes through the support extension 29, it is not basically subjected to any force in the lift direction D from the support extension 29. Therefore, the lift drive shaft 27 can move up and down in the lift direction D without being restricted by the support extension 29.

[0038] The load control unit 13 is provided separately from the pickup movement drive unit 12 (lifting drive means), and functions as a load control means for controlling the load acting from the suction nozzle 11 on the electronic component on the placement surface.

[0039] As shown in FIG. 5, the load control unit 13 of this example has a connection member 31 connected to the suction nozzle 11, and a control holding unit 42 that supports the connection member 31 via magnetic force.

[0040] The connecting member 31 has a protruding portion 31a and an overlapping portion 31b. The protruding portion 31a functions as a support extension portion extending in the lifting direction D (including the forward direction D1 and the retreating direction D2) so as to penetrate the control holder 42. That is, the protruding portion 31a protrudes from one end side (the lower end side in FIG. 5) of the control holder 42, and is connected to the suction nozzle 11 via the connecting end member 35, the nozzle connecting end member 60, the nozzle connecting extension portion 61, and the nozzle support member 64, as shown in FIG.

[0041] The overlapping portion 31b is connected to the other end of the protruding portion 31a (the upper end in FIG. 5), and is arranged on the opposite side of the connecting end member 35 via the control holder 42 (and therefore on the opposite side of the suction nozzle 11 arranged at the pickup position P shown in FIG. 4), and extends so as to overlap with the control holder 42 in the lifting direction D. The overlapping portion 31b functions as a magnetic force acting portion that receives a magnetic force from the control holder 42 acting in the forward direction D1, and is supported by the control holder 42 via the magnetic force, and is attached to the lifting drive shaft 27 of the lifting extension portion 22 via the control holder 42 and the casing 41.

[0042] A spacer 43 is interposed between the overlapping portion 31b and the control hold portion 42, and the overlapping portion 31b does not come into direct contact with the control hold portion 42, but receives magnetic force from the control hold portion 42 via the spacer 43. The thinner the spacer 43 (i.e., the smaller the gap between the overlapping portion 31b and the control hold portion 42), the smaller the distance between the overlapping portion 31b and the control hold portion 42, and the stronger the magnetic force that the overlapping portion 31b receives from the control hold portion 42.

[0043] The control hold unit 42 is fixedly supported so as to be partially surrounded by the casing 41, is attached to the lift drive shaft 27 of the lift extension unit 22 via the casing 41, and moves up and down together with the lift drive shaft 27 and the casing 41. In this embodiment, the control hold unit 42 is configured as an electromagnet (holding electromagnet), and the magnitude of the magnetic force exerted by the control hold unit 42 is variable depending on the magnitude of the current flowing through the control hold unit 42. The current flowing through the control hold unit 42 is provided by and controlled by the current flow control unit 51 of the control unit 50, as shown in FIG. 6 .

[0044] 7 is a graph showing an example of the relationship between the voltage (volts; vertical axis) applied to the electric wire wound around the magnetic material of the control and hold unit 42 and the load (grams; horizontal axis) corresponding to the magnetic force exerted by the control and hold unit 42 when a current is passed through the electric wire. Here, the "load corresponding to the magnetic force exerted by the control and hold unit 42" refers to the minimum upward load (in the retraction direction D2) acting on the connecting member 31 (and thus the upward load acting on the suction nozzle 11 located at the pickup position P) required for the overlapping portion 31b to move upward (in the retraction direction D2) against the magnetic force from the control and hold unit 42. As is clear from FIG. 7, the larger the current passed through the control and hold unit 42, the larger the voltage and the larger the magnetic force exerted by the control and hold unit 42.

[0045] The current flowing through the control hold unit 42 is controlled by the control unit 50 (particularly the energization control unit 51) using any method (for example, PWM (Pulse Width Modulation) method). FIG. 8 is a graph showing an example of control using the PWM method. The horizontal axis of FIG. 8 represents time, with time passing toward the right. The vertical axis of FIG. 8 represents the pulse voltage E of the PWM pulse command signal given to the control hold unit 42 from the energization control unit 51, and the electromagnetic force N exerted by the control hold unit 42. As is clear from FIG. 8, even when the control hold unit 42 is driven and controlled using the PWM method, a necessary and sufficient execution voltage can be applied to the control hold unit 42, and as a result, the control hold unit 42 can exert the desired electromagnetic force.

[0046] 5 are disposed inside the casing 41 in a space partitioned by the casing 41 and the control holder 42. In particular, when a large force acts on the suction nozzle 11 in an upward direction (retraction direction D2), the overlapping portion 31b moves relative to the control holder 42 and the spacer 43 in the lifting / lowering direction D (particularly, the retraction direction D2), as will be described later. Therefore, the internal space of the casing 41 in which the overlapping portion 31b is disposed has a size sufficient to allow such relative movement of the overlapping portion 31b (particularly, a size sufficient in the height direction).

[0047] A temperature sensor 44 and a temperature adjustment unit 45 (e.g., a Peltier element (Peltier cooler)) are attached to the casing 41. Under the control of a control unit 50 (particularly a temperature control unit 52) ​​shown in FIG. 6, the temperature sensor 44 measures the temperature of the control holding unit 42, and the temperature adjustment unit 45 adjusts the temperature of the control holding unit 42 based on the measurement result by the temperature sensor 44. That is, the temperature (measurement result) of the control holding unit 42 measured by the temperature sensor 44 is transmitted from the temperature sensor 44 to the temperature control unit 52, a temperature adjustment control signal based on the measurement result is provided from the temperature control unit 52 to the temperature adjustment unit 45, and the temperature adjustment unit 45 adjusts the temperature of the control holding unit 42 based on the temperature adjustment control signal.

[0048] 5 directly measures the temperature of the casing 41, but also measures the temperature of the control and hold unit 42 via the casing 41. Therefore, it is preferable that the casing 41 be made of a material with excellent heat conductivity, and that the temperature of the casing 41 change sensitively in response to temperature changes in the control and hold unit 42. The temperature adjustment unit 45 may also adjust the temperature of the control and hold unit 42 via the casing 41, but from the perspective of thermal efficiency, it is preferable that the temperature adjustment unit 45 be in direct contact with the control and hold unit 42 as shown in FIG. 5 and directly adjust the temperature of the control and hold unit 42 (for example, cool the control and hold unit 42).

[0049] 4, in the above-described pickup device 10, the lifting drive shaft 27 and the connecting member 31 (particularly the protrusion 31a) extend along the same straight line extending in the lifting direction D as the nozzle connecting extension 61 provided for the suction nozzle 11 positioned at the pickup position P. The lifting drive shaft 27 and the connecting member 31 (particularly the protrusion 31a) are positioned on the same straight line extending in the lifting direction D as the suction nozzle 11 positioned at the pickup position P and the corresponding nozzle connecting extension 61.

[0050] In the pickup device 10 having the above-described configuration, the control holding unit 42 shown in FIG. 5 behaves as follows.

[0051] In other words, when a force less than the pressure setting value acts on the connecting member 31 in the retraction direction D2 opposite to the forward direction D1, the control holder 42 supports the connecting member 31 without allowing the connecting member 31 and the suction nozzle 11 to move relative to the control holder 42 in the retraction direction D2.

[0052] On the other hand, when a force equal to or greater than the pressure setting value acts on the connecting member 31 in the retraction direction D2, the control holder 42 allows the connecting member 31 and the suction nozzle 11 to move in the retraction direction D2 relative to the control holder 42. As a result, the connecting member 31 resists the magnetic force from the control holder 42 and moves together with the suction nozzle 11 in the retraction direction D2 relative to the control holder 42, preventing excessive load from being applied from the suction nozzle 11 to the electronic component.

[0053] The above-mentioned "pressure setting value" is determined based on the magnitude of the magnetic force that the control hold unit 42 exerts on the connecting member 31 (particularly the overlapping portion 31b), and is determined based on the magnitude of the force that the connecting member 31 (overlapping portion 31b) receives in the forward direction D1 from the control hold unit 42. Since the control hold unit 42 of this embodiment is configured as an electromagnet, the "pressure setting value" is variably adjusted by adjusting the value of the current flowing through the control hold unit 42 by the control unit 50 (particularly the current flow control unit 51 (see FIG. 6)).

[0054] Note that the connecting springs 36 and the connecting springs 63 are interposed between the control holder 42 and the suction nozzles 11 (see FIG. 4 ), and the aforementioned "pressure setting value" may also vary depending on the elasticity of the connecting springs 36 and the connecting springs 63. In particular, there may be variations in the elasticity of the connecting springs 63 provided for each of the suction nozzles 11. The current control unit 51 adjusts the value of the current passed through the control holder 42 according to each suction nozzle 11 arranged at the pickup position P (i.e., according to each connecting spring 63), thereby absorbing variations in the elasticity of the connecting springs 63. Therefore, by setting an optimal value for the current passed through the control holder 42 for each suction nozzle 11 in accordance with variations in the elasticity of the corresponding connecting springs 63, it is possible to set a uniform pressure setting value (i.e., a uniform allowable load) for all suction nozzles 11.

[0055] The pressure setting value determines the maximum downward load (forward direction D1) that the electronic component receives from the suction nozzle 11 when the suction nozzle 11 lifts the electronic component from the placement surface or places the electronic component on the placement surface. When a load of a magnitude equal to or greater than the "maximum value of the downward load (forward direction D1) determined based on the pressure setting value" acts on the electronic component from the suction nozzle 11, the connection member 31 moves in the retraction direction D2 against the magnetic force from the control holding unit 42. As a result, the electronic component can be prevented from receiving a load from the suction nozzle 11 of a magnitude equal to or greater than the maximum value of the load in the forward direction D1 determined based on the pressure setting value, thereby reducing damage to the electronic component.

[0056] As described above, in the pickup device 10 of this embodiment, the control holding unit 42 and the connecting member (plunger) 31 cooperate with each other to function as a load limiter, effectively preventing the application of a load exceeding the set pressure value to the electronic component.

[0057] Next, an exemplary method for lifting and releasing an electronic component performed by the pickup device 10 (particularly the suction nozzle 11) of this embodiment will be described. The method for lifting and releasing an electronic component described below is performed by the control unit 50 appropriately controlling various elements.

[0058] 9 and 10 are flowcharts showing an example of a method for lifting up an electronic component by the pickup device 10. In particular, an example of a processing flow from after the suction nozzle 11 is positioned at the pickup position P by the holding, moving, and supporting unit 14 until the suction nozzle 11 is moved from the pickup position P by the holding, moving, and supporting unit 14 is shown in FIGS.

[0059] In this example, first, the control unit 50 (particularly the temperature control unit 52) ​​determines whether or not temperature adjustment of the control holding unit 42 is necessary based on the measurement result of the temperature sensor 44 (S1 in FIG. 9). If it is determined that temperature adjustment of the control holding unit 42 is necessary (Y in S1), the temperature adjustment unit 45 adjusts the temperature of the control holding unit 42 under the control of the temperature control unit 52 (S2).

[0060] Thereafter, a pressing load limit is set based on the characteristics (e.g., elasticity) of the connecting spring 63 assigned to the suction nozzle 11 arranged at the pickup position P. That is, the control unit 50 causes a current having a magnitude (current value) necessary to achieve a desired "pressure setting value" corresponding to the pressing load limit to flow to the control holding unit 42 (S3). As a result, the connecting member 31 (particularly the overlapping portion 31b) is supported by the control holding unit 42 while receiving from the control holding unit 42 a magnetic force having a magnitude corresponding to the desired "pressure setting value" and acting in the forward direction D1.

[0061] Thereafter, under the control of the control unit 50, the power generating unit 21 starts to be driven, and the suction nozzle 11 moves in the forward direction D1 (S4). That is, as the lifting / lowering drive cam 25 is rotated, the lifting / lowering cam follower 26, the lifting / lowering drive shaft 27, the casing 41, the control holder 42, the connection member 31, and the connection end member 35 move downward, and the nozzle connecting end member 60 is pushed in the forward direction D1 by the connection end member 35, so that the nozzle connecting extension 61, the nozzle support member 64, and the suction nozzle 11 also move downward.

[0062] In this way, while the suction nozzle 11 is descending from the transport height position (see FIG. 4) to the descended position (see FIGS. 1 to 3), if a load equal to or greater than the pressing load limit acts on the suction nozzle 11 (and thus on the connection member 31) (Y in S5), the suction nozzle 11 and the connection member 31 move relative to the control holder 42 in the retraction direction D2 (S6). As a result, the suction nozzle 11 is prevented from applying an excessive load to the electronic component. This event continues until the suction nozzle 11 reaches the descended position, which is the end of its descending stroke (N in S7).

[0063] In addition, a sensor (not shown) may be provided to directly or indirectly measure the load on the connecting member 31, and if such a sensor detects that a load greater than the pressing load limit has been applied to the connecting member 31, an alarm may be issued to the operator from an alarm device (not shown) under the control of the control unit 50.

[0064] When the suction nozzle 11 reaches the lowering stroke end (lowered position) (Y in S7), the driving of the power generating unit 21 is stopped, and the suction nozzle 11 is stopped intermittently at the desired lowered position (S8).

[0065] Thereafter, suction by the suction nozzle 11 is started under the control of the control unit 50 (S9 in FIG. 10), and active suction by the suction nozzle 11 is continued until the suction nozzle 11 picks up an electronic component (N in S10). Note that whether the suction nozzle 11 is picking up an electronic component can be confirmed by any method, and as one example, the control unit 50 may confirm this based on the magnitude of the suction force (suction pressure) of the suction nozzle 11 measured by a pressure sensor (not shown).

[0066] When it is confirmed that an electronic component is being picked up by the suction nozzle 11 (Y in S10), the driving of the power generating unit 21 is started while the suction nozzle 11 is picking up an electronic component, and the suction nozzle 11 together with the electronic component is raised in the retraction direction D2 from the lowered position toward the transport height position (S11). The suction nozzle 11 continues to rise in this manner until it reaches the transport height position, which is the end of its lifting stroke (N in S12). When the suction nozzle 11 reaches the transport height position (end of its lifting stroke) (Y in S12), the driving of the power generating unit 21 is stopped (S13).

[0067] By performing the above-described series of processes (S1 to S13), electronic components on the placement surface are lifted up by the suction nozzle 11, which is intermittently stopped at the pickup position P. As described above, the suction nozzle 11 is successively positioned at the pickup position P by the holding, moving, and supporting unit 14, so the pickup device 10 performs the above-described series of processes (S1 to S13) every time the suction nozzle 11 is newly positioned at the pickup position P.

[0068] 11 and 12 are flowcharts showing an example of a method for releasing an electronic component from a release device (particularly, the suction nozzle 11). In particular, an example of a processing flow from after the suction nozzle 11 is positioned at a release position (not shown) by the holding, moving, and supporting unit 14 until the suction nozzle 11 is moved from the release position by the holding, moving, and supporting unit 14 is shown in FIGS.

[0069] At the release position, a release device (not shown) having a configuration similar to that of the above-described pickup device 10 (see FIGS. 4 to 6) installed at the pickup position P is installed, and the release device is used to release the electronic component from the suction nozzle 11. In the description of this release device, elements that are the same as or correspond to those of the above-described pickup device 10 are given the same reference numerals, and detailed description thereof will be omitted.

[0070] In this example, similar to the lifting method described above, it is determined whether or not temperature adjustment of the control holding unit 42 is necessary based on the measurement results of the temperature sensor 44 (S21 in FIG. 11), and if it is determined that temperature adjustment of the control holding unit 42 is necessary (Y in S21), the temperature adjustment unit 45 adjusts the temperature of the control holding unit 42 (S22).

[0071] Thereafter, a pressing load limit is set based on the characteristics (e.g., elasticity) of the connecting spring 63 assigned to the suction nozzle 11 placed in the release position, and a current having a magnitude (current value) required to achieve the desired "pressure setting value" is passed through the control holding unit 42 (S23).

[0072] Thereafter, the power generating unit 21 starts to be driven, and the suction nozzle 11, which is suction-holding the electronic component, moves downward in the forward direction D1 together with the electronic component (S24). If a load equal to or greater than the pressing load limit acts on the connection member 31 while the suction nozzle 11 is descending from the transport height position (see FIG. 4) to the descended position (see FIGS. 1 to 3) (Y in S25), the connection member 31 moves in the retraction direction D2 relative to the control holding unit 42 (S26). This event continues until the suction nozzle 11 reaches the descended position, which is the end of its descending stroke (N in S27). Note that if a sensor (not shown) that directly or indirectly measures the load on the connection member 31 detects that a load equal to or greater than the pressing load limit has acted on the connection member 31, an alarm device (not shown) may issue an alarm.

[0073] When the suction nozzle 11 reaches the lowering stroke end (lowered position) (Y in S27), the driving of the power generating unit 21 is stopped, and the suction nozzle 11 is intermittently stopped at the lowered position (S28).

[0074] Thereafter, under the control of the control unit 50, suction by the suction nozzle 11 is stopped (S29 in FIG. 12), and the air pressure at the suction part of the suction nozzle 11 continues to increase (N in S30) until the air pressure at the suction part of the suction nozzle 11 becomes equal to or higher than atmospheric pressure and the suction nozzle 11 stops suctioning the electronic component. Note that whether the suction nozzle 11 has stopped suctioning the electronic component can be confirmed by any method, and as one example, the control unit 50 may confirm this based on the magnitude of the suction force (suction pressure) of the suction nozzle 11 measured by a pressure sensor (not shown).

[0075] When it is confirmed that the suction nozzle 11 has stopped suctioning an electronic component (Y in S30), the power generating unit 21 starts to be driven without the suction nozzle 11 holding an electronic component, and the suction nozzle 11 is raised in the retraction direction D2 from the lowered position toward the transport height position (S31). This raising of the suction nozzle 11 is performed without the suction nozzle 11 holding an electronic component, and continues until the suction nozzle 11 reaches the transport height position, which is the end of its upward stroke (N in S32). Then, when the suction nozzle 11 reaches the transport height position (end of its upward stroke) (Y in S32), the driving of the power generating unit 21 is stopped (S33).

[0076] By carrying out the above-mentioned series of processes (S21 to S33), the electronic component is released from the suction nozzle 11 that is intermittently stopped at the release position. The suction nozzle 11 that is holding the electronic component by suction is successively positioned at the release position by the holding, moving, and supporting unit 14, so the pickup device 10 carries out the above-mentioned series of processes (S21 to S33) every time the suction nozzle 11 is newly positioned at the release position.

[0077] As described above, in the component holding device (pickup device 10 and release device) of this embodiment, the pickup movement drive unit 12 raises and lowers the suction nozzle 11, while the load control unit 13 controls the load acting on the electronic component from the suction nozzle 11. That is, when the magnitude of the load acting on the electronic component from the suction nozzle 11 is equal to or greater than the limit value (pressure setting value), the reaction force acts on the connection member 31 in the retraction direction D2 via the suction nozzle 11, causing the connection member 31 to move in the retraction direction D2 relative to the control holding unit (holding electromagnet) 42. Such relative movement of the connection member 31 in the retraction direction D2 (and thus the relative movement of the suction nozzle 11 in the retraction direction D2) absorbs part of the load on the electronic component, reducing the load acting on the electronic component from the suction nozzle 11 and preventing excessive load from being applied to the electronic component. In this way, when the force in the retraction direction D2 transmitted from the electronic component to the connecting member 31 via the suction nozzle 11 is large, the connecting member 31, which receives magnetic force from the control holding unit 42, moves in the retraction direction D2, thereby preventing excessive load from being applied to the electronic component from the suction nozzle 11.

[0078] Furthermore, the pickup device 10 and the release device of this embodiment have a simple configuration, so they can be made compact and are advantageous in terms of weight reduction.

[0079] Furthermore, compared to a component holding device that uses a sensor to monitor the load acting on the electronic component from the suction nozzle 11 and performs operations to suppress damage to the electronic component as necessary, the pickup device 10 and release device of this embodiment, which have a load limiter configuration that utilizes magnetic force, can quickly and reliably reduce the load acting on the electronic component.

[0080] Generally, from the viewpoint of ensuring product quality, devices that inspect, sort, and transport electronic components are required to handle electronic components gently in order to reduce the load on the electronic components and minimize damage. On the other hand, from the viewpoint of improving productivity, devices that inspect, sort, and transport electronic components are required to operate various devices at high speed and perform processing using electronic components at high speed. In particular, in recent years, there has been a growing demand for devices that can achieve both "soft handling of electronic components" and "high-speed operation of various devices" at a high level.

[0081] According to the pickup device 10 and release device of this embodiment, it is possible to achieve both "soft handling of electronic components" and "high-speed operation of various devices" at a high level with a compact device configuration as described above.

[0082] Although it is possible to prevent excessive load from being applied to electronic components using a configuration based on a different principle from the pickup device 10 and release device of the present embodiment, there are the following problems.

[0083] For example, a combination of mechanical elements (e.g., mechanical cams) provided separately from the power generating unit 21 can also prevent excessive loads from being applied from the suction nozzle to electronic components. In this case, the magnitude of the load acting on the electronic component from the suction nozzle can be adjusted by adjusting the torque of the power output from the power generating unit 21 (e.g., a servo motor). However, when the power generating unit 21 is controlled based on such a torque command method, the lifting and lowering operation of the suction nozzle tends to be slower than with the position command method or the speed command method, resulting in reduced processing capacity. Furthermore, a combination of mechanical elements often converts the rotational power output from the motor shaft into linear power using a cam function. In this case, however, it is difficult to set a low load or fine-tune the low load, and the operation of the suction nozzle is likely to become unstable in the low torque range.

[0084] Furthermore, a configuration that utilizes a spring and / or air cylinder provided separately from the power generating unit 21 can also prevent excessive load from being applied to the electronic component from the suction nozzle. In this case, the suction nozzle 11 is raised and lowered by the power output from the power generating unit 21, and if a large load is applied to the electronic component, the spring and / or air cylinder absorbs part of the load, reducing damage to the electronic component. When a spring and / or air cylinder is combined with the power generating unit 21 in this way, the spring and / or air cylinder cannot be easily replaced, and therefore the allowable load applied to the electronic component from the suction nozzle cannot be easily changed. Furthermore, air cylinders often have poor operational responsiveness and are unsuitable for component holding devices that require high-speed processing performance.

[0085] It is also possible to prevent excessive load from being applied to the electronic component from the suction nozzle by using a configuration that uses a voice coil motor (VCM) that is provided separately from the power generating unit 21. In this case, the suction nozzle 11 is raised and lowered by the power output from the power generating unit 21, and if a large load is applied to the electronic component, the voice coil motor absorbs part of the load, reducing damage to the electronic component.

[0086] However, when using a voice coil motor, in order to obtain a sufficient thrust while ensuring a sufficient adjustment range of the load control amount, the overall size of the voice coil motor, including the yoke and coil, must be large, making it unsuitable for miniaturization of the device configuration. On the other hand, when a small load setting is required, the voice coil motor's coil forms the load-side axis, so the weight of the coil is included in the load acting on the electronic components, making load adjustment difficult. Such a configuration using a voice coil motor is large in size and requires heavy moving parts such as a moving coil or moving magnet, resulting in poor responsiveness and high costs.

[0087] On the other hand, unlike a voice coil motor, the control and hold unit (electromagnet) 42 of the pickup device 10 and release device of this embodiment has no moving parts and is therefore highly responsive. Furthermore, by using a larger magnetic material for the control and hold unit 42, it is possible to generate a stronger magnetic force than a voice coil motor of the same size. Therefore, the pickup device 10 and release device of this embodiment are advantageous for miniaturization and weight reduction, enabling space-saving designs and reduced manufacturing costs. Furthermore, by controlling the amount of current flowing through the control and hold unit 42 to adjust the magnitude of the magnetic force generated by the control and hold unit 42, a wide range of load settings can be achieved. Furthermore, the electromagnet can apply a stronger suction force to a target the closer the distance from the magnetic surface. By utilizing these electromagnet characteristics, the control and hold unit 42 can hold the connecting member 31 (and thus the suction nozzle 11) with sufficient force to attract and hold the electronic component while preventing excessive load from being applied to the electronic component.

[0088] As described above, the pickup device 10 and release device of this embodiment are capable of causing the suction nozzle 11 to perform stable high-speed operation, and are capable of flexible load control, making it possible to accommodate a wide range of electronic components.

[0089] Furthermore, by interposing a spacer 43 between the control holder 42 and the connecting member 31 (particularly the overlapping portion 31b) and ensuring a gap (distance) between the control holder 42 and the overlapping portion 31b, residual magnetism in the overlapping portion 31b can be suppressed. As a result, the load applied to the electronic component from the suction nozzle 11 can be stably controlled over a long period of time.

[0090] Furthermore, by monitoring the temperature of the control holding unit 42 with the temperature sensor 44 and adjusting it as necessary with the temperature adjustment unit 45, the performance of the control holding unit 42 can be stabilized, and the load applied to the electronic component from the suction nozzle 11 can be stably controlled.

[0091] Furthermore, by controlling the current flowing through the control holding unit 42 using the PWM method, power loss can be reduced, allowing the control holding unit 42 to operate energy efficiently, while stably controlling the load applied to the electronic component from the suction nozzle 11.

[0092] It should be noted that the embodiments and modifications disclosed in this specification are merely illustrative in all respects and should not be construed as limiting. The above-described embodiments and modifications may be omitted, substituted, and modified in various ways without departing from the scope and spirit of the appended claims. For example, the above-described embodiments and modifications may be combined in whole or in part, and embodiments other than those described above may be combined with the above-described embodiments or modifications. Furthermore, the effects of the present disclosure described in this specification are merely illustrative, and other effects may be obtained.

[0093] The technical category that embodies the above technical idea is not limited. For example, the above technical idea may be embodied by a computer program that causes a computer to execute one or more procedures (steps) included in a method of manufacturing or using the above device. The above technical idea may also be embodied by a computer-readable non-transitory recording medium on which such a computer program is recorded. [Explanation of symbols]

[0094] 10 Pickup device, 11 Suction nozzle, 12 Pickup movement drive unit, 13 Load control unit, 14 Holding movement support unit, 21 Power generation unit, 22 Lifting extension unit, 24 Fixed block, 25 Lifting drive cam, 26 Lifting cam follower unit, 27 Lifting drive shaft, 28 Lifting drive spring, 29 Support extension unit, 31 Connecting member, 31a Protrusion, 31b Overlapping portion, 35 Connecting end member, 36 Connecting spring, 41 Casing, 42 Control holding unit, 43 Spacer, 44 Temperature sensor, 45 Temperature adjustment unit, 50 Control unit, 51 Electrical supply control unit, 52 Temperature control unit, 60 Nozzle connecting end member, 61 Nozzle connecting extension unit, 62 Connecting support unit, 63 Connecting spring, 64 Nozzle support member, 80 Placement surface, 81 Storage case, 81a Storage recess, 81b Storage step, D lifting direction, D1 forward direction, D2 retreat direction, P pick-up position, W electronic parts

Claims

1. A component holding device that performs at least one of lifting an electronic component and releasing the electronic component, a component holder configured to hold the electronic component to be pressed against the component; a load control unit including a connection member connected to the component holding unit and a control holding unit that supports the connection member via magnetic force; a pickup movement driving unit that supports the connection member via the control holding unit and moves the component holding unit together with the connection member and the control holding unit so as to press the component holding unit against the electronic component in an advance direction, The control holding unit When a force less than a pressing force setting value acts on the connecting member in a retraction direction opposite to the forward direction, the connecting member is supported without allowing relative movement of the connecting member and the component holding portion in the retraction direction with respect to the control holding portion, when a force equal to or greater than the pressing force setting value acts on the connecting member in the retraction direction, the connecting member and the component holding unit are allowed to move relative to the control holding unit in the retraction direction, and the connecting member moves together with the component holding unit in the retraction direction relative to the control holding unit against the magnetic force. Parts holding device.

2. a holding / moving support section that movably supports the plurality of component holders and sequentially positions the plurality of component holders at processing positions; the pickup movement drive unit selectively moves the component holder positioned at the processing position in the forward direction; 2. The component holding device according to claim 1.

3. the connecting member has a support extension portion that extends in the forward direction and is connected at one end side to the component holding portion, and a magnetic force application portion that receives the magnetic force from the control holding portion that acts in the forward direction, the magnetic force application unit receives the magnetic force via a spacer interposed between the magnetic force application unit and the control holding unit; 3. The component holding device according to claim 1 or 2.

4. a temperature adjusting unit that adjusts the temperature of the control holding unit; 3. The component holding device according to claim 1 or 2.

5. a current control unit that controls the current flowing through the control holding unit by a PWM method; The magnitude of the magnetic force is variable depending on the magnitude of the current flowing in the control holding unit.

3. The component holding device according to claim 1 or 2.

6. the pickup movement driving unit includes a power generating unit and an elevation extending unit that moves up and down along an elevation direction in response to power output from the power generating unit, the control holder is attached to the lift extension and moves up and down together with the lift extension in the lift direction; The connecting member has a protruding portion that extends in the lifting direction so as to penetrate the control holder and protrudes from the control holder at one end, and an overlapping portion that is connected to the other end of the protruding portion and extends to overlap with the control holder in the lifting direction on the side opposite to the component holder via the control holder, the overlapping portion being supported by the control holder via the magnetic force and attached to the lifting extension portion via the control holder.

3. The component holding device according to claim 1 or 2.

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