Component mounting system and board supporting method in component mounting system

Abstract

To provide a component mounting system and a substrate supporting method in the component mounting system capable of preventing the occurrence of a trouble caused by the vertical fluctuation of an elevating body stopped at an intermediate height.SOLUTION: Height detector 45 of component placing device 3 including rising and falling body 41 and height detector 45 that detects the height of rising and falling body 41 includes a plurality of slits 60 that rise and fall together with rising and falling body 41 and are disposed along the rising and falling direction, and mark detector 53 that detects the presence or absence of slit 60 at detection position KP set on movement path R of thin slit 60 that rises and falls according to the movement of mark member 52. The change in the presence or absence of slit 60 detected by mark detector 53 is counted by counter 16c and height calculator 16d calculates the height of rising and falling body 41 based on the counted number of changes in slit 60.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present disclosure relates to a component mounting system that mounts components onto a substrate and a substrate supporting method in the component mounting system. [Background technology]

[0002] Conventionally, there is known a component mounting system that includes a component mounting device that raises a lifting body below a board carried in by a transport conveyor, supports the board with support pins, and mounts components on the board with a mounting head (for example, see Patent Document 1 listed below).The height control of the lifting body performed by the component mounting device is sufficient by switching between two positions between the lower limit height of the lifting body's lifting range and the board holding height when holding the board, but it is also possible to reduce time loss by limiting the height to which the lifting body is lowered when switching boards to only an intermediate height between the lower limit height and the board holding height. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-149433 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the lifting body is lowered to an intermediate height and stopped there as described above, if the lifting cylinder, which is the actuator that raises and lowers the lifting body, is an air cylinder, the lifting body may fluctuate up and down due to the elastic properties of air. The vertical movement of the lifting body stopped at an intermediate height poses a problem in that it may cause interference between the components mounted on the underside of the board being loaded or unloaded (bottom-surface components) and the support pins.

[0005] Therefore, the present disclosure aims to provide a component mounting system and a substrate support method in a component mounting system that can prevent problems caused by vertical fluctuations of a lifting body stopped at an intermediate height. [Means for solving the problem]

[0006] The component mounting system of the present disclosure is a component mounting system comprising: a lifting body that can be raised and lowered below a substrate brought in by a transport conveyor; a lifting cylinder that raises and lowers the lifting body; and a mounting head that raises the lifting body using the lifting cylinder to mount components on the supported substrate, and is also equipped with a fluctuation detection unit that detects fluctuations in the height of the lifting body when the lifting cylinder stops the lifting body at an intermediate height that is the middle height of its lifting range, and a judgment unit that judges whether the fluctuations in the height of the lifting body detected by the fluctuation detection unit satisfy predetermined tolerance conditions.

[0007] The substrate support method in the component mounting system of the present disclosure is a substrate support method in a component mounting system including a lifting body that can be raised and lowered below a substrate carried in by a transport conveyor, a lifting cylinder that raises and lowers the lifting body, and a mounting head that raises the lifting body using the lifting cylinder to mount components on the supported substrate, the method comprising: an intermediate height lowering step in which, after the substrate on which the components have been mounted is carried out, the lifting body is lowered by the lifting cylinder to an intermediate height that is an intermediate height within a lifting range; a fluctuation detection step in which a fluctuation in the height of the lifting body that has been lowered to the intermediate height in the intermediate height lowering step is detected; a determination step in which a fluctuation of the lifting body detected in the fluctuation detection step satisfies a predetermined tolerance condition; a substrate support step in which, if it is determined in the determination step that the fluctuation of the lifting body satisfies the tolerance condition, the lifting body is raised to support the substrate; and an alarm issuance step in which an alarm is issued if it is determined in the determination step that the fluctuation of the lifting body does not satisfy the tolerance condition. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to prevent troubles caused by the vertical fluctuation of a lifting body stopped at an intermediate height. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a simplified configuration diagram of a component mounting system according to an embodiment of the present disclosure. [Figure 2] 1 is a perspective view of a component mounting device included in a component mounting system according to an embodiment of the present disclosure. [Figure 3] 1 is a perspective view of a substrate transport and holding unit included in a component mounting device according to an embodiment of the present disclosure. [Figure 4] 1A and 1B are side views of a substrate transport and holding unit provided in a component mounting device according to an embodiment of the present disclosure. [Figure 5] FIG. 2 is a block diagram showing a control system of the component mounting device according to the embodiment of the present disclosure. [Figure 6] 1 is a side view of a substrate transport and holding unit included in a component mounting device according to an embodiment of the present disclosure. [Figure 7] FIG. 2 is a perspective view of a height detector included in the component mounting device according to the embodiment of the present disclosure. [Figure 8] 3A and 3B are front views of a height detector provided in a component mounting device according to an embodiment of the present disclosure. [Figure 9] 10A, 10B, 10C, and 10D are front views of a portion of a marking member provided in a height detector included in a component mounting device according to an embodiment of the present disclosure. [Figure 10] 10 is a flowchart illustrating a flow of control of a lifting body executed by a component mounting device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 shows a component mounting system 1 according to one embodiment of the present disclosure. From the upstream side, the component mounting system 1 includes a printing device 2, a component mounting device 3, an inspection device 4, and a reflow device 5. The printing device 2, the component mounting device 3, the inspection device 4, and the reflow device 5 sequentially transfer a board KB in this order, and each perform a required operation on the board KB.

[0011] The printing device 2 carries in the board KB and prints solder on the top surface of the board KB. After the solder printing is completed, the printing device 2 carries the board KB downstream.

[0012] The component mounting device 3 receives the board KB from the printing device 2, mounts the components BH on the board KB, and carries it out downstream. Details of the component mounting device 3 will be described later.

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

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

[0015] 2, board transport and holding unit 12 supports both Y-direction ends of board KB from below, transports it in the X-direction, and holds it after carrying it into a predetermined work position. Multiple part feeders 13 are each detachably attached to feeder bases 11F located at the Y-direction ends of base 11. Each part feeder 13 supplies parts BH to part pick-up position 13T.

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

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

[0018] 2, the mounting head 15 has multiple nozzles 15N extending downward. The mounting head 15 generates a vacuum suction force at the bottom end of each nozzle 15N, and picks up the component BH supplied to the component removal position 13T by each part feeder 13 by adsorbing it to the nozzle 15N.

[0019] 3 and 4(a) and (b), the substrate transport holder 12 includes a conveyor stand 21 provided on the base 11, and two front and rear transport conveyors 22 provided on the conveyor stand 21. Each transport conveyor 22 extends in the X direction as a whole, and the two transport conveyors 22 are arranged side by side parallel to each other in the Y direction (front-rear direction). The left and right ends (X direction) of each transport conveyor 22 are fixed to the conveyor stand 21 by fixtures 23, respectively.

[0020] 3 and 4(a) and (b), the transport conveyor 22 includes a base member 31 that spreads out along the XZ plane and extends in the X direction, a pair of transport belts 33 that are provided on the inner surfaces of the base members 31 (the surfaces on which the two opposing base members 31 face each other) and transport the substrate KB in the X direction, a pair of movable clampers 34 that are provided on the inner surfaces of each of the two base members 31 so as to be movable in the Z direction, and a fixed clamper 35 that is provided at the upper end of each of the two base members 31. Each fixed clamper 35 is positioned to protrude above (directly above) the movable clamper 34 below it.

[0021] 3 and 4(a) and (b), an elevating body 41 having a shape extending along the XY plane is provided below the two front and rear transport conveyors 22. A plurality of support pins 43 serving as substrate support portions are provided on the upper surface of the elevating body 41 and extend upward.

[0022] 4(a) and 4(b), an air cylinder 44 is provided on the conveyor base 21. The lifting body 41 is raised and lowered within a lifting area below the work position.

[0023] When supporting a substrate KB carried into the work position by the transport conveyor 22, the lifting body 41 is raised by the lifting cylinder 44 from a state in which it is positioned at the lowest height of the lifting area (FIG. 4(a) → FIG. 4(b)). When the lifting body 41 is positioned at the lowest height, each of the pair of movable clampers 34 is in a state of hanging down from the base member 31. However, when the lifting body 41 rises, it is pushed up by its upper surface, pushing up both ends of the substrate KB. At this time, the support pins 43 also abut against the underside of the substrate KB, pushing up the entire substrate KB. As a result, the substrate KB moves upward away from the transport conveyor 22, and both ends are pressed against the underside of the fixed clampers 35 (FIG. 4(b)). As a result, both ends of the substrate KB are sandwiched and held (clamped) between the pair of movable clampers 34 and the pair of fixed clampers 35.

[0024] Figure 5 shows the control system of component mounting device 3. In Figure 5, control unit 16 provided in component mounting device 3 controls the operations of board transport and holding unit 12, multiple part feeders 13, head movement mechanism 14, and mounting head 15. Board transport and holding unit 12 is controlled by control unit 16 to carry in board KB and hold the board KB. Head movement mechanism 14 is controlled by control unit 16 to move mounting head 15 within a horizontal plane. Each part feeder 13 is controlled by control unit 16 to supply parts BH to component removal position 13T. Mounting head 15 is controlled by control unit 16 to pick up parts BH onto nozzles 15N and remove the picked-up parts BH from nozzles 15N.

[0025] 5, control unit 16 includes mounting operation execution control unit 16a and memory unit 16b. Memory unit 16b stores an operation program for the component mounting operation to be executed by component mounting device 3, and mounting operation execution control unit 16a operates board transport and holding unit 12, parts feeder 13, head moving mechanism 14, and mounting head 15 based on the operation program to perform the component mounting operation of mounting components BH on board KB.

[0026] In the component mounting operation, first, the substrate transport and holding unit 12 operates to receive the substrate KB sent from an apparatus on the upstream process side of the component mounting device 3. Then, the substrate KB is brought into the work position and held there (FIG. 2). The control unit 16 operates the lift cylinder 44 to raise the lift body 41 from its lowest height position, and the lift body 41 pushes up the pair of movable clampers 34, pressing both ends of the substrate KB against the pair of fixed clampers 35 to clamp them, while the upper ends of the multiple support pins 43 abut against the underside of the substrate KB to support the entire substrate KB.

[0027] Once the board KB is held as described above, each part feeder 13 supplies a component BH to the component removal position 13T, and the head movement mechanism 14 moves the mounting head 15 back and forth between a position above the part feeder 13 and a position above the board KB. As the mounting head 15 moves between a position above the part feeder 13 and a position above the board KB, it picks up the component BH supplied by the part feeder 13 with the nozzle 15N and releases the component BH from the nozzle 15N above the board KB.

[0028] When all components BH to be mounted on the board KB have been mounted by the above-mentioned operation of the mounting head 15, the control unit 16 lowers the lifting body 41, but when the next board KB is to be loaded and the component mounting operation continued, the lifting body 41 is not lowered to the lower limit height, but is lowered only to an intermediate height between the lower limit height and the board holding height when holding the board KB (FIG. 6). The intermediate height set at this time is set to a height that will prevent the support pins 43 from interfering with the lower-side components when components BH (lower-side components) are mounted on the lower surface of the board KB to be unloaded and the lower surface of the next board KB to be loaded.

[0029] 5, the component mounting device 3 is equipped with a height detection unit 45 that detects the position of the lifting body 41 in the lifting direction (Z direction) as the height of the lifting body 41. When the control unit 16 lowers the lifting body 41 to the intermediate height, it lowers the lifting body 41 while monitoring the height of the lifting body 41 detected by the height detection unit 45. Then, when the height of the lifting body 41 detected by the height detection unit 45 reaches the set (target) intermediate height, the control unit 16 stops the operation of the lifting cylinder 44 (the configuration of the height detection unit 45 will be described later).

[0030] Once the lifting body 41 has been lowered to the intermediate height, the control unit 16 operates the board transport and holding unit 12 to transport the board KB to a downstream process device. Once the component mounting work for one board KB has been completed, the transport conveyor 22 transports the next board KB to the work position. Once the next board KB has been transported to the work position, the control unit 16 operates the lifting cylinder 44 to raise the lifting body 41 and hold the board KB transported to the work position in the manner described above. Then, the component mounting work for that board KB is carried out.

[0031] The component mounting operation proceeds according to the above-described flow, but component mounting device 3 in this embodiment is equipped with height detection unit 45 that detects the height of lifting body 41, so that lifting body 41 can be lowered to the target intermediate height and stopped accurately there. Furthermore, because fluctuations in the height of lifting body 41 after it has been stopped at the intermediate height can be monitored, it is possible to prevent problems such as interference between the support pins 43 and the components on the lower surface of the next board KB to be loaded, caused by lifting cylinder 44, which has been stopped at the intermediate height, fluctuating lifting body 41 in the vertical direction due to the elastic properties of air.

[0032] Next, we will explain the configuration of the height detection unit 45. The height detection unit 45 is configured to have a sensor unit 50 (FIGS. 3 and 4(a) and (b)) provided between the lifting body 41 and the conveyor base 21, and a counting unit 16c and a height calculation unit 16d provided in the control unit 16.

[0033] In FIG. 7, the sensor section 50 is configured to include a base body 51, a mark member 52, a mark detection section 53, a lower sensor 54, and an upper sensor 55.

[0034] 7, the base body 51 has a shape that extends along the YZ plane as a whole. The base body 51 has two legs 51K that are bent at the bottom and extend horizontally, and these two legs 51K are attached to the upper surface of the conveyor base 21.

[0035] 7, mark member 52 has a shape that extends in the vertical direction (Z direction). A horizontal connecting portion 52F is formed at the upper end of mark member 52, and this connecting portion 52F is fixed to lifting body 41. Therefore, mark member 52 moves (lifts and lowers) together with lifting body 41 (FIGS. 8(a) and 8(b)).

[0036] 7, a row of slits 60 arranged at regular intervals along the vertical direction (Z direction) forms a slit row on one side (left side) of the width direction (Y direction) of the mark member 52. Each of the multiple slits 60 opens at one edge (left edge) of the width direction (Y direction) of the mark member 52 and extends horizontally. These slits 60 function as "marks" in the mark member 52.

[0037] The mark detection unit 53 is made up of an optical sensor that emits and receives the inspection light LT. The mark detection unit 53 is provided facing the row of slits 60 provided in the mark member 52.

[0038] 7, 8(a), 8(b) and 9, a detection position KP is set on the movement path R of the slit 60 which moves (rises and falls) in accordance with the vertical movement of the mark member 52.

[0039] The mark detection unit 53 is installed at a position where the projected and received inspection light LT passes through the detection position KP. Therefore, when the mark member 52 moves up and down, the inspection light LT is interrupted by the slits 60 that pass through (cross) it and by a part of the mark detection unit 53 that extends in a tooth shape between adjacent slits 60. When the mark detection unit 53 receives the projected inspection light LT, it detects that the slit 60 is present at the detection position KP, and when it does not receive the projected inspection light LT, it detects that the slit 60 is not present at the detection position KP.

[0040] In this embodiment, the sensor unit 50 moves up and down together with the moving lifting body 41, and is configured to include a mark member 52 having a plurality of slits 60 which are marks arranged along the lifting direction of the lifting body 41, and a mark detection unit 53 which detects the presence or absence of the slits 60 at a detection position KP set on the movement path R of the plurality of slits 60 which move in accordance with the movement of the mark member 52.

[0041] The counting unit 16c counts the number of changes in the presence or absence of slits 60 detected by the mark detection unit 53. Figure 9 shows the arrangement of the slits 60 provided in the mark member 52 and the arrangement of the mark detection unit 53. In the figure, a white circle "◯" indicates a state in which the mark detection unit 53 detects that a slit 60 is present at the detection position KP, and a black circle "●" indicates a state in which the mark detection unit 53 detects that a slit 60 is not present at the detection position KP. The width HB of each slit 60 is equal, and the intervals KK between adjacent slits 60 are also equal. Moreover, the width HB of the slit 60 and the intervals KK between adjacent slits 60 are also equal (HB = KK).

[0042] When the lifting body 41 rises and the mark member 52 moves upward, the presence or absence of the slit detected by the mark detection unit 53 changes in Fig. 9 from (a) "present" → (b) "absent" → (c) "present" → (d) "absent" → (a) "present" → .... Conversely, when the lifting body 41 descends and the mark member 52 shown in Fig. 9 moves downward, the presence or absence of the slit 60 detected by the mark detection unit 53 changes in Fig. 9 from (a) "present" → (d) "absent" → (c) "present" → (b) "absent" → (a) "present" → .... When the presence or absence of the slit 60 detected by the mark detection unit 53 changes as described above, the counting unit 16c counts the number of changes.

[0043] 7 and 8(a) and (b), the lower sensor 54 and the upper sensor 55 are both optical sensors. The lower sensor 54 and the upper sensor 55 are arranged next to each other in the vertical direction on the right side of the mark member 52.

[0044] 7 and 8(a) and (b), a dog 52D protruding to the right is formed on the lower part of the mark member 52. The lower sensor 54 is located on the lower part of the base body 51 and is provided at a position where it detects the dog 52D when the lifting body 41 is at its lowest height. The upper sensor 55 is provided at a position where it detects the dog 52D when the lifting body 41 has risen and reached a height where it abuts against the lower end of the movable clamper 34.

[0045] The height calculation unit 16d calculates the amount of fluctuation in the position (height) of the lifting / lowering body 41 based on the number of changes in the presence or absence of the slit 60 counted by the counting unit 16c, and calculates the height of the lifting / lowering body 41 based on the calculated amount of fluctuation in the height of the lifting / lowering body 41. In detail, the height calculation unit 16d calculates the amount of fluctuation in the height of the lifting / lowering body 41 by multiplying the number of changes in the presence or absence of the slit 60 counted by the counting unit 16c by the amount of fluctuation in the height of the lifting / lowering body 41 that corresponds to one change in the presence or absence of the slit 60, and calculates the position of the lifting / lowering body 41 based on the calculated amount of fluctuation in the height of the lifting / lowering body 41.

[0046] As described above, component mounting system 1 in the first embodiment includes lifting body 41 that can be raised and lowered below board KB carried in by transport conveyor 22, lifting cylinder 44 that raises and lowers lifting body 41, and mounting head 15 that mounts components BH on board KB supported by lifting body 41 using lifting cylinder 44. It also includes height detection unit 45, which serves as a fluctuation detection unit that detects fluctuations in the height of lifting body 41 when lifting body 41 is stopped at an intermediate height that is the middle height of the lifting range by lifting cylinder 44. Height detection unit 45 also includes mark member 52 that rises and falls together with lifting body 41 and has slits 60 as multiple marks arranged along the lifting direction of lifting body 41, mark detection unit 53 that detects the presence or absence of slits 60 at detection position KP set on movement path R of the multiple slits 60 that move in accordance with the movement of mark member 52, and count unit 16c that counts the number of changes in the presence or absence of slits 60 detected by mark detection unit 53.

[0047] Here, when the lifting body 41 is lowered to the intermediate height and stopped at that height after the board KB on which the component mounting operation has been performed is carried out, the height detection unit 45 detects the vertical movement of the lifting body 41. This vertical movement of the lifting body 41 is detected from the time the board KB is carried in until just before the lifting body 41 is raised to support the board KB.

[0048] The determination unit 16e (FIG. 5) of the control unit 16 determines whether the fluctuation in the height of the lifting body 41 detected by the height calculation unit 16d after the lifting body 41 has stopped at the intermediate height as described above satisfies a predetermined allowable condition (stored in the memory unit 16b). Here, the determination unit 16e reads the fluctuation in the lifting body 41 from the fluctuation in the height value of the lifting body 41 detected by the height detection unit 45, and determines whether the amount of fluctuation exceeds a predetermined allowable fluctuation amount stored in the memory unit 16b. Alternatively, the determination may be made simply by determining whether the number of changes in the presence or absence of the slit 60 counted by the counting unit 16c after the lifting body 41 has stopped at the intermediate height exceeds a predetermined allowable number (allowable count number) stored in the memory unit 16b.

[0049] If the determination unit 16e determines that the vertical movement of the lifting body 41 stopped at an intermediate height does not satisfy the allowable condition, the alarm control unit 16f ( FIG. 5 ) of the control unit 16 issues a warning to the worker OP, or the control unit 16 actuates the lifting cylinder 44 to forcibly lower the lifting body 41 to prevent interference between the underside components of the board KB and the support pins 43, and the alarm control unit 16f of the control unit 16 issues a warning to the worker OP. To ensure that interference between the underside components of the board KB and the support pins 43 is avoided, it is preferable that the control unit 16 forcibly lower the lifting body 41 before issuing a warning to the worker OP. However, the warning to the worker OP may be issued before or simultaneously with the forcible lowering of the lifting body 41. The warning may also be an audio warning using a buzzer or a visual warning on a display device (not shown).

[0050] As described above, the component mounting device 3 in this embodiment is configured to include a judgment unit 16e that judges whether the fluctuation in height of the lifting body 41 detected by the height detection unit 45 satisfies a predetermined tolerance condition, and an alarm control unit 16f that serves as an alarm means that issues an alarm when the judgment unit 16e judges that the fluctuation in the lifting body 41 does not satisfy the tolerance condition.

[0051] 10 is a flowchart showing the flow of control (substrate support method) of the lifting body 41 from the time when the substrate KB on which the component mounting operation has been completed is unloaded until the time when the next loaded substrate KB is clamped. In controlling this lifting body 41, the control unit 16 first checks whether the substrate KB on which the component mounting operation has been completed has been unloaded by the transport conveyor 22 (step ST1). If the substrate KB has been unloaded, the control unit 16 then actuates the lifting cylinder 44 to lower the lifting body 41 to the intermediate height (step ST2).

[0052] After lowering the lifting body 41 to the intermediate height as described above, the control unit 16 starts detecting the vertical fluctuation of the height of the lifting body 41 using the height detection unit 45 (step ST3). Then, the determination unit 16e determines whether the fluctuation of the height of the lifting body 41 satisfies a predetermined tolerance condition (stored in the memory unit 16b) (step ST4).

[0053] If the control unit 16 determines in the above that the fluctuation in height of the lifting body 41 satisfies the allowable condition, it then determines whether or not the board KB has been carried in by the transport conveyor 22 (step ST5). If the board KB has not been carried in by the transport conveyor 22, it continues the determination of step ST4, but if the board KB has been carried in by the transport conveyor 22, it raises the lifting body 41 to support and clamp the board KB (step ST6), and ends this control.

[0054] In contrast, if the control unit 16 determines in step ST4 that the fluctuation in the height of the lifting body 41 does not (no longer) satisfy the allowable conditions, even if a substrate KB is subsequently loaded, it will not raise the lifting body 41 (clamp the substrate KB), but will instead issue an alarm (step ST7), interrupt the control (i.e., the component mounting work by the component mounting device 3) (step ST8), and then terminate this control.

[0055] As described above, the substrate support method in this embodiment includes an intermediate height lowering process (step ST2) in which the lifting body is lowered to an intermediate height, which is the intermediate height of the lifting range, using the lifting cylinder 44; a fluctuation detection process (steps ST3 to ST5) in which fluctuations in the height of the lifting body 41 lowered to the intermediate height in the intermediate height lowering process are detected; a judgment process (step ST4) in which it is determined whether the fluctuation of the lifting body 41 detected in the fluctuation detection process satisfies predetermined tolerance conditions; a substrate support process (step ST6) in which the lifting body 41 is raised to support the substrate KB if it is determined in the judgment process that the fluctuation of the lifting body 41 satisfies the tolerance conditions; and an alarm issuance process (step ST7) in which an alarm is issued if it is determined in the judgment process that the fluctuation of the lifting body does not satisfy the tolerance conditions.

[0056] In this way, in the component mounting system 1 and the substrate support method in the component mounting system 1 in this embodiment, fluctuations in the height of the lifting body 41 when it is lowered to the intermediate height are detected, and it is determined whether or not the fluctuations meet the predetermined tolerance conditions. If the fluctuations do not meet the tolerance conditions, an alarm is issued. Therefore, after the lifting body 41 is lowered to the intermediate height and stopped at that height, problems such as interference between the underside components of the next substrate KB to be loaded and the support pins 43 due to the lifting cylinder 44 fluctuating the lifting body 41 in the vertical direction due to the elastic properties of air can be prevented.

[0057] Furthermore, in this embodiment, the sensor section 50 of the height detection section 45, which is the variation detection section, rises and falls together with the lifting body 41 and includes a mark member 52 having a plurality of marks arranged along the lifting and lowering direction of the lifting body 41, and a mark detection section 53 that detects the presence or absence of the slits 60 at a detection position KP set on the movement path R of the slits 60, which are a plurality of marks that move in accordance with the movement of the mark member 52. The number of changes in the presence or absence of the slits 60 detected by the mark detection section 53 is counted by the counting section 16c, and an alarm is issued if the number of counted changes in the presence or absence of the slits 60 exceeds the allowable number as an allowable condition. This makes it possible to control the lifting body 41 to prevent interference between the components on the underside of the board KB and the support pins 43, without using an expensive sensor such as a laser displacement sensor that detects the height of the lifting body 41.

[0058] As described above, the component mounting system 1 (substrate support method in the component mounting system 1) in this embodiment can prevent problems caused by vertical fluctuations of the lifting body 41 stopped at an intermediate height.

[0059] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above and various modifications are possible. For example, in the above-described embodiment, the mark provided on the mark member 52 is a slit 60, but this may be a hole. Furthermore, the mark may be, for example, a colored mark, and the mark detection unit 53 may detect the presence or absence of the mark by detecting the color of the mark at the detection position.

[0060] Furthermore, in the above-described embodiment, the mark member 52 is configured to rise and fall together with the lifting body 41 by connecting the connecting portion 52F at its upper end to the lifting body 41, but the mark member 52 does not necessarily have to be directly connected to the lifting body 41, and may be indirectly connected to the lifting body 41 via another member. Note that the mark member 52 does not necessarily have to be configured to rise and fall together with the lifting body 41, and the mark detection unit 53 may be fixed directly or indirectly to the conveyor base 21. In that case, the mark detection unit 53 may be configured to rise and fall together with the lifting body 41, and the mark detection unit 53 that rises and falls together with the lifting body 41 may count changes in the presence or absence of multiple marks on the mark member 52 fixed directly or indirectly to the conveyor base 21.

[0061] The height detection unit 45 as a fluctuation detection unit in the above-described embodiment is capable of detecting not only the fluctuation of the lifting body 41 but also the height of the lifting body 41, but the fluctuation detection unit does not need to be able to detect the height of the lifting body 41 as long as it can detect the fluctuation of the lifting body 41. Furthermore, in the present disclosure, the fluctuation detection unit that firmly detects the fluctuation in the vertical direction of the lifting body is not limited to the height detection unit 45 shown in the above-described embodiment, and a detector with another configuration (for example, the above-described laser displacement sensor) can also be used.

[0062] Furthermore, in the above-described embodiment, the elements of the memory unit 16b, the judgment unit 16e, the alarm means (alarm control unit 16f), and the counting unit 16c are all provided in the component mounting device 3, but all or part of these elements may be provided in a device other than the component mounting device 3 of the component mounting system 1. [Industrial Applicability]

[0063] A component mounting system and a substrate supporting method in the component mounting system are provided that can prevent trouble caused by vertical fluctuations of a lifting body stopped at an intermediate height. [Explanation of symbols]

[0064] 1. Component mounting system 3. Parts mounting equipment 12 Substrate transport holder 15 Mounting head 16 Control Unit 16c Counting section 16d Height calculation unit (variation detection unit) 16e Judgment section 16f Alarm control section (alarm means) 22 Transport conveyor 41 Elevating body 43 Support pin 44 Lifting cylinder 45 Height detection unit 50 Sensor unit 51 Base body 52 Marking material 53 Mark detection unit 60 Slit (mark) KP detection position LT Inspection Light R travel route BH parts KB board

Claims

1. A component mounting system comprising: a lifting body that can be raised and lowered below a substrate carried in by a transport conveyor; a lifting cylinder that raises and lowers the lifting body; and a mounting head that raises the lifting body using the lifting cylinder to mount components on a supported substrate, a fluctuation detection unit that detects a fluctuation in the height of the lifting body when the lifting cylinder stops the lifting body at an intermediate height that is an intermediate height of a lifting range; a determination unit that determines whether the fluctuation in height of the lifting body detected by the fluctuation detection unit satisfies a predetermined tolerance condition; A component mounting system equipped with

2. 2. The component mounting system according to claim 1, further comprising an alarm means for issuing an alarm when said determining section determines that the movement of said lift body does not satisfy said allowable condition.

3. 2. The component mounting system according to claim 1, wherein the lifting body is an air cylinder.

4. 2. The component mounting system according to claim 1, wherein the tolerance condition is that the amount of variation from the intermediate height at which the component is stopped does not exceed a predetermined allowable amount of variation.

5. 2. The component mounting system according to claim 1, wherein the variation detection unit comprises: a mark member that rises and falls together with the lifting body and has a plurality of marks arranged along the lifting direction of the lifting body; a mark detection unit that detects the presence or absence of the marks at detection positions set on a movement path of the plurality of marks that moves in accordance with the movement of the mark member; and a counting unit that counts the number of changes in the presence or absence of the marks detected by the mark detection unit, and wherein the tolerance condition is that the number of changes in the presence or absence of the marks counted by the counting unit does not exceed a predetermined tolerance number.

6. 6. The component mounting system according to claim 5, wherein the mark is a slit or a hole, and the mark detection unit is an optical sensor that projects inspection light onto the detection position.

7. A substrate supporting method in a component mounting system including a lifting body that can be raised and lowered below a substrate carried in by a transport conveyor, a lifting cylinder that raises and lowers the lifting body, and a mounting head that raises the lifting body using the lifting cylinder to mount components on the supported substrate, comprising: an intermediate height lowering step of lowering the lifting body by the lifting cylinder to an intermediate height that is an intermediate height of a lifting range after the board on which the components are mounted is carried out; a fluctuation detection step of detecting a fluctuation in the height of the lifting body lowered to the intermediate height in the intermediate height lowering step; a determination step of determining whether the movement of the lifting body detected in the movement detection step satisfies a predetermined allowable condition; a substrate supporting step of lifting the lift body to support the substrate when it is determined in the determining step that the fluctuation of the lift body satisfies the allowable condition; an alarm issuing step of issuing an alarm when it is determined in the determination step that the movement of the lifting body does not satisfy the allowable condition; A substrate supporting method in a component mounting system having the same.

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