System for determining whether component mounting load is appropriate, method for determining whether component mounting load is appropriate, and component mounting device

Abstract

To provide a component mounting load appropriateness determination system, a component mounting load appropriateness determination method, and a component mounting device capable of appropriately determining the appropriateness of a load applied from a nozzle even for a mounting head having a complicated configuration.SOLUTION: In an appropriateness determination method of mounting load for a component by an appropriateness determination system of mounting load for a component including load detecting means that has a mounting head having elevating means for elevating the nozzle, that the nozzle that descends by the lifting means abuts, and detects the load applied from the contacted nozzle, the elevating means lowers the nozzle to contact the load detecting means, and the load applied from the nozzle is measured (ST12), and the measured load is compared with a load threshold according to the type of nozzle or the mode of control, and it is determined whether the load applied from the nozzle is appropriate (ST13).SELECTED DRAWING: Figure 13

Description

[Technical Field]

[0001] The present invention relates to a component mounting load suitability judgment system and method for judging the suitability of a load applied from a nozzle attached to a mounting head, and a component mounting device. [Background technology]

[0002] A component mounting device that mounts components on a board has a mounting head equipped with a nozzle holder that is fitted with a nozzle that picks up components supplied from a component supply unit and mounts them on the board. It is also known that a spring member provided on the nozzle holder (e.g., Patent Document 1) or a spring member provided on the nozzle (e.g., Patent Document 2) is used to reduce the impact that the nozzle imparts to the component when the component is mounted on the board, thereby ensuring that the load applied from the nozzle is of an appropriate magnitude.

[0003] The component mounting device (electronic circuit component mounting machine) described in Patent Document 1 is equipped with a load cell that measures the load applied by the nozzle by contacting it with the load cell.The load measurement result from the load cell is compared with a predetermined threshold value to detect the occurrence of defects such as an increase in sliding resistance of the nozzle holder or nozzle, or a decrease in spring constant due to deterioration of the spring member. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2005 / 027614 [Patent Document 2] Japanese Patent Application Publication No. 2017-11228 Summary of the Invention [Problem to be solved by the invention]

[0005] However, while conventional technologies including Patent Document 1 can determine whether or not there is a defect in a nozzle or the like from the load measurement results, there are cases where a single mounting head is equipped with a mixture of nozzles with built-in spring members and nozzles without built-in spring members, or where the method of lifting and lowering control differs for each nozzle, and there is a problem in that in cases with such a complex configuration, the defect can be erroneously determined. Therefore, there is room for further improvement in order to be able to properly determine whether the load applied from each nozzle is appropriate for each nozzle, even in mounting heads with complex configurations, and to enable users to easily perform maintenance on nozzles and mounting heads.

[0006] Therefore, the present invention aims to provide a system for judging the suitability of component mounting loads, a method for judging the suitability of component mounting loads, and a component mounting device that can appropriately judge the suitability of the load applied from a nozzle even when the mounting head has a complex configuration. [Means for solving the problem]

[0007] The system for determining the appropriateness of a component mounting load of the present invention is equipped with a mounting head having a nozzle that picks up components supplied from a component supply unit and mounts them on a board, lifting means that raises and lowers the nozzle, and a control unit that controls the lifting means, load measuring means that measures the load applied from the nozzle that comes into contact with the nozzle as the component mounting load when the nozzle is lowered by the lifting means, and a determination unit that compares the load measured by the load measuring means with a load threshold value that corresponds to the type of nozzle or the mode of control, and determines whether the load applied from the nozzle is appropriate. a determination unit that determines a threshold value of the load in consideration of a reference value of the load based on the type of the mounting head to which the nozzle is attached; Equipped with:

[0008] The method of the present invention for determining the appropriateness of a component placing load is a method for determining the appropriateness of a component placing load by a system for determining the appropriateness of a component placing load, which system is equipped with a mounting head having a nozzle that picks up components supplied from a component supply unit and places them on a board, and an elevating means that raises and lowers the nozzle, and which includes load detecting means that contacts the nozzle that is lowered by the elevating means and detects the load applied from the nozzle as the component placing load, the method comprising: a load measuring step in which the elevating means lowers the nozzle and contacts the load detecting means to measure the load applied from the nozzle; and a determining step in which the load measured in the load measuring step is compared with a load threshold value that corresponds to the type of the nozzle or the mode of control to determine whether the load applied from the nozzle is appropriate. a determination step of determining a threshold value of the load in consideration of a reference value of the load based on the type of the mounting head to which the nozzle is attached; Includes.

[0009] The component mounting device of the present invention comprises a component supply unit that supplies components, a mounting head, a nozzle that is attached to the mounting head and picks up components supplied from the component supply unit and mounts them on a board, lifting means that raises and lowers the nozzle, a control unit that controls the lifting means, load measuring means that measures a load applied from the nozzle that comes into contact with the nozzle as it is lowered by the lifting means, and a determination unit that compares the load measured by the load measuring means with a load threshold value that corresponds to the type of the nozzle or the mode of control, and determines whether the load applied from the nozzle is appropriate. The load threshold is determined in consideration of a reference value of the load based on the type of the mounting head to which the nozzle is attached. . [Effects of the Invention]

[0010] According to the present invention, it is possible to appropriately determine whether the load applied from the nozzle is appropriate even in a mounting head having a complex configuration. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a plan view showing the configuration of a main part of a component mounting device provided in a component mounting system according to an embodiment of the present invention; [Figure 2] FIG. 1 is a side view showing the configuration of a main part of a component mounting device according to an embodiment of the present invention; [Figure 3] 1A and 1B are plan and front views showing the configuration of a main part of a mounting head provided in a component mounting device according to an embodiment of the present invention; [Figure 4] FIG. 1 is an explanatory diagram showing the configuration of a nozzle holder and a nozzle of a mounting head provided in a component mounting device according to an embodiment of the present invention; [Figure 5] 1A and 1B are diagrams illustrating a load applied from a rigid nozzle attached to a nozzle holder of a mounting head provided in a component mounting device according to an embodiment of the present invention. [Figure 6] 1A and 1B are diagrams illustrating a load applied from a low-load nozzle attached to a nozzle holder of a mounting head provided in a component mounting device according to an embodiment of the present invention. [Figure 7] FIG. 1 is a block diagram showing the configuration of a control system of a component mounting device according to an embodiment of the present invention. [Figure 8] FIG. 10 is an explanatory diagram of (a) head type data, (b) nozzle type data, (c) constant load control type data, and (d) Pos status data used in a component mounting device according to an embodiment of the present invention. [Figure 9] FIG. 1A is an explanatory diagram of head type reference data used in a component mounting device according to an embodiment of the present invention; FIG. 1B is an explanatory diagram of nozzle type reference data; and FIG. 1C is an explanatory diagram of constant load control type reference data. [Figure 10] FIG. 10 is an explanatory diagram of head status data used in a component mounting device according to an embodiment of the present invention. [Figure 11] FIG. 1A is an explanatory diagram of a load measurement result screen in which the horizontal axis represents the measurement time, and FIG. 1B is an explanatory diagram of a load measurement result screen in which the horizontal axis represents the elapsed time since maintenance, displayed on a touch panel of a component mounting device according to an embodiment of the present invention. [Figure 12] 1 is a flow diagram of a threshold determination method according to an embodiment of the present invention; [Figure 13] 1 is a flow chart showing a method for determining whether or not a component mounting load is appropriate according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0012] An embodiment of the present invention will be described in detail below with reference to the drawings. The configurations, shapes, etc. described below are examples for explanatory purposes and can be modified as appropriate depending on the specifications of the component mounting system, component mounting device, mounting head, nozzle, and load measurement unit. Corresponding elements in all drawings will be denoted by the same reference numerals, and duplicated descriptions will be omitted. In FIG. 1 and in some sections described below, two axes perpendicular to each other in a horizontal plane are shown: the X-axis (left-right direction in FIG. 1) in the substrate transport direction; and the Y-axis (up-down direction in FIG. 1) perpendicular to the substrate transport direction. In FIG. 2 and in some sections described below, the Z-axis (up-down direction in FIG. 2) is shown as the height direction perpendicular to the horizontal plane.

[0013] First, the configuration of component mounting system 1 will be described with reference to Figure 1. Component mounting system 1 includes component mounting device 2 and has the function of mounting components on a board to produce a mounted board. Component mounting device 2 is connected to management computer 4 via communication network 3. Note that the number of component mounting devices 2 included in component mounting system 1 is not limited to one, and may be two or more. Management computer 4 has a line management function as well as a function of determining whether the component mounting load is appropriate based on data acquired by component mounting device 2.

[0014] Next, the configuration of the component mounting device 2 will be described with reference to Figures 1 and 2. Note that Figure 2 schematically shows a portion of the component mounting device 2 in Figure 1. The component mounting device 2 has the function of performing a component mounting operation, which mounts components supplied from a component supply unit onto a substrate. A substrate transport mechanism 6 is arranged along the X-axis in the center of the base 5. The substrate transport mechanism 6 transports the substrate P transported from upstream to the mounting operation position, positions it, and holds it. The substrate transport mechanism 6 also transports the substrate P downstream after the component mounting operation has been completed.

[0015] Component supply units 7 are arranged on both sides (front and back along the Y axis) of the board transport mechanism 6. Each component supply unit 7 has multiple tape feeders 8 arranged along the X axis. Each tape feeder 8 of the component supply unit 7 pitch-feeds a component tape formed with pockets for storing components D in a direction (tape feed direction) from the outside of the component supply unit 7 toward the board transport mechanism 6, thereby supplying components D to a component supply position from which the components D are picked up by a mounting head, which will be described below.

[0016] 1 and 2, a Y-axis table 9 equipped with a linear drive mechanism is arranged along the Y-axis at both ends of the X-axis on the upper surface of the base 5. A beam 10, similarly equipped with a linear drive mechanism, is connected to the Y-axis table 9 so as to be movable along the Y-axis. The beam 10 is arranged along the X-axis. A mounting head 11 is attached to the beam 10 via a plate 10a so as to be movable along the X-axis. The mounting head 11 is detachable from the plate 10a. The mounting head 11 is equipped with a plurality of component mounting units 12. A nozzle 13 for suctioning and holding a component D is attached to the lower end of each component mounting unit 12. Each component mounting unit 12 is equipped with an elevator motor 12a for raising and lowering the nozzle 13 along the Z-axis.

[0017] 1, Y-axis table 9 and beam 10 constitute a head moving mechanism 14 that moves mounting head 11 along the X-axis and Y-axis. Head moving mechanism 14 and mounting head 11 perform a mounting turn in which nozzles 13 attached to component mounting unit 12 pick up and remove components D from tape feeder 8 arranged in component supply unit 7, and mount the components at mounting positions on board P positioned by board transport mechanism 6. In this way, mounting head 11 is equipped with multiple nozzles 13, and each nozzle 13 picks up a component D supplied from component supply unit 7 and mounts it on board P. Elevating motor 12a is an elevating means for raising and lowering nozzles 13.

[0018] 1 and 2, a component recognition camera 15 is disposed between the component supply unit 7 and the board transport mechanism 6. When the mounting head 11, which has picked up a component D from the component supply unit 7, moves above the component recognition camera 15, the component recognition camera 15 captures an image of the component D held by the mounting head 11 to recognize the holding posture of the component D. A head camera 16 is attached to the plate 10a to which the mounting head 11 is attached. The head camera 16 moves integrally with the mounting head 11.

[0019] As the mounting head 11 moves, the head camera 16 moves above the substrate P positioned by the substrate transport mechanism 6, and captures an image of a substrate mark (not shown) provided on the substrate P to recognize the position of the substrate P. When the mounting head 11 mounts components on the substrate P, the mounting position is corrected taking into account the recognition result of the component D by the component recognition camera 15 and the recognition result of the substrate position by the head camera 16.

[0020] 2, a carriage 17 with multiple tape feeders 8 already attached to the top of the component supply unit 7 is set. The carriage 17 holds a reel 19 that stores a wound component tape 18 holding components D. The component tape 18 is pulled out from the reel 19 and is pitch-fed by the tape feeders 8 to the component supply position.

[0021] 1 and 2, a load measuring unit 20 is installed on the top surface of base 5, to the side of component recognition camera 15 in the X-axis direction. A load cell and the like that measure the force (load) applied from above are installed on the top surface of load measuring unit 20. Load measuring unit 20 is a load measuring means that is abutted from above by nozzle 13 that is lowered by lift motor 12a (lifting means), and measures the load applied from the abutting nozzle 13. A touch panel 21 that is operated by the worker is installed in front of component mounting device 2 at a position where the worker works. Touch panel 21 displays various information on its display, and the worker inputs data and operates component mounting device 2 using operation buttons and the like that are displayed on the display.

[0022] Next, an example of the configuration of the mounting head 11 will be described with reference to Figures 3(a) and 3(b). The mounting head 11 is a multiple-head equipped with 16 component mounting units 12. In this example, the mounting head 11 has eight component mounting units 12 aligned along the X axis and two rows along the Y axis. Each of the component mounting units 12(1) to 9(16) is equipped with an elevation motor 12a. By driving the elevation motor 12a, each of the component mounting units 12(1) to 9(16) raises and lowers the nozzle 13 attached to its lower end (arrow a).

[0023] The distance (height position) that the nozzle 13 has descended is detected by an encoder of the lift motor 12a. Each of the component mounting units 12(1) to 9(16) can perform constant load control, adjusting the load applied from the nozzle 13 to be constant when mounting the component D on the substrate P, by having the lift control unit 11a (see FIG. 7) provided in the mounting head 11 control the torque of the lift motor 12a.

[0024] Next, referring to Figure 4, the configuration of nozzle holder 23 arranged on component mounting section 12 and of nozzles 13 attached to nozzle holder 23, rigid nozzle 13A and low-load nozzle 13B will be described. Nozzle holder 23 is installed so as to slide along the Z axis relative to connecting portion 12b arranged at the lower end of component mounting section 12. Nozzle holder 23 is also biased downward by holder spring 22, which is a compression spring arranged between nozzle holder 23 and connecting portion 12b. Rigid nozzle 13A and low-load nozzle 13B have upper portions that are held by nozzle holder 23 and have similar shapes. That is, insertion holes 13a and 13d are formed on the upper surfaces of rigid nozzle 13A and low-load nozzle 13B, respectively, into which protrusion 23a protruding from the lower end of nozzle holder 23 is inserted.

[0025] Rigid nozzle 13A is held by nozzle holder 23 by moving it from below to above (arrow b) and inserting insertion hole 13a into protrusion 23a (see FIG. 5). When rigid nozzle 13A is held by nozzle holder 23, through hole 12c formed in component mounting portion 12 communicates with opening 13c at the lower end of suction tube 13b protruding from the lower part of rigid nozzle 13A. In this state, component D is sucked onto the lower end of rigid nozzle 13A by negative pressure supplied from through hole 12c. Suction tube 13b of rigid nozzle 13A is fixed to the body of rigid nozzle 13A.

[0026] Similarly, in FIG. 4, low-load nozzle 13B is held by nozzle holder 23 by moving it from below to above (arrow c) and inserting insertion hole 13d into protrusion 23a (see FIG. 6). When low-load nozzle 13B is held by nozzle holder 23, through-hole 12c of component mounting portion 12 communicates with opening 13f at the lower end of suction tube 13e, which protrudes from the lower part of low-load nozzle 13B. Suction tube 13e of low-load nozzle 13B is installed so as to slide along the Z axis relative to the main body of low-load nozzle 13B and is biased downward by nozzle spring 13g, a compression spring, installed in the main body. Rigid nozzle 13A and low-load nozzle 13B are available in multiple types with different shapes of suction tubes 13b and 13e depending on the size of the component D to be held, etc.

[0027] Next, with reference to Figure 5, we will explain the load Fm applied from rigid nozzle 13A attached to nozzle holder 23 of component mounting unit 12. Figure 5(a) shows a state in which lift motor 12a is driven to lower connecting portion 12b, and the lower surface of component D held by rigid nozzle 13A lands on the upper surface of substrate P. Figure 5(b) shows a state in which connecting portion 12b has been further lowered by a lowering amount H1 from the state in Figure 5(a).

[0028] When connecting portion 12b is lowered, holder spring 22 is compressed, generating an urging force Fa that pushes connecting portion 12b back upward. In this state, a load Fm, which is the pressure Ft that pushes connecting portion 12b down minus the urging force Fa, is applied to part D from suction tube 13b. When the pressure Ft increases and connecting portion 12b further descends, the amount of descent H1 increases, and the urging force Fa that pushes back from holder spring 22 increases by the amount of the increase in pressure Ft. As a result, the load Fm applied to part D from rigid nozzle 13A is kept constant.

[0029] Next, with reference to Figure 6, we will explain the load Fm applied from the low-load nozzle 13B attached to the nozzle holder 23 of the component mounting unit 12. Figure 6(a) shows a state in which the lift motor 12a is driven to lower the connecting part 12b, and the bottom surface of the component D held by the low-load nozzle 13B lands on the top surface of the board P. Figure 6(b) shows a state in which the connecting part 12b has been further lowered by a lowering amount H2 from the state in Figure 6(a).

[0030] The spring constant of nozzle spring 13g included in low-load nozzle 13B is designed to be smaller than the spring constant of holder spring 22. Therefore, even when connecting portion 12b is lowered, holder spring 22 is not compressed, but nozzle spring 13g is compressed. Compressing nozzle spring 13g generates a biasing force Fb that pushes low-load nozzle 13B back upward. In this state, a load Fm, which is the force obtained by subtracting biasing force Fb from pressing force Ft with which connecting portion 12b presses nozzle holder 23 down, is applied to part D from suction tube 13e.

[0031] The load Fm applied from the low-load nozzle 13B to the component D is kept constant by the nozzle spring 13g. In addition, the spring constant of the nozzle spring 13g is smaller than the spring constant of the holder spring 22, so the load Fm applied from the low-load nozzle 13B to the component D is smaller than the load Fm applied from the rigid nozzle 13A. Several types of low-load nozzles 13B are available, each incorporating a nozzle spring 13g with a different spring constant depending on the allowable load of the component D.

[0032] 7, the configuration of the control system of the component mounting device 2 will be described, focusing on the function of performing a process to determine whether the load Fm of the nozzle 13 mounted on the mounting head 11 is appropriate for mounting a component. The component mounting device 2 includes a control device 30, a substrate transport mechanism 6, a tape feeder 8, a mounting head 11, a head movement mechanism 14, a component recognition camera 15, a head camera 16, a load measurement unit 20, and a touch panel 21. The mounting head 11 includes a component mounting unit 12 having an elevation control unit 11a (control unit) and an elevation motor 12a (elevation means).

[0033] The control device 30 includes a control memory unit 31, a mounting control unit 32, a determination unit 33, a measurement processing unit 34, a judgment unit 35, and a result display processing unit 36. The control memory unit 31 is a storage device that stores mounting data 37, identification number data 38, reference data 39, head status data 40, measurement result data 41, etc. The mounting data 37 stores various information for each type of mounting board, such as the type of component D to be mounted on the board P, the coordinates of the mounting position on the board P, whether constant load control is used when mounting the component, and the type of constant load control.

[0034] 7, the mounting control unit 32 executes a component mounting operation by raising and lowering the nozzle 13 attached to the component mounting unit 12 of the mounting head 11 based on the mounting data 37, picking up the component D supplied by the tape feeder 8 of the component supply unit 7, and mounting it at the mounting position on the board P. When mounting a component D specified as constant load control in the mounting data 37, the mounting control unit 32 sends a command specifying the type of constant load control to the lift control unit 11a of the mounting head 11. Upon receiving the command, the lift control unit 11a controls the torque of the lift motor 12a of the component mounting unit 12 so that the load Fm specified by the type is reached, thereby lowering the nozzle 13.

[0035] Furthermore, when mounting part D for which constant load control is not specified in mounting data 37, mounting control unit 32 sends a command to lift control unit 11a indicating that constant load control is not to be used. Upon receiving the command, lift control unit 11a controls lift motor 12a in a predetermined operation pattern to lower nozzle 13.

[0036] 7, the identification number data 38 includes various data that specify the type of mounting head 11, the type of nozzle 13, the type of constant load control, and the identification number used when inputting the judgment result into the head status data 40, etc. Here, the various data included in the identification number data 38 will be described with reference to Fig. 8. Note that the contents of the various data described below are examples, and will be changed as appropriate depending on the configuration of the mounting head 11, the type of nozzle 13, etc.

[0037] 8(a) shows an example of head type data. In this example, the head types are specified as 16-nozzle head "16NH," 8-nozzle head "8NH," and 4-nozzle head "4NH," with identification numbers "1," "2," and "3" respectively. In addition to the number of nozzles, the type of mounted head 11 is also classified by its mechanism, such as whether it is a multiple head with multiple nozzles 13 arranged horizontally or a rotary head with nozzles 13 arranged concentrically.

[0038] FIG. 8(b) shows an example of nozzle type data. In this example, a rigid nozzle 13A and a low-load nozzle 13B are specified as nozzle types, and "1" and "2" are specified as identification numbers, respectively. That is, the nozzle types include at least a first nozzle (rigid nozzle 13A) and a second nozzle (low-load nozzle 13B) that applies a smaller load Fm than the first nozzle. Note that the types of nozzles 13 are also classified by the size, shape, etc. of the nozzle 13. Furthermore, if multiple low-load nozzles 13B with different spring constants of the nozzle springs 13g are prepared, they are also classified by the spring constant (load).

[0039] Figure 8(c) shows an example of constant force control types. In this example, "1N", "0.9N", "0.8N", "0.7N", "0.6N", and "0.5N" are defined as constant force control types, with "1", "2", "3", "4", "5", and "6" defined as identification numbers, respectively. Figure 8(d) shows an example of Pos status data. In this example, "normal", "warning", and "abnormal" are defined as Pos statuses, with "1", "2", and "3" defined as identification numbers, respectively.

[0040] 7, the reference data 39 includes reference values ​​and threshold values ​​for determining whether the load Fm applied from the nozzle 13 is appropriate in the process of determining whether the component mounting load is appropriate. An example of the reference data 39 will now be described with reference to Fig. 9. In this example, the reference data 39 is defined for each head type, nozzle type, and constant load control type.

[0041] FIG. 9(a) shows an example of head type reference data. In this example, "16NH," "8NH," and "4NH" are specified as head types. FIG. 9(b) shows an example of nozzle type reference data. In this example, low-load nozzle 13B is specified as the nozzle type. If multiple low-load nozzles 13B with different loads Fm are used, the nozzle type for each is specified. FIG. 9(c) shows an example of constant load control type reference data. In this example, "1N," "0.9N," "0.8N," "0.7N," "0.6N," and "0.5N" are specified as constant load control types.

[0042] Each reference data defines a "reference value," "upper warning limit," "lower warning limit," "upper threshold," and "lower threshold" for the load Fm for each type. The "reference value" is the reference value of the load Fm applied from the nozzle 13, and in the head type reference data, it is determined mainly by the spring constant of the holder spring 22 provided in the component mounting unit 12 of the mounting head 11. The "reference value" of the nozzle type reference data is determined mainly by the spring constant of the nozzle spring 13g provided in the low load nozzle 13B. The "reference value" of the constant load control type reference data is a target value when the lift control unit 11a (control unit) controls the torque of the lift motor 12a (lifting means).

[0043] In FIG. 9, the "reference value" for the constant load control type in this example is 1.0 (N) to 0.5 (N). The "reference value" for the head type is 1.3 (N) to 1.5 (N), which is larger than the "reference value" for the constant load control type. The "reference value" for the nozzle type is 0.3 (N), which is smaller than the "reference value" for the constant load control type. The "upper threshold" and "lower threshold" are the upper and lower thresholds of the range in which the measured load Fm is appropriate. The "upper warning limit" and "lower warning limit" are criteria for issuing a warning that the measured load Fm is appropriate, but there is a possibility that the load Fm will become inappropriate in the near future. The "upper warning limit" and "lower warning limit" are set between the "upper threshold" and "lower threshold".

[0044] In this example, the "upper warning limit," "lower warning limit," "upper threshold," and "lower threshold" are defined as ratios to the "reference value." That is, the "upper warning limit" is +15% from the "reference value," the "lower warning limit" is -15% from the "reference value," the "upper threshold" is +20% from the "reference value," and the "lower threshold" is -20% from the "reference value." Note that the "upper warning limit," "lower warning limit," "upper threshold," and "lower threshold" are not limited to being defined as ratios, and may be defined as specific numerical values ​​for the load Fm.

[0045] In FIG. 7, the head status data 40 specifies the status of each mounting head 11 using an identification number, such as the type of mounting head 11, the type of nozzle 13 attached, the type of constant load control, and the result of the judgment on the suitability of the component mounting load.

[0046] An example of head status data 40 for the 16-nozzle head "16NH" shown in Fig. 3 will now be described with reference to Fig. 10. The head status data 40 stores, in table format, a "Pos number" 50 that identifies the position of the component mounting units 12(1) to 12(16) equipped on the mounting head 11, a "head" 51 that identifies the head type, a "nozzle" 52 that identifies the nozzle type, a "load control" 53 that identifies the constant load control type, and a "judgment result" 54 that identifies the result of the judgment on the appropriateness of the component mounting load. The "head" 51, "nozzle" 52, "load control" 53, and "judgment result" 54 store identification numbers defined in the identification number data 38 shown in Fig. 8.

[0047] In FIG. 10, the judgment result field contains an identification number after the component placement load suitability judgment process. Before the component placement load suitability judgment process, the judgment result field is blank or the previous judgment result is entered. A "-" in "Load Control" 53 indicates that constant load control is not performed. For example, when "Pos Number" 50 is "1" or "2," "Nozzle" 52 is "1" and "Load Control" 53 is "-," it is specified that the rigid nozzle 13A is mounted and constant load control is not performed. When "Pos Number" 50 is "3," "Nozzle" 52 is "2" and "Load Control" 53 is "-," it is specified that the low load nozzle 13B is mounted and constant load control is not performed. When "Pos Number" 50 is "4," "Load Control" 53 is "1," it is specified that "1N" constant load control is performed.

[0048] 7, the determination unit 33 determines the threshold value of the load Fm used to determine the appropriateness of the component mounting load for each component mounting unit 12 (Pos number) of the mounting head 11 based on the reference data 39 and the head condition data 40. The threshold value of the load Fm may be determined automatically by the determination unit 33, or may be input by the operator via input means such as the touch panel 21.

[0049] Here, a method for determining the threshold value of the load Fm by the determination unit 33 will be described with reference to FIGS. 8 to 10, along with the flow of the threshold value determination method (determination step) shown in FIG. 12. The determination unit 33 determines the threshold value of the load Fm for each of the component mounting units 12 included in the mounting head 11 in order. For example, the determination is performed in ascending order starting from the Pos number "1". First, the determination unit 33 determines whether the nozzle 13 attached to the component mounting unit 12 with the target "Pos number" 50 is the low-load nozzle 13B based on the head status data 40 (ST1). Specifically, the determination unit 33 determines whether the "nozzle" 52 is "2", which is the identification number of the low-load nozzle 13B.

[0050] If the nozzle 13 is a low-load nozzle 13B (Yes in ST1), the determination unit 33 determines the thresholds used to determine suitability as the thresholds for the low-load nozzle 13B, regardless of whether constant load control is in effect (ST2). Specifically, the determination unit 33 determines the "Upper Warning Limit," "Lower Warning Limit," "Upper Threshold," and "Lower Threshold" for the low-load nozzle 13B in the nozzle type reference data shown in FIG. 9(b) as the thresholds to be used to determine suitability. In the example of FIG. 10, the component mounting unit 12 with a "Pos Number" 50 of "3" has a "Nozzle" 52 of "2" and is a low-load nozzle 13B, so the thresholds for the low-load nozzle 13B are determined to be the thresholds specified in the nozzle type reference data shown in FIG. 9(b) regardless of the definition of "Load Control" 53.

[0051] 12, if the determination of threshold values ​​for all Pos has not been completed (No in ST3), the process returns to (ST1). If the nozzle 13 is not a low-load nozzle 13B (No in ST1), the determination unit 33 determines whether or not the component mounting unit 12 to be set is under constant load control (ST4). Specifically, the determination unit 33 determines that the constant load control is in effect if "load control 53" is any one of the identification numbers for the constant load control type, "1" to "6," and determines that the constant load control is not in effect if "-."

[0052] If it is constant force control (Yes in ST4), the thresholds used to judge suitability are determined as the thresholds for constant force control (ST5). In the example of Fig. 10, the part mounting unit 12 with "Pos number" 50 of "4" has "force control" 53 of "1" and constant force control of "1N" is specified. Therefore, the determination unit 33 determines the "upper warning limit", "lower warning limit", "upper limit threshold", and "lower limit threshold" of "1N" in the constant force control type standard data shown in Fig. 9(c) as the thresholds to be used to judge suitability. Next, if threshold determination has not been completed for all Pos (No in ST3), the process returns to (ST1).

[0053] In FIG. 12, if the nozzle 13 is not a low-load nozzle 13B (No in ST1) or is not a constant load control nozzle (No in ST4), the thresholds used to determine whether the nozzle is suitable are determined as the thresholds for the mounting head (ST6). In the example of FIG. 10, the component mounting units 12 with "Pos Number" 50 of "1" and "2" have "Load Control" 53 of "-" and are not constant load control. Furthermore, "Head" 51 is "1," which is the identification number of the mounting head 11 of "16NH." Therefore, the determination unit 33 determines the "Upper Warning Limit," "Lower Warning Limit," "Upper Threshold," and "Lower Threshold" of "16NH" in the head type reference data shown in FIG. 9(a) as the thresholds to be used to determine whether the nozzle is suitable. Next, if the determination of thresholds for all Pos has not been completed (No in ST3), the process returns to (ST1).

[0054] In this way, the determination unit 33 determines the threshold value of the load Fm (ST2, ST5, ST6) based on the type of nozzle 13 (ST1), or the presence or absence of constant load control and the type of constant load control (control mode) (ST4). The determination unit 33 also determines the threshold value of the load Fm taking into account the type of mounting head 11 to which the nozzle 13 is attached (ST6). This makes it possible to appropriately determine the appropriateness of the load Fm applied from the nozzle 13 in the process of determining the appropriateness of the component mounting load, even for mounting heads 11 with complex configurations.

[0055] 7, the measurement processing unit 34 controls the mounting head 11, the head moving mechanism 14, and the load measuring unit 20 to measure the load Fm applied from the nozzles 13 attached to each component mounting unit 12 of the mounting head 11. Specifically, the measurement processing unit 34 controls the head moving mechanism 14 to move the component mounting unit 12, which is the object of measurement of the load Fm, above the load measuring unit 20 (load measuring means).

[0056] Next, the measurement processing unit 34 causes the lift control unit 11a to execute torque control in the case of constant load control based on the identification number of "load control" 53 in the head status data 40. If constant load control is not selected, the measurement processing unit 34 causes the lift control unit 11a to control the lift control unit 11a according to a predetermined pattern. The lift control unit 11a (control unit) drives the lift motor 12a (lifting means) to lower the nozzle 13 attached to the component mounting unit 12 and bring it into contact with the load measurement unit 20 (load measurement means). The load measurement unit 20 measures the load Fm applied by the nozzle 13 in contact. The measurement processing unit 34 associates the measured load Fm with information identifying the measurement target and the measurement date and time, and stores the measured load Fm in the control memory unit 31 as measurement result data 41. In other words, the control memory unit 31 is a memory unit that stores the load Fm applied from the nozzle 13.

[0057] 7, the judgment unit 35 compares the load Fm measured by the load measurement unit 20 (load measurement means) with the threshold value of the load Fm according to the type of nozzle 13 or the control mode determined by the determination unit 33, and judges whether the load Fm applied from the nozzle 13 is appropriate. Specifically, the judgment unit 35 judges the measured load Fm to be "normal" if it is between the "upper warning limit" and the "lower warning limit". Then, the judgment unit 35 inputs "1" into the "judgment result" 54 of the measured "Pos number" 50 in the head condition data 40.

[0058] Furthermore, if the measured load Fm is between the "upper threshold" and the "upper warning limit" or between the "lower threshold" and the "lower warning limit", the determination unit 35 determines it to be a "warning" and inputs "2" into the "determination result" 54. Furthermore, if the measured load Fm is greater than the "upper threshold" or less than the "lower threshold", the determination unit 35 determines it to be an "abnormal" and inputs "3" into the "determination result" 54.

[0059] Next, a method for determining whether a component mounting load applied by the component mounting device 2 (component mounting system 1) is appropriate will be described with reference to the flow chart in Fig. 13. First, the determination unit 33 determines a threshold value for the load of the nozzle 13 of each component mounting unit 12 of the mounting head 11 in accordance with the threshold value determination method shown in Fig. 12 (ST11: determination step). Next, the load Fm is measured in order for each of the component mounting units 12 provided in the mounting head 11, and the appropriateness of the load Fm is determined. That is, the measurement processing unit 34 measures the load Fm applied from the nozzle 13 attached to the component mounting unit 12 to be measured based on the head status data 40 (ST12: load measurement step).

[0060] Next, the determination unit 35 compares the measured load Fm with a load Fm threshold value corresponding to the type of nozzle 13 ("nozzle" 52) or the control mode ("load control" 53) to determine whether the load Fm applied from the nozzle 13 is appropriate (ST13: determination step). For example, when a first nozzle (rigid nozzle 13A) is attached to the mounting head 11, the load Fm applied from the first nozzle is compared with a load Fm threshold value corresponding to the control mode to determine whether the load Fm applied from the first nozzle is appropriate. Furthermore, when a second nozzle (low-load nozzle 13B) that applies a smaller load Fm than the first nozzle is attached to the mounting head 11, the load Fm applied from the second nozzle is compared with a load Fm threshold value corresponding to the second nozzle to determine whether the load Fm applied from the second nozzle is appropriate.

[0061] 13, the determination unit 35 then records the determination result in "determination result" 54 of the head condition data 40, and the measurement processing unit 34 stores the measurement result in the measurement result data 41 (ST14: storage step). That is, in the storage step (ST14), the load Fm applied from the nozzle 13 is stored. Next, if the process of determining whether the component mounting load is appropriate for all component mounting units 12 (all Pos) has not been completed (No in ST15), the load measurement step (ST12), determination step (ST13), and storage step (ST14) are executed for the next component mounting unit 12.

[0062] When the processing for all component mounting sections 12 is completed (Yes in ST15), the judgment section 35 judges whether or not there is a component mounting section 12 (Pos number) for which the load Fm is inappropriate (ST16). Specifically, the judgment section 35 judges that there is an inappropriate component mounting section 12 when the "judgment result" 54 of the head status data 40 is "3" (abnormal). If there is a component mounting section 12 for which the load Fm is inappropriate (Yes in ST16), that is, if the judgment section 35 judges that the load Fm applied from the nozzle 13 is inappropriate in the judgment step (ST13), the judgment section 35 causes the touch panel 21 to notify that fact (ST17: notification step). That is, the touch panel 21 is a notification section that notifies that fact. If there is no component mounting section 12 for which the load Fm is inappropriate (No in ST16), all processing ends.

[0063] The "judgment result" 54 of the head condition data 40 shown in Fig. 10 is input with the judgment result by the judgment unit 35. In this example, when the "Pos number" 50 is "5," "10," or "15," the "judgment result" 54 is "2," meaning the judgment result is "warning." Also, when the "Pos number" 50 is "12," the "judgment result" 54 is "3," meaning the judgment result is "abnormal."

[0064] Therefore, the judgment unit 35 displays on the touch panel 21 that "the component mounting unit with POS number 12 is abnormal and should be maintained immediately." At that time, the judgment unit 35 also displays the defective part estimated from the nozzle type and constant load type. A rigid nozzle 13A is attached to POS 12, and a constant load control of "0.5 N" is applied. Therefore, the judgment unit 35 displays that "the condition of the lift motor or holder spring should be checked."

[0065] If the low-load nozzle 13B is installed, the judgment unit 35 displays a message stating "Check the nozzle spring condition." If the rigid nozzle 13A is installed and constant load control is not being used, the judgment unit 35 displays a message stating "Check the holder spring condition." This allows the operator to easily identify the parts that require maintenance, even for mounting heads 11 with complex configurations. If the judgment result is "warning," the judgment unit 35 may display on the touch panel 21 a message stating "Signs of malfunction have been found in the component mounting parts with POS numbers 5, 10, and 15, so maintenance should be arranged."

[0066] In FIG. 7, the result display processing unit 36 ​​displays a load measurement result screen on the touch panel 21 (display unit) based on the measurement result data 41 stored in the control memory unit 31, for example, after the process of determining whether the component mounting load is appropriate (display process).

[0067] An example of a load measurement result screen 60 displayed on the touch panel 21 will now be described with reference to FIG. 11. In FIG. 11(a), the load measurement result screen 60 displays a graph display area 61, a horizontal axis switching button 62, and a display switching tag 63. The graph display area 61 displays a graph showing the measured load Fm applied from the nozzle 13 with the horizontal axis representing a time series. The graph is displayed for each type of nozzle 13 or for each mode of constant load control of the component mounting unit 12. When the display switching tag 63 is operated, the displayed measurement results are switched. Furthermore, when the horizontal axis switching button 62 is operated, the horizontal axis of the graph displayed in the graph display area 61 is switched between "measurement time" and "elapsed time since maintenance."

[0068] 11(a) shows a state in which the display switch tag 63 for "Constant Load Control (0.5N)" is selected. That is, the graph displays the measurement results for the component mounting units 12 for which the "Nozzle" 52 is "1" for the rigid nozzle 13A, the "Load Control" 53 is "6" for "0.5N", and the "Pos Number" 50 is "10," "11," or "12" in the head status data 40 of FIG.

[0069] The graph displays lines indicating the "upper threshold," "upper warning limit," "lower warning limit," and "lower threshold" from top to bottom. At positions where the measured load Fm is decreasing discontinuously (for example, arrow d), maintenance is being performed on the nozzle 13 or the mounting head 11. For example, Pos11, where the load Fm was increasing due to a gradual increase in sliding resistance caused by deterioration of the holder spring 22, is performed at the time indicated by arrow d, and the sliding resistance is restored, causing a discontinuous decrease in the load Fm.

[0070] Furthermore, the load Fm of the nozzle 13 is measured and judged as to whether it is appropriate or not at the measurement time of "today" shown on the horizontal axis. For Pos10, the measured load Fm is between the "upper threshold" and the "upper warning limit", so the judgment unit 35 judges it as "warning". For Pos11, the measured load Fm is between the "upper warning limit" and the "lower warning limit", so the judgment unit 35 judges it as "normal". For Pos12, the measured load Fm is larger than the "upper threshold", so the judgment unit 35 judges it as "abnormal".

[0071] FIG. 11(a) is a load measurement result screen 60 in which the horizontal axis indicates "measurement time," and FIG. 11(b) is a load measurement result screen 60 in which the horizontal axis indicates "time elapsed since maintenance." For example, in FIG. 11(a), the time indicated by arrow d when maintenance was performed on Pos11 becomes the origin of the horizontal axis in FIG. 11(b). On the load measurement result screen 60, the horizontal axis switches between "measurement time" (FIG. 11(a)) and "time elapsed since maintenance" (FIG. 11(b)) each time the horizontal axis switching button 62 is operated.

[0072] In this way, the touch panel 21 (display unit) displays the load Fm applied from the nozzle 13 in chronological order for each type of nozzle 13 (rigid nozzle 13A, low-load nozzle 13B) or for each mode of constant load control (display process). Also, in FIG. 11(b), the touch panel 21 (display unit) displays in chronological order the time elapsed since the most recent maintenance was performed on the nozzle 13 or the mounting head 11. By displaying the measurement results of the load Fm in chronological order in this way, it is possible to easily grasp the deterioration trend of the holder spring 22 of the mounting head 11 and the nozzle spring 13g of the low-load nozzle 13B.

[0073] As described above, the component mounting device 2 of this embodiment is a system for determining whether the component mounting load is appropriate, and is equipped with a mounting head 11 having a component supply unit 7 that supplies components D, a nozzle 13 that picks up the components D supplied from the component supply unit 7 and mounts them on the substrate P, a lifting means (lifting motor 12a) that raises and lowers the nozzle 13, and a control unit (lifting control unit 11a) that controls the lifting means, a load measuring means (load measuring unit 20) that abuts the nozzle 13 that is lowered by the lifting means and measures the load Fm applied from the abutting nozzle as the component mounting load, and a determination unit 35 that compares the load Fm measured by the load measuring means with a threshold value of the load Fm according to the type of nozzle 13 or the mode of control, and determines whether the load Fm applied from the nozzle 13 is appropriate.

[0074] This makes it possible to appropriately determine whether the load Fm applied from the nozzle 13 is appropriate even for a mounting head 11 with a complex configuration.

[0075] Although the above description has been given using an example in which the system for determining the appropriateness of a component placement load is configured only by the component mounting device 2, the system for determining the appropriateness of a component placement load is not limited to this configuration. For example, the system for determining the appropriateness of a component placement load may be configured by a component mounting system 1 including the component mounting device 2 and a management computer 4. In this case, the management computer 4 receives the measurement result of the load Fm measured by the load measuring means from the component mounting device 2, and determines the appropriateness of the load Fm using a determination unit 35 included in the management computer 4. In addition, the system for determining the appropriateness of a component placement load may be configured by a head maintenance device that performs maintenance on the mounting head 11 removed from the component mounting device 2. [Industrial Applicability]

[0076] The component mounting load suitability judgment system, component mounting load judgment method, and component mounting device of the present invention have the effect of being able to appropriately judge the suitability of the load applied from the nozzle even for mounting heads with complex configurations, and are useful in the field of mounting components to substrates. [Explanation of symbols]

[0077] 1. Parts mounting system (system for determining whether the part mounting load is appropriate) 2. Parts mounting device (system for determining whether the part mounting load is appropriate) 7 Parts Supply Department 11 Mounting head 12a Lifting motor (lifting means) 13 nozzles 13A Rigid Nozzle (First Nozzle) 13B Low Load Nozzle (Second Nozzle) 20 Load measurement unit (load measurement means) 21 Touch panel (notification unit, display unit) D parts Fm load P board

Claims

1. a nozzle that picks up components supplied from a component supply unit and places them on a board; a lifting means for lifting and lowering the nozzle; a control unit for controlling the lifting means; and a mounting head having the control unit; a load measuring means that is brought into contact with the nozzle being lowered by the lifting means and that measures the load applied from the nozzle as the component mounting load; a determination unit that compares the load measured by the load measurement means with a load threshold value corresponding to the type of the nozzle or the mode of control, and determines whether the load applied from the nozzle is appropriate; a determination unit that determines a threshold value of the load in consideration of a reference value of the load based on the type of the mounting head to which the nozzle is attached.

2. A system for determining the suitability of the mounting load of a part as described in claim 1, wherein the determination unit determines the load threshold value based on the type of nozzle or the control mode.

3. The mounting head is provided with a holder spring that urges the nozzle downward, 3. The system for determining whether a component mounting load is appropriate according to claim 1, wherein the reference value of the load based on the type of the mounting head is determined by a spring constant of the holder spring.

4. 4. The system for determining the suitability of a component mounting load according to claim 1, wherein the types of nozzles include at least a first nozzle and a second nozzle that applies a smaller load than the first nozzle.

5. The determination unit When the first nozzle is attached to the mounting head, determining whether the load applied from the first nozzle is appropriate by comparing the load with a threshold value corresponding to the mode of control; 5. The system for determining whether a component mounting load is appropriate as described in claim 4, wherein, when the second nozzle is attached to the mounting head, the load applied from the second nozzle is compared with a load threshold value corresponding to the second nozzle to determine whether the load is appropriate.

6. 6. The system for determining whether a component mounting load is appropriate according to claim 1, further comprising a notification unit that notifies the user when the determination unit determines that the load applied by the nozzle is inappropriate.

7. a memory unit that stores the load applied from the nozzle; 7. The system for determining whether a component mounting load is appropriate according to claim 1, further comprising a display unit that displays the load applied from said nozzle in chronological order.

8. 8. The system for determining whether a component mounting load is appropriate according to claim 7, wherein the display unit displays the load applied from the nozzle in chronological order for each type of nozzle or for each mode of control.

9. 9. The system for determining whether a component mounting load is appropriate according to claim 7, wherein the display unit displays, in chronological order, the time elapsed since the most recent maintenance was performed on the nozzle or the mounting head.

10. A method for determining the appropriateness of a component placement load using a component placement load determination system equipped with a placement head having a nozzle that picks up components supplied from a component supply unit and places them on a board, and an elevating means that raises and lowers the nozzle, and a load detecting means that detects a load applied by the nozzle that comes into contact with the nozzle as the component placement load, the method comprising: a load measuring step of lowering the nozzle by the lifting means and bringing the nozzle into contact with the load detecting means to measure the load applied from the nozzle; a determination step of comparing the load measured in the load measurement step with a load threshold value according to the type of the nozzle or the mode of the control, and determining whether the load applied from the nozzle is appropriate; a determining step of determining a threshold value of the load in consideration of a reference value of the load based on the type of the mounting head to which the nozzle is attached.

11. A method for determining the suitability of the mounting load of a part as described in Claim 10, wherein in the determination process, the load threshold value is determined based on the type of nozzle or the mode of control.

12. The mounting head is provided with a holder spring that urges the nozzle downward, 12. The method for determining whether a component mounting load is appropriate according to claim 10, wherein the reference value of the load based on the type of the mounting head is determined by a spring constant of the holder spring.

13. In the determination step, When a first nozzle is attached to the mounting head, a load applied from the first nozzle is compared with a load threshold value according to the mode of control to determine whether the load is appropriate; 13. A method for determining the appropriateness of a component mounting load as described in any one of claims 10 to 12, wherein, when a second nozzle that applies a smaller load than the first nozzle is attached to the mounting head, the load applied from the second nozzle is compared with a load threshold value corresponding to the second nozzle to determine whether it is appropriate.

14. 14. The method for determining whether a component mounting load is appropriate according to claim 10, further comprising a notifying step of notifying the user that the load applied by the nozzle is inappropriate when the determining step determines that the load is inappropriate.

15. a storing step of storing the load applied from the nozzle; The method for determining whether a component mounting load is appropriate according to claim 10 , further comprising: a display step of displaying the load applied from the nozzle in chronological order on a display unit.

16. a parts supply unit that supplies parts; A mounting head; a nozzle attached to the mounting head, which picks up components supplied from the component supply unit and mounts them on a board; a lifting means for lifting and lowering the nozzle; a control unit for controlling the lifting means; a load measuring means that is brought into contact with the nozzle being lowered by the lifting means and that measures the load applied from the nozzle that has come into contact with the load measuring means; a determination unit that compares the load measured by the load measurement means with a load threshold value corresponding to the type of the nozzle or the mode of the control, and determines whether the load applied from the nozzle is appropriate, The component mounting device, wherein the load threshold value is determined in consideration of a reference value of the load based on the type of the mounting head to which the nozzle is attached.

17. 17. The component mounting device according to claim 16, wherein the types of nozzles include at least a first nozzle and a second nozzle that applies a smaller load than the first nozzle.

18. The determination unit When the first nozzle is attached to the mounting head, determining whether the load applied from the first nozzle is appropriate by comparing the load with a threshold value corresponding to the mode of control; 18. The component mounting device according to claim 17, wherein, when the second nozzle is attached to the mounting head, the load applied from the second nozzle is compared with a load threshold value corresponding to the second nozzle to determine whether the load applied from the second nozzle is appropriate.

19. 19. The component mounting device according to claim 16, further comprising a notification unit that, when the determination unit determines that the load applied from the nozzle is inappropriate, notifies the user of that fact.

20. a memory unit that stores the load applied from the nozzle; 20. The component mounting device according to claim 16, further comprising: a display unit that displays the load applied from the nozzle in chronological order.

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