Workpiece holding device, component supply device, and workpiece holding method

Abstract

To stably attach a component to a workpiece.SOLUTION: A workpiece holding device 910 includes a workpiece securing section 915 that secures a workpiece 900 having an attachment surface to which a component 901 is to be attached, a moving section 970 that moves the workpiece securing section 915 with the attachment surface facing downward, and a control section 990 that controls movement of the workpiece securing section 915, wherein the control section 990 causes the moving section 970 to move the workpiece securing section 915 during an attachment process of attaching the component 901 to the attachment surface.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present disclosure relates to a workpiece holding device, a component supply device, and a workpiece holding method. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there have been component supply devices that supply components by jumping them. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 11-216696 [Patent Document 2] Japanese Patent Application Laid-Open No. 2010-050470 Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional component supply devices are unable to stably attach components to a workpiece.

[0005] In an embodiment of the present disclosure, it is desired to be able to stably attach parts to a workpiece. [Means for solving the problem]

[0006] The workpiece holding device of the present disclosure is a workpiece fixing portion for fixing the workpiece; a moving unit that moves the workpiece fixing unit; a control unit that controls the movement of the workpiece fastening unit by the moving unit; Equipped with The control unit causes the moving unit to move the workpiece fixing unit during an attachment process for attaching a component to the workpiece. [Effects of the Invention]

[0007] According to the present disclosure, by moving the workpiece fixing part by the moving part during the part attachment process, the part can be stably attached to the workpiece. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view of a vertical vibration device 100 and a workpiece holding device 910 according to the first embodiment. [Figure 2] 2 is a cross-sectional view taken along line AA of the vertical vibration device 100 and the workpiece holding device 910 according to the first embodiment. FIG. [Figure 3] 8 is a BB cross-sectional view of the up-and-down vibration device 100 and the workpiece holding device 910 according to the first embodiment. FIG. [Figure 4] FIG. 2 is a diagram showing a workpiece 900 according to the first embodiment. [Figure 5] FIG. 2 is a flowchart showing a workpiece holding method and a component supply method according to the first embodiment. [Figure 6] 10A and 10B are diagrams illustrating the operation of the lifting unit 950 according to the first embodiment. [Figure 7] 10A and 10B are diagrams illustrating the operation of a rotating unit 920 according to the first embodiment. [Figure 8] 10A and 10B are diagrams illustrating the operation of a displacement section 930 according to the first embodiment. [Figure 9] 10A and 10B are diagrams illustrating the operation of the inclined portion 940 according to the first embodiment. [Figure 10] 10A and 10B are diagrams illustrating the operation of the hitting section 980 of the first embodiment. [Figure 11] FIG. 9 is a diagram showing a workpiece 900 and a part 901 according to the first embodiment. [Figure 12] FIG. 10 is a flowchart showing a workpiece holding method and a component supply method according to the second embodiment. [Figure 13] FIG. 10 is a perspective view of the vertical vibration device 100 and the workpiece holding device 910 according to the third embodiment. [Figure 14] FIG. 10 is a front view of the vertical vibration device 100 and the workpiece holding device 910 according to the fourth embodiment. [Figure 15] FIG. 10 is a diagram showing a part reservoir 91 covered with a workpiece 900 according to a fifth embodiment. [Figure 16]13 is a diagram showing a part reservoir 91 covered with a cover 916 according to a fifth embodiment. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] Embodiment 1 FIG. 1 is a perspective view of the component supply device 200. As shown in FIG. FIG. 2 is a front view of the component supply device 200. As shown in FIG. FIG. 3 is a side view of the component supply device 200. As shown in FIG. In the figure, X indicates the left-right direction. In the figure, Y indicates the front-rear direction. In the figure, Z indicates the up and down direction. The XY plane is a horizontal plane. Z is the vertical axis.

[0010] <<<Configuration of component supply device 200>>> The component supply device 200 has a vertical vibration device 100 that makes the component 901 jump, and a workpiece holding device 910 that holds the workpiece 900 . The component supply device 200 is a device that jumps a component 901 and attaches the component 901 to a workpiece 900 .

[0011] <<<Configuration of the vertical vibration device 100>>> The vertical vibration device 100 includes a plate 20 and a frame 90 . The vertical vibration device 100 vibrates the plate 20 up and down in the YZ plane, and vibrates the plate 20 up and down in a standing wave manner in the XZ plane.

[0012] <<<Explanation of Plate 20>>> The plate 20 has a rectangular plate shape in a plan view. The plate 20 is preferably made of a material that allows sound waves to pass through it easily, preferably metal. The material of the plate 20 is preferably aluminum, titanium, or stainless steel. Plate 20 is preferably rectangular, preferably square.

[0013] <<<Explanation of box 90>>> The frame 90 is a fence or wall fixed to the surface 21 of the plate 20 . The frame 90 has a square or rectangular shape in plan view. The frame 90 is fixed to the surface 21 of the plate 20 along all four sides thereof. The frame 90 exposes the surface 21 of the plate 20 at the bottom surface 95 . The frame 90 is formed of four hexahedral rod-shaped or plate-shaped wall panels. As shown in FIG. 2, the wall panels of the frame 90 are provided inside the plate 20 and spaced apart from the outer periphery of the plate 20 in the front-rear and left-right directions.

[0014] <<<Explanation of Parts Storage 91>>> The parts reservoir 91 is formed by the inner surface of the frame 90 and the surface 21 of the plate 20 . The parts reservoir 91 is a hexahedral space with an open top. The parts storage 91 is a place where a plurality of parts 901 are stored. The part storage 91 is a place where the part 901 is jumped. The area of ​​the parts reservoir 91 is sufficiently larger than the area of ​​the workpiece 900 in plan view. The horizontal length of the component storage 91 is at least twice the length of the workpiece 900 in at least one or both of the X and Y directions.

[0015] <<<Explanation of Part 901>>> A large number of parts 901 are stored in a parts storage 91 . The component 901 jumps only in the vertical direction in the component storage 91 as the plate 20 vibrates only in the vertical direction. The part 901 is in the form of a sphere, a granule, or a powder. A suitable example of the component 901 is a solder ball or a metal ball.

[0016] <<<Features of the vertical vibration device 100>>> The up-and-down vibration device 100 makes the part 901 jump. The frame 90 forms a parts reservoir 91 for storing parts 901 . The size of the component reservoir 91 in plan view is smaller than the size of the plate 20.

[0017] The up-and-down vibrating device 100 vibrates the plate 20 by a vibrating device (not shown). A vibration device (not shown) generates traveling waves 60 of the same frequency, wavelength and amplitude at multiple locations on the periphery of the plate 20 simultaneously, causing the plate 20 to vibrate up and down.

[0018] The up-and-down vibration device 100 jumps the component 901 so that the component 901 contacts the adhesive 902 and adheres the component 901 to the lower surface of the workpiece 900 .

[0019] <<<Explanation of Work 900>>> As shown in FIG. 4, the workpiece 900 is a rectangular plate. The workpiece 900 is a flat circuit board on which an electric circuit is formed. A plurality of electrodes 903 are formed and arranged on the surface of the workpiece 900 . The surface of the workpiece 900 is flat and has no irregularities. A conductive adhesive 902 is printed on an electrode 903 of a workpiece 900 by a screen printing device. The workpiece 900 is a metal plate such as a copper plate, an iron plate, or an aluminum plate, a ceramic plate, a substrate, a resin plate, a glass plate, or the like. A suitable example of the workpiece 900 is a printed wiring board or a semiconductor wafer on which an electric circuit has already been formed. The workpiece 900 may be an arrangement board for arranging the parts 901 . Suitable examples of the conductive adhesive 902 include soldering flux, solder paste, or a conductive adhesive. The length of the workpiece 900 in the X and Y directions is defined as L. The length of the arrangement of the adhesive 902 (electrodes 903) in the X and Y directions is defined as M. The distance between the adhesive 902 (electrodes 903) in the X and Y directions is defined as N.

[0020] <<<Configuration of workpiece holding device 910>>> The workpiece holding device 910 holds a workpiece 900 having an adhesive 902 applied to the underside thereof. The workpiece holding device 910 positions the workpiece 900 at a height that is less than the jump height of the part 901 . The workpiece holding device 910 is a device that holds the workpiece 900 . The workpiece holding device 910 is a device that holds the part 901 on the workpiece 900 . The workpiece holding device 910 holds the workpiece 900 with the surface of the workpiece 900 with the adhesive 902 facing downward.

[0021] <<<Explanation of the work holding device 910>>> The workpiece holding device 910 has a workpiece fixing unit 915 , a moving unit 970 , and a control unit 990 .

[0022] <Workpiece fixing part 915> The workpiece fixing portion 915 fixes the workpiece 900 having an attachment surface to which the component 901 is attached. The workpiece fixing portion 915 fixes the workpiece 900 in a detachable manner. The workpiece fixing portion 915 fixes the workpiece 900 by suction or adsorption. The workpiece fixing unit 915 is a flat fixing device that fixes the upper surface of the workpiece 900 . The workpiece fixing unit 915 may be a suction cup fixing device that fixes the workpiece 900 with a suction cup.

[0023] <Mobile Unit 970> The moving part 970 moves the workpiece fixing part 915 with the attachment surface facing downward. The moving section 970 includes a rotating section 920 , a displacement section 930 , an inclining section 940 , an elevating section 950 , and a transport section 960 . The control unit 990 controls the movement unit 970 to control the movement of the workpiece fastening unit 915 .

[0024] <Rotating part 920> The rotating part 920 rotates the workpiece fixing part 915 while keeping the workpiece 900 horizontal. The rotating unit 920 rotates the workpiece fixing unit 915 to thereby rotate the workpiece 900 . The rotating unit 920 changes the relative position of the workpiece 900 with respect to the part reservoir 91 in the rotational direction. The rotating unit 920 has a vertical rotation axis (Z axis) and rotates around the rotation axis (Z axis). The rotating unit 920 rotates the workpiece 900 by aligning the center of the workpiece 900 with the rotation axis (Z axis). The rotating unit 920 rotates the workpiece 900 while keeping the attachment surface of the workpiece 900 horizontal. The rotating part 920 can rotate the workpiece 900 in forward and reverse directions. The rotating unit 920 can continuously rotate the workpiece 900 in the same direction. The control unit 990 rotates and moves the workpiece fixing unit 915 by the rotating unit 920 while holding the workpiece 900 horizontally.

[0025] <Displacement section 930> The displacement unit 930 changes the position of the workpiece fixing unit 915 in the horizontal direction. The displacement unit 930 changes the position of the workpiece fixing unit 915 in two dimensions. The displacement unit 930 moves the rotation unit 920 and the workpiece fixing unit 915 to move the workpiece 900 . The displacement unit 930 changes the position of the workpiece 900 relative to the component reservoir 91 in the horizontal direction. The displacement unit 930 moves the workpiece 900 in the X and Y directions, and in both forward and reverse directions. The displacement unit 930 can simultaneously move the workpiece 900 in the X direction and the Y direction. The displacement unit 930 can move the workpiece 900 along an arbitrary trajectory. The displacement unit 930 moves the workpiece 900 while keeping the attachment surface of the workpiece 900 horizontal. The control unit 990 causes the displacement unit 930 to change the position of the workpiece fixing unit 915 in the horizontal direction while holding the workpiece 900 horizontally. The control unit 990 can operate the rotation unit 920 and the displacement unit 930 simultaneously.

[0026] <Slope part 940> The inclined portion 940 inclines the workpiece fixing portion 915 so that it is angled relative to the horizontal plane. The tilting section 940 tilts the displacement section 930, the rotation section 920, and the workpiece fixing section 915, thereby tilting the workpiece 900. The inclined portion 940 has a horizontal rotation axis (Y axis) and rotates around the rotation axis (Y axis). The tilting portion 940 tilts the workpiece 900 so that the attachment surface of the workpiece 900 intersects with the horizontal plane. The tilting portion 940 can tilt the workpiece 900 in the forward and reverse directions relative to the horizontal plane. The inclined portion 940 allows the workpiece 900 to rotate 360 ​​degrees. The control unit 990 tilts the workpiece fixing unit 915 using the tilting unit 940 .

[0027] <Lifting unit 950> The lifting unit 950 lifts and lowers the workpiece fixing unit 915 . The lifting unit 950 lifts and lowers the inclined unit 940, the displacement unit 930, the rotation unit 920, and the workpiece fixing unit 915, thereby lifting and lowering the workpiece 900. The lifting unit 950 changes the position of the workpiece 900 relative to the component storage 91 in the vertical direction. The lifting unit 950 lifts and lowers the workpiece 900 in the Z-axis direction. The lifting unit 950 can fix the workpiece 900 at any desired height. The control unit 990 causes the lifting unit 950 to lift and lower the workpiece 900 . The control unit 990 can simultaneously operate the rotation unit 920, the displacement unit 930, the tilt unit 940, the lifting unit 950, and the striking unit 980.

[0028] <Transport unit 960> The transport unit 960 transports the workpiece 900 . The transport unit 960 carries the workpiece 900 into the space above the vertical vibration device 100 . The transport unit 960 carries the workpiece 900 out from above the vertical vibration device 100. The transport unit 960 may have any configuration as long as it can transport the workpiece 900 in and out. The control unit 990 controls the transport unit 960 to carry the workpiece 900 in and out.

[0029] <Striking section 980> The workpiece holding device 910 is provided with a striking part 980 that is fixed to either the workpiece fixing part 915 or the moving part 970 and that generates an impact. The impact unit 980 applies impact to the workpiece 900 in the vertical direction. The striking part 980 particularly applies a downward impact to the workpiece 900 . The control unit 990 applies an impact to the workpiece 900 in the vertical direction using the impact unit 980 .

[0030] <Piston type vibrator> The striking section 980 has a vibrator that applies the impact. The striking section 980 vibrates the vibrator at an audible frequency (a frequency of 10 Hz or more and 800 Hz or less). The vibrator does not vibrate ultrasonically. The striking section 980 preferably uses a piston type vibrator. A piston vibrator is a vibrator that generates an impact by linear vibration. By using a piston type vibrator, it is possible to apply impacts to the workpiece 900 in the vertical direction.

[0031] <Knocker> The striking portion 980 may have a knocker that can strike. As the knocker of the striking section 980, an air type knocker capable of adjusting striking force by changing air pressure is suitable.

[0032] <Distributor 47> The striking portion 980 is fixed to the inclined portion 940 by the distributor 47 . The distributor 47 is an impact propagation plate that spreads and transmits impact over a wide range. The distributor 47 transmits the impact to the ramp portion 940 .

[0033] <Camera 985> The camera 985 is fixed to the plate 20 . The camera 985 may be movable. The camera 985 captures an image of the attachment surface of the workpiece 900 . The camera 985 may be located anywhere as long as it can capture an image of the attachment surface of the workpiece 900. The control unit 990 captures an image of the attachment surface of the workpiece 900 using the camera 985 and determines whether the attachment result is good or bad.

[0034] <Control unit 990> The control unit 990 controls the operation of the component supply device 200. The control unit 990 controls the operations of the vertical vibration device 100 and the workpiece holding device 910 . The control unit 990 includes a central processing unit and a program storage unit. The control unit 990 executes a program in the central processing unit and controls the operation of each of the above-mentioned units via signal lines (not shown).

[0035] <Horizontal movement> The control unit 990 controls the horizontal movement of the workpiece 900 during the attachment process of the component 901 . Horizontal movement means moving the workpiece 900 while keeping the lower surface (attachment surface) of the workpiece 900 horizontal. The horizontal movement includes rotating the workpiece 900 and displacing the workpiece 900 while keeping the lower surface (attachment surface) of the workpiece 900 horizontal.

[0036] <<<Explanation of the operation of the work holding device 910: Figure 5>>> FIG. 5 is a flowchart showing a workpiece holding method and a component supply method according to the first embodiment. FIG. 2 is a diagram showing the state immediately before the start of the operation shown in FIG. FIG. 2 shows a state in which the workpiece holding device 910 holds the workpiece 900 with the attachment surface facing downward. FIG. 2 shows a case where the workpiece 900 is transported above the part storage 91 by the transport unit 960.

[0037] The workpiece holding method and component supply method will be described below with reference to FIGS. The operation of each step described below is performed in response to instructions from the control unit 990. It is assumed that parts 901 are supplied to parts stock 91 and that there are a sufficient number of parts 901 in parts stock 91.

[0038] <Jump start step S11> The vertical vibration device 100 causes the parts 901 to jump in the parts storage 91. The up-and-down vibration device 100 vibrates the plate 20 up and down by generating traveling waves 60 of the same frequency, wavelength, and amplitude simultaneously at multiple locations on the outer periphery of the plate 20 using a vibration device (not shown) with the vibration direction relative to the surface 21 of the plate 20.

[0039] <Workpiece lowering step S12: Figure 6> The control unit 990 starts the adhesion process by starting the workpiece lowering step S12. As shown in FIG. 6, the workpiece holding device 910 holds the workpiece 900 with the adhesive surface coated with the adhesive 902 facing downward. The lifting unit 950 lowers the workpiece 900 toward the component storage 91 .

[0040] <Component attachment step S13> As shown in FIG. 6, the lifting unit 950 holds the workpiece 900 above the plate 20 for a certain period of time. The up-and-down vibration device 100 jumps the component 901 in the component storage 91 , causing the component 901 to adhere to the adhesive 902 , and the component 901 to adhere to the attachment surface of the workpiece 900 .

[0041] The component 901 adheres to the workpiece 900 solely due to the adhesive force of the adhesive 902 . The component supply device 200 does not attract the component 901 to the workpiece 900 by magnetic force. In the component supply device 200, the workpiece 900 does not have any suction holes for sucking the component 901, and the component 901 is not adsorbed to the workpiece 900 by suction force. The component supply device 200 does not acquire the component 901 through a mask.

[0042] The control unit 990 operates at least one of the lifting unit 950, the rotating unit 920, and the displacement unit 930 during the attachment process of attaching the component to the attachment surface.

[0043] <Elevator 950: Figure 6> As shown in FIG. 6, the lifting unit 950 moves the workpiece fixing unit 915 back and forth in the up and down direction during the attachment process of attaching the components to the attachment surface of the workpiece 900. The lifting unit 950 lifts and lowers the workpiece fixing unit 915 within the range of the height at which the part 901 jumps. The lifting unit 950 changes the vertical distance between the component storage 91 and the workpiece 900 within the range of the height at which the component 901 jumps in the component storage 91 . Specifically, if the component 901 jumps to a height of 5 mm from the surface 21 of the plate 20 (the bottom surface 95 of the component reservoir 91), the lifting unit 950 lifts and lowers the workpiece fixing unit 915 within a range of 5 mm. For example, the lifting unit 950 lifts and lowers the workpiece fixing unit 915 within a range from a minimum height of 2 mm to a maximum height of 4 mm. The lifting unit 950 may lift and lower the workpiece fixing unit 915 only once, or may lift and lower the workpiece fixing unit 915 multiple times. The lifting unit 950 may temporarily stop the lifting operation of the workpiece fastening unit 915 when the workpiece fastening unit 915 is at the minimum height or the maximum height, or may temporarily stop the lifting operation midway through the lifting operation. Not all parts 901 will jump to the planned 5 mm height, and not all parts 901 will jump to the same height uniformly. The lifting unit 950 lifts and lowers the workpiece 900, so that the part 901 that does not jump to the planned height and falls midway can be attached to the workpiece 900. The lifting unit 950 lifts and lowers the work 900 within the range of the height at which the part 901 jumps, so that the part 901 that does not jump to the planned height can be attached to the work 900, reducing the failure of the part 901 to be attached.

[0044] <Rotating section 920: Figure 7> As shown in Figure 7, during the attachment process of attaching parts to the attachment surface of the workpiece 900, the rotating unit 920 rotates the workpiece fixing unit 915 around a vertical rotation axis C, thereby moving the position of the workpiece fixing unit 915 horizontally. The rotating unit 920 may rotate the workpiece 900 by 90 degrees, by 360 degrees, or continuously. The rotating unit 920 may rotate the workpiece 900 forward and then reverse. By rotating the workpiece 900, even if there are areas in the component reservoir 91 where the components 901 are not uniformly distributed, the amount of component 901 that is not adhered due to the unevenness of the components 901 is reduced. Furthermore, the rotation of the workpiece 900 reduces the density of the jumping parts 901 due to the adhesion of the parts 901, thereby reducing the amount of parts 901 that are missing.

[0045] <Displacement section 930: Figure 8> As shown in FIG. 8, the displacement unit 930 moves the position of the workpiece fastening unit 915 in the horizontal direction by displacing it in the X direction or the Y direction during the attachment process of attaching the component to the attachment surface. The displacement unit 930 may move the workpiece 900 only in the X direction, only in the Y direction, or in both the X and Y directions. The displacement unit 930 may move the workpiece 900 back and forth, or may move the workpiece 900 in a rectangular, Z-shaped, or L-shaped manner. The displacement unit 930 may move the workpiece 900 along a straight line or a curved line. The displacement unit 930 moves the attachment surface of the workpiece 900 to a location in the component storage 91 where the number of components 901 has not decreased. By moving the workpiece 900, even if there are areas in the component storage 91 where the components 901 are not uniformly distributed, the amount of component 901 that is not adhered due to the unevenness of the components 901 is reduced. Furthermore, the movement of the workpiece 900 reduces the density of the jumping components 901 due to the attachment of the components 901, thereby reducing the amount of missing components 901.

[0046] <Specific example 1 of movement of displacement unit 930 in the X direction: FIG. 8> In FIG. 8, the length of the component reservoir 91 in the X direction is more than twice the length of the workpiece 900. FIG. 8 shows a case where the displacement unit 930 moves the workpiece fastening unit 915 to the right in the X direction. The displacement unit 930 moves the workpiece fixing unit 915 as follows. 1. Move the workpiece 900 to the right in the X direction by half the length L in the X direction. 2. Next, the workpiece 900 is moved to the left in the X direction by the length L in the X direction. 3. Next, the workpiece 900 is moved to the right in the X direction by half the length L in the X direction. In the above movements 1, 2 and 3, "the length L of the workpiece 900 in the X direction" may be replaced with "the length M of the arrangement of the adhesive 902 (electrodes 903) in the X direction." The displacement unit 930 moves the workpiece fixing unit 915 by at least twice the "length L of the workpiece 900 in the X direction" or the "length M of the arrangement of the adhesive 902 (electrodes 903) in the X direction."

[0047] <Specific Example 2 of Movement of Displacement Unit 930 in X Direction> The displacement unit 930 moves the workpiece fixing unit 915 as follows. 1. The adhesive 902 (electrode 903) is moved in the X direction by half the distance N in the X direction. 2. At the same time, the adhesive 902 (electrodes 903) is moved in the Y direction by half the distance N in the Y direction. The displacement unit 930 moves the workpiece fixing unit 915 by half the "distance N between the adhesives 902 (electrodes 903)."

[0048] <Work lifting step S14> As shown in FIG. 9, the lifting unit 950 lifts the workpiece 900 from the part storage 91 after a certain period of time has elapsed.

[0049] The control unit 990 operates one or both of the tilting unit 940 and the striking unit 980 after the attachment process of attaching the part to the attachment surface.

[0050] <Inclined portion 940: FIG. 9> As shown in FIG. 9, the inclined portion 940 rotates the workpiece fixing portion 915 around a horizontal rotation axis D. The tilting portion 940 may rotate the workpiece 900 by 90 degrees or by 360 degrees. The inclined portion 940 may rotate the workpiece 900 forward and then reverse. Due to the inclination of the workpiece 900, the parts 901 that have fallen onto the upper surface of the workpiece 900 can be returned to the part reservoir 91 by rolling them on the upper surface of the workpiece 900. Furthermore, by tilting the workpiece 900, components 901 that are attached to places where they should not be can be rolled on the attachment surface of the workpiece 900, and the components 901 can be returned to the component storage 91.

[0051] <Striking unit 980: Figure 10> As shown in FIG. 10, the striking section 980 generates a strike. The striking portion 980 strikes the inclined portion 940 and applies an impact in the vertical direction. The impact from the striking part 980 is transmitted to the inclined part 940 , the displacement part 930 , the rotating part 920 and the workpiece fixing part 915 , and impacts the workpiece 900 . Due to the impact on the workpiece 900, the parts 901 that have been placed on the upper surface of the workpiece 900 bounce off the upper surface of the workpiece 900, and the parts 901 can be returned to the parts storage 91. Furthermore, the impact on the workpiece 900 can cause the parts 901 attached to places where they should not be attached to fall off the attachment surface of the workpiece 900. The control unit 990 ends the adhesion process when the workpiece lifting step S14 ends.

[0052] <Inspection step S19: Figure 11> The control unit 990 causes the lifting unit 950 to lift the workpiece 900 . The control unit 990 causes the transport unit 960 to move the workpiece 900 to a position directly above the camera 985 .

[0053] The control unit 990 causes the camera 985 to capture an image of the bottom surface of the workpiece 900 . The control unit 990 analyzes the image of the bottom surface of the workpiece 900. FIG. 11(a) is an image captured by the camera 985. FIG. 11(b) is a side view of the workpiece 900 to which the component 901 is attached.

[0054] As shown in FIG. 11( b ), the workpiece 900 holds the component 901 on the bottom surface of the workpiece 900 only by the adhesive force of the adhesive 902 . If there is adhesive 902 to which no component 901 has adhered, such as adhesive 902x in FIG. 11(a), the control unit 990 returns to the workpiece lowering step 12 and repeats the component adhesion process again. If there is an extra part 901 attached, such as part 901x in FIG. 11(a), the control unit 990 returns to the workpiece lowering step 12 and repeats the part attachment process again.

[0055] <Repeated adhesion process> If the inspection result indicates that the adhesion process should be repeated, the transport unit 960 moves the workpiece 900 above the component storage 91. The control unit 990 executes the workpiece lowering step S12 and subsequent steps.

[0056] <Uniform density of part 901> During the execution of the inspection step S19, the components 901 in the component reservoir 91 can jump freely without colliding with the underside of the workpiece 900, and the density of the components 901 in the component reservoir 91 becomes uniform. The plate 20 continues to vibrate up and down due to the traveling wave 60 between the start of the workpiece lifting step S14 and the end of the workpiece lowering step S12. Therefore, even if the density of the components 901 is low in some areas of the component reservoir 91 due to adhesion of the components 901, the density of the components 901 becomes uniform due to the continuous vibration of the plate 20.

[0057] <Jump end step S18> The jumping of the part 901 by the up-and-down vibration device 100 is completed. The workpiece 900 is carried out by the transport unit 960.

[0058] <Repair processing> If there is adhesive 902 to which component 901 has not yet been attached even after repeated attachment processing, component 901 is attached using a repair device (not shown). If excess parts 901 remain even after repeated adhesion processes, they are removed by a repair device (not shown).

[0059] <Features of workpiece holding method> The workpiece holding method of the workpiece holding device 910 has the following features. The control unit 990 moves the workpiece fixing unit 915, which fixes the workpiece 900, above the component reservoir 91 from which the component 901 is supplied. The control unit 990 changes the relative position between the component storage 91 and the workpiece 900 by using at least one of the rotation unit 920, the displacement unit 930, and the lifting unit 950. By changing the relative positions of the component reservoir 91 and the workpiece 900, even if the density of the components 901 in the component reservoir 91 is uneven, it is possible to prevent the components 901 from leaking onto the workpiece 900.

[0060] <Change relative position> The relative positions of the parts storage 91 and the workpiece 900 are changed as follows. 1. The control unit 990 changes the vertical distance between the component reservoir 91 and the workpiece 900 within the range of the jump height of the component 901. 2. The control unit 990 changes the rotation angle between the component reservoir 91 and the workpiece 900 by the rotation unit 920 while keeping the component reservoir 91 and the workpiece 900 parallel to each other. 3. The control unit 990 changes the horizontal positions of the component reservoir 91 and the workpiece 900 by using the displacement unit 930 while keeping the component reservoir 91 and the workpiece 900 parallel to each other. 4. In order to make the density of the jumping components 901 in the component storage 91 uniform, the control unit 990 uses the lifting unit 950 to make the vertical distance between the component storage 91 and the workpiece 900 greater than the jumping height of the components 901.

[0061] <<<Advantages of First Embodiment>>> According to the first embodiment, the moving unit 970 changes the relative position between the component storage 91 and the workpiece 900, so that the component 901 can be attached to the workpiece 900 even if the density of the component 901 varies depending on the location of the component storage 91. According to the first embodiment, the workpiece 900 is tilted, so that the unnecessary parts 901 can be removed. According to the first embodiment, the workpiece 900 is struck, so that the unnecessary parts 901 can be removed.

[0062] <<<Example of changes>>> ● Change example 1. <Continuous jump of part 901> When a plurality of workpieces 900 are transported in succession, it is not necessary to perform the jump start step S11 and the jump end step S18 for each workpiece 900. The control unit 990 may cause the parts to jump continuously during the attachment process to the multiple workpieces 900.

[0063] ● Change example 2. <Shape of parts storage 91> The shape of component reservoir 91 formed by frame 90 in a plan view does not have to be rectangular. The shape of component reservoir 91 formed by frame 90 in a plan view may be hexagonal, octagonal, or circular.

[0064] ● Change example 3. <Time for up / down movement, rotational movement, and positional movement> The control unit 990 may fix the workpiece 900 in the first half of the component attachment step S13, and may move it up and down, rotate it, or move its position in the second half. The control unit 990 may perform vertical movement, rotational movement, or positional movement throughout the entire time of the component attachment step S13. In the component attaching step S13, the control unit 990 may perform two or more combinations of vertical movement, rotational movement, and positional movement simultaneously or sequentially.

[0065] ● Change example 4. <Timing and impact application> The control unit 990 may apply tilt or impact throughout the entire time of the workpiece lifting step S14. In the workpiece lifting step S14, the control unit 990 may apply tilt and impact simultaneously or sequentially. The control unit 990 may perform the tilting and impact application after the workpiece lifting step S14, rather than during the workpiece lifting step S14.

[0066] ● Change example 5. <Tilt, impact and rotation / position movement> In the workpiece lifting step S14, the workpiece may be rotated and moved in position in addition to being tilted and impacted. In the workpiece lifting step S14, rotational movement and positional movement may be performed instead of tilting and impact application. In the workpiece lifting step S14, if the workpiece 900 is rotated by the rotating part 920, the unnecessary parts 901 can be shaken off by centrifugal force. In the workpiece lifting step S14, if the displacement unit 930 moves the position of the workpiece 900, the unnecessary parts 901 can be shaken off by inertia.

[0067] ● Change example 6. <Installation of the striking part 980> A plurality of hitting sections 980 may be provided. When multiple striking units 980 are installed, it is desirable that they generate impacts simultaneously and with the same force. The striking portion 980 may be fixed to the workpiece fixing portion 915 , the rotating portion 920 , or the displacement portion 930 instead of the inclined portion 940 . The striking unit 980 is preferably installed on the workpiece fixing unit 915 that fixes the workpiece 900 directly below. The distributor 47 may be omitted, and the striking portion 980 may be fixed directly to the inclined portion 940, the workpiece fixing portion 915, the rotating portion 920, or the displacement portion 930.

[0068] ● Change example 7. <Dual use and substitution> The transport unit 960 may be used to move the displacement unit 930 in the X direction. When the transport unit 960 has a configuration that can tilt the workpiece 900 , the tilt unit 940 may be realized by the transport unit 960 . The displacement section 930 may move the workpiece fastening section 915 in only one dimensional direction (either the X direction or the Y direction). The displacement unit 930 may be realized by an XY table. The rotation unit 920 and the displacement unit 930 may be realized by an XYθ table.

[0069] Embodiment 2 In the second embodiment, differences from the first embodiment will be described. The configuration of the component supply device 200 of the second embodiment is the same as that of the first embodiment. In the second embodiment, the attachment of the component 901 is performed multiple times in one attachment process.

[0070] FIG. 12 is a flowchart showing a workpiece holding method and a component supply method according to the second embodiment. FIG. 12 differs from FIG. 5 in that steps S15 to S17 are added instead of the inspection step S19. The operations from step S15 to step S17 in FIG. 12 are the same as those from step S12 to step S14. The control unit 990 starts the adhesion process by starting the workpiece lowering step S12. The control unit 990 ends the adhesion process when the workpiece lifting step S17 ends.

[0071] <Density of Part 901> The density of jumping parts 901 becomes smaller at the location where parts 901 are attached in the first part attachment step S13. Between the first component attachment step S13 and the second component attachment step S16, there are a workpiece lifting step S14 and a workpiece lowering step S15. Therefore, the components 901 in the component reservoir 91 can jump freely without colliding with the lower surface of the workpiece 900, and the density of the components 901 in the component reservoir 91 becomes uniform.

[0072] <Waiting time> There are cases where the density of the parts 901 cannot be made uniform only by the lifting and lowering times of the workpiece lifting step S14 and the workpiece lowering step S15. The control unit 990 stops the operation of the lifting unit 950 to provide a waiting time between the workpiece lifting step S14 and the workpiece lowering step S15.

[0073] During the attachment process of attaching the parts 901 to the attachment surface, the control unit 990 causes the lifting unit 950 to raise the work fixing unit 915, and after a waiting time has elapsed during which the supply of the parts 901 to the work 900 becomes uniform, causes the lifting unit 950 to lower the work fixing unit 915.

[0074] The control unit 990 executes at least one of positional movement and rotational movement of the workpiece 900 using the lifting unit 950, the displacement unit 930, and the rotation unit 920 in any of the following cases. 1. First component attachment step S13 (up and down movement by the lifting unit 950 can also be performed) 2. Second component attachment step S16 (furthermore, vertical movement by the lifting unit 950 can also be performed) 3. Workpiece lifting step S14 (further, at least one of tilting the workpiece and impacting the workpiece is simultaneously performed) 4. Workpiece lowering step S15 5. Waiting time 6. A combination of two or more of the above 1 to 5

[0075] In the first embodiment, the attachment of the component 901 was repeated depending on the result of the inspection. In the second embodiment, the attachment of the components 901 is performed twice, and therefore the operation of the lifting unit 950 to change the relative distance between the component reservoir 91 and the workpiece 900 in the vertical direction is always performed. Therefore, in the second embodiment, there is a time during the attachment process during which the components 901 in the component reservoir 91 can jump freely.

[0076] <<<Effects of Embodiment 2>>> According to the second embodiment, since there is a time for the workpiece 900 to ascend and descend or a waiting time, the components 901 can jump freely, and the density of the components 901 in the component reservoir 91 can be made uniform.

[0077] <<<Example of changes>>> ● Change example 1. <Inspection step S21> The control unit 990 may perform an inspection step S21 after the workpiece lifting step S17 in FIG. If the inspection result is not good, the control unit 990 starts execution from either the workpiece lowering step S12 or the workpiece lowering step S15.

[0078] ● Change example 2. <Implemented 3 or more times> The attachment of the part 901 may be performed three or more times instead of two times as in FIG.

[0079] Embodiment 3 In the third embodiment, differences from the first and second embodiments will be described.

[0080] <<<Configuration of the vertical vibration device 100: Figure 13>>> FIG. 13 is a diagram showing a component supply device 200 according to the third embodiment. FIG. 13 differs from FIG. 1 in that the vertical vibration device 100 has a moving part 971. The vertical vibration device 100 has a moving section 971 including an elevator section 150 and an XYθ table 160.

[0081] The lifting unit 150 lifts and lowers the XYθ table 160, thereby lifting and lowering the plate 20 and the component reservoir 91. The lifting unit 150 changes the relative position of the component reservoir 91 in the vertical direction with respect to the workpiece 900 .

[0082] The XYθ table 160 has a plate 20 fixed to its upper surface. The XYθ table 160 has a displacement function (displacement unit) that moves the plate 20 in the horizontal direction. The XYθ table 160 has a rotation function (rotating section) that rotates the plate 20 around the θ axis (Z axis).

[0083] The horizontal movement of the plate 20 causes the parts reservoir 91 to move horizontally. Rotation of the plate 20 about the θ axis (Z axis) rotates the parts reservoir 91 . The XYθ table 160 changes the relative position of the component reservoir 91 with respect to the workpiece 900 in the rotational direction. The XYθ table 160 changes the horizontal position of the component reservoir 91 relative to the workpiece 900 .

[0084] The relative positions of the component reservoir 91 and the workpiece 900 in the vertical direction may be changed in the following cases. 1. Use of the lifting unit 950 alone 2. Use of the lifting unit 150 alone 3. Use of the lifting unit 950 and the lifting unit 150 together

[0085] The relative horizontal positions of the component reservoir 91 and the workpiece 900 may be changed in the following cases. 1. Use of displacement part 930 alone 2. Use of only the displacement function of the XYθ table 160 3. Use of the displacement function of the displacement unit 930 and the XYθ table 160

[0086] The relative positions of the part reservoir 91 and the workpiece 900 in the rotational direction may be changed in the following cases. 1. Use of the rotating part 920 alone 2. Use of the XYθ table 160 rotation function alone 3. Use of the rotation function of the rotating unit 920 and the XYθ table 160

[0087] <<<Effects of the Third Embodiment>>> According to the third embodiment, the relative position between the part storage 91 and the workpiece 900 can be changed using either the workpiece holding device 910 or the up-and-down vibration device 100.

[0088] <<<Example of changes>>> ● Change example 1. <Only one side> Either the moving unit 970 or the moving unit 971 is sufficient. Either the lifting unit 950 or the lifting unit 150 is sufficient. It is sufficient if either the displacement unit 930 or the XYθ table 160 has a displacement function. It is sufficient if either the rotating unit 920 or the XYθ table 160 has a rotation function.

[0089] Embodiment 4 In the fourth embodiment, differences from the first, second and third embodiments will be described. In the fourth embodiment, a case will be described in which a part 901 is attached to a workpiece 900 in a stationary state.

[0090] <<<Configuration of the vertical vibration device 100: Figure 14>>> FIG. 14 is a flowchart showing a workpiece holding method and a component supply method according to the fourth embodiment. FIG. 14 differs from FIG. 12 in the following respects. 1. The jump start step S11 is performed after the first component attachment step S22. 2. In the first part attachment step S22, a stationary part 901 is attached instead of a jumping part 901.

[0091] The control unit 990 starts the adhesion process by starting the workpiece lowering step S12. The control unit 990 ends the adhesion process when the workpiece lifting step S17 ends.

[0092] <Workpiece lowering step S12> The lifting unit 950 lowers the workpiece fixing unit 915 until it comes into contact with the component 901 while the component 901 is stationary on the surface 21 of the plate 20 . The lifting unit 950 lowers the workpiece fixing unit 915 until the distance between the bottom surface 95 of the component reservoir 91 and the attachment surface of the workpiece 900 becomes equal to the diameter of the component 901 while the component 901 is not jumping. After being lowered, the lifting unit 950 applies downward pressure to the workpiece fixing unit 915 .

[0093] <First component attachment step S22> As a result of the workpiece lowering step S12, the part 901 is sandwiched between the surface 21 of the plate 20 and the attachment surface of the workpiece 900 without any gap. A component 901 that comes into contact with the adhesive 902 of the workpiece 900 adheres to the adhesive 902 in a stationary state. In this state, the position of the workpiece 900 is moved horizontally by an amount less than the diameter of the adhesive 902 (the diameter of the electrode 903) by the rotating unit 920 or the displacing unit 930 while applying downward pressure. This horizontal movement allows the part 901 to roll between the surface 21 of the plate 20 and the attachment surface of the workpiece 900 . This displacement of the workpiece 900 causes the adhesive 902 to stick to the part 901 that is in contact with the adhesive 902 of the workpiece 900, increasing the adhesive force between the adhesive 902 and the part 901. Due to this displacement of the workpiece 900 , the component 901 that has not been in contact with the adhesive 902 of the workpiece 900 newly comes into contact with the adhesive 902 of the workpiece 900 and adheres to the workpiece 900 . The rotating unit 920 or the displacement unit 930 does not move the position of the workpiece 900 more than the diameter of the adhesive 902 (the diameter of the electrode 903) so as to prevent the part 901 in contact with the adhesive 902 of the workpiece 900 from separating. It is preferable that the rotating part 920 or the displacement part 930 moves the adhesive 902 by a distance equal to or less than half or equal to or less than one third of the diameter of the adhesive 902 (the diameter of the electrode 903).

[0094] <Work lifting step S14> The same operation as in the workpiece lifting step S14 in FIG. 12 is carried out. By applying an inclination and an impact, the attachment of the parts 901 is ensured and excess parts 901 are knocked off.

[0095] <Jump start step S11> After the workpiece lift step S14, the jump of the part 901 begins. The subsequent operations are the same as those in FIG.

[0096] In the fourth embodiment, the control unit 990 changes the vertical distance between the component reservoir 91 and the workpiece 900 using the lifting unit 950 in order to bring the component 901 stationary in the component reservoir 91 into contact with the workpiece 900 .

[0097] <<<Effects of the Fourth Embodiment>>> According to the fourth embodiment, since the component 901 is stationary, the workpiece 900 can apply pressure to the component 901 to perform adhesion processing. According to the fourth embodiment, the part 901 is rolled between the surface 21 of the plate 20 and the attachment surface of the workpiece 900, thereby increasing the adhesive force. According to this fourth embodiment, the part 901 is rolled between the surface 21 of the plate 20 and the attachment surface of the workpiece 900, so that the part 901 that would not be attached by simply lowering the workpiece 900 can be attached to the workpiece 900.

[0098] According to this embodiment 4, during one attachment process, attachment is performed in a state where the part 901 is stationary and a state where the part 901 is jumping, so even if the part 901 does not attach in one state, it can be attached in the other state.

[0099] Embodiment 5 In the fifth embodiment, differences from the first, second, third and fourth embodiments will be described. In the fifth embodiment, a case where a lid is placed on the parts reservoir 91 will be described.

[0100] <<<Configuration of the vertical vibration device 100: Figure 15>>> FIG. 15 shows a view in which the workpiece 900 covers the space above the parts storage 91. FIG. 15 differs from FIG. 1 in the following respects. 1. The height of the frame 90 is lower than the jump height of the part 901. 2. In plan view, the area of ​​the workpiece 900 is sufficiently larger than the area of ​​the part reservoir 91.

[0101] The control unit 990 makes the part 901 jump only when the workpiece 900 covers the space above the part reservoir 91 . The control unit 990 causes the part 901 to jump only within the closed space surrounded by the frame 90, the bottom surface 95, and the workpiece 900. Even when the rotating part 920 rotates the workpiece 900, the workpiece 900 covers the entire space above the part storage 91. Even when the displacement unit 930 moves the position of the workpiece 900, the workpiece 900 covers the entire space above the component storage 91.

[0102] <<<Effects of the Fifth Embodiment>>> The part 901 does not end up on the top surface of the workpiece 900.

[0103] <<<Example of changes>>> ● Change example 1. <Cover 916: Figure 16> FIG. 16 shows the cover 916 covering the top of the parts storage bin 91. FIG. 16 differs from FIG. 1 in that a cover 916 is added. The cover 916 is fixed to the periphery of the workpiece fixing portion 915 . The cover 916 is a lid that covers the top of the parts reservoir 91 . The cover 916 is a flat plate fixed to the periphery of the workpiece fixing portion 915 . The lower surface of the cover 916 and the upper surface of the workpiece 900 are in surface contact with each other, with no gaps. The area of ​​the cover 916 is sufficiently larger than the area of ​​the component reservoir 91 in plan view. Even when the rotating part 920 rotates the workpiece 900, the cover 916 completely covers the space above the parts storage 91. Even when the displacement unit 930 moves the position of the workpiece 900, the cover 916 covers the entire space above the parts storage 91.

[0104] ***Supplementary explanation of implementation form*** The above-described embodiments are merely examples of preferred embodiments and are not intended to limit the technical scope of the present invention. The embodiment may be implemented in part or in combination with other embodiments. Also, the above-described embodiments may be combined. [Explanation of symbols]

[0105] 20 plate, 21 surface, 47 distributor, 60 traveling wave, 90 frame, 91 part reservoir, 95 bottom surface, 100 up and down vibration device, 150 lifting unit, 160 XYθ table, 200 part supply device, 900 workpiece, 901 part, 902 adhesive, 903 electrode, 910 workpiece holding device, 915 workpiece fixing unit, 916 cover, 920 rotating unit, 930 displacement unit, 940 tilting unit, 950 lifting unit, 960 transport unit, 970 moving unit, 971 moving unit, 980 striking unit, 985 camera, 990 control unit.

Claims

1. a workpiece fixing portion for fixing the workpiece; a moving unit that moves the workpiece fixing unit; a control unit that controls the movement of the workpiece fastening unit by the moving unit; Equipped with The control unit is a workpiece holding device that causes the moving unit to move the workpiece fixing unit during an attachment process of attaching a component to the workpiece.

2. the moving unit has a rotating unit that rotates the workpiece fixing unit while keeping the workpiece horizontal, The workpiece holding device according to claim 1 , wherein the control unit causes the rotating unit to rotate the workpiece fixing unit while holding the workpiece horizontally.

3. the moving unit has a displacement unit that changes the position of the workpiece fixing unit in a horizontal direction, The workpiece holding device according to claim 1 or 2, wherein the control section causes the displacement section to move the position of the workpiece fixing section in the horizontal direction while holding the workpiece horizontally.

4. The moving part has an inclined part that inclines the workpiece fixing part, The workpiece holding device according to claim 1 or 2, wherein the control unit tilts the workpiece fastening portion using the tilting portion after the adhesion process.

5. Equipped with a striking part that generates up and down vibrations, The workpiece holding device according to claim 1 or 2, wherein the control unit applies vertical vibration to the workpiece by the impact unit after the adhering process.

6. The workpiece holding device according to claim 5 , wherein the impact portion applies a downward impact to the workpiece.

7. The moving unit has a lifting unit that lifts and lowers the workpiece fixing unit, The work holding device according to claim 1 or 2, wherein the control unit raises the work fixing unit using the lifting unit during the adhesion process, and lowers the work fixing unit using the lifting unit after a waiting time has elapsed during which the supply of parts to the work becomes uniform.

8. The moving unit has a lifting unit that lifts and lowers the workpiece fixing unit, The workpiece holding device according to claim 1 or 2, wherein the control unit causes the lifting unit to lift the workpiece fastening unit within a range of heights at which the component jumps during the attachment process.

9. The moving unit has a lifting unit that lifts and lowers the workpiece fixing unit, The work holding device according to claim 1 or 2, wherein the control unit, while the part is stationary, causes the lifting unit to lower the work fixing unit, brings the work into contact with the part to adhere the part to the work, and then causes the lifting unit to raise the work fixing unit.

10. a workpiece holding device including a workpiece fixing portion for fixing a workpiece; A vertical vibration device that supplies parts from the parts storage Equipped with During an attachment process of attaching parts to the workpiece, the workpiece fixing unit is moved above the part reservoir to change the relative position between the part reservoir and the workpiece, thereby attaching the parts supplied from the part reservoir to the workpiece.

11. Either the workpiece holding device or the up-and-down vibration device is an elevator that changes the vertical distance between the part reservoir and the workpiece; a rotation unit that changes a rotation angle between the part reservoir and the workpiece; a displacement unit that changes the horizontal position of the part reservoir and the workpiece; 11. The component supply device according to claim 10, comprising at least one of the following:

12. a workpiece fixing portion for fixing the workpiece; a moving unit that moves the workpiece fixing unit; a control unit that controls the movement of the workpiece fixing unit; A workpiece holding method for a workpiece holding device comprising: The control unit A work holding method in which the work fixing portion is moved above a parts storage, thereby changing the relative position between the parts storage and the work, and parts jumping from the parts storage are attached to the underside of the work.

13. The control unit changing a rotation angle between the part storage and the workpiece while maintaining the part storage and the workpiece parallel to each other; changing the horizontal positions of the part storage and the workpiece while maintaining the part storage and the workpiece parallel to each other; changing the vertical distance between the part storage and the work within a range of the jump height of the part in the part storage; changing the vertical distance between the part storage and the workpiece in order to make uniform the density of the jumping parts in the part storage; changing the vertical distance between the part holder and the workpiece so that the part stationary in the part holder comes into contact with the workpiece; 13. The workpiece holding method according to claim 12, wherein at least one of the following is carried out.

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