Component crimping device and component crimping method

Abstract

To provide a component crimp device, etc., capable of determining in simple configuration whether or not a cylinder is normally functioned.SOLUTION: A component crimp device 100 comprises: a cylinder 205 including a main body part 206 and a piston rod 208; a crimp head 203 attached to one end of the piston rod 208; a stopper 211 provided in the other end of the piston rod; a support body 220 which supports the piston rod 208 from one end side via a stopper 211; a motor 214 which moves the support body 220; a control section 232 which controls the cylinder 205 and the motor 214 to move the support body 220 together with the piston rod 208 and causes the crimp head 203 to crimp a component 160 to a substrate 150 supported by a backup part 201a; and a determination section 233 for determining whether or not the cylinder 205 is normally functioned based on torque information relating to torque which is generated in the motor 214.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a component crimping device and a component crimping method. [Background technology]

[0002] BACKGROUND ART Conventionally, there is a component crimping device that uses a cylinder to crimp a component onto a substrate (see, for example, Patent Document 1).

[0003] A pressure device, which is an example of a component crimping device disclosed in Patent Document 1, uses a cylinder to generate a pressure force (also called a pushing force) on a crimping head attached to the end of a piston rod of the cylinder, thereby mounting components on a substrate. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5009738 Summary of the Invention [Problem to be solved by the invention]

[0005] To detect whether the cylinder is generating a predetermined pressing force on the crimping head, for example, a pressure sensor is required. However, if the component crimping device has multiple crimping heads, for example, a pressure sensor corresponding to the number of crimping heads is required. Therefore, it is desirable to be able to determine, with a simple configuration, whether the cylinder is generating a predetermined pressing force, i.e., whether the cylinder is functioning normally.

[0006] The present invention provides a component crimping device and the like that can determine, with a simple configuration, whether or not a cylinder is functioning normally. [Means for solving the problem]

[0007] a control unit that controls the cylinder and the motor to move the support together with the piston rod toward the one end, thereby causing the crimping head to crimp a component onto the substrate supported by the backup unit; and a determination unit that determines whether the cylinder is functioning normally based on torque information relating to the torque generated in the motor.

[0008] Furthermore, a component crimping method according to one aspect of the present invention is a component crimping method performed by a component crimping device comprising: a cylinder having a backup unit that supports a substrate, a support pillar erected on a base on which the backup unit is installed, a main body unit fixedly attached to the support pillar, and a piston rod that is movable along the support pillar; a crimping head attached to one end of the piston rod; a stopper provided at the other end of the piston rod opposite the one end; a support that is movably attached along the support pillar and supports the piston rod from the one end side via the stopper; and a motor that moves the support pillar, the component crimping method including: a control step of controlling the cylinder and the motor to move the support pillar together with the piston rod toward the one end side, and causing the crimping head to crimp a component onto the substrate supported by the backup unit; and a determination step of determining whether the cylinder is functioning normally based on torque information related to the torque generated in the motor. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a component crimping device or the like that can determine with a simple configuration whether or not a cylinder is functioning normally. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a component crimping device according to an embodiment. [Figure 2] FIG. 2 is a diagram for explaining the operation of the piston rod and the support body provided in the component crimping device according to the embodiment. [Figure 3] FIG. 3 is a diagram illustrating an example of a change in torque over time. [Figure 4] FIG. 4 is a flowchart showing the processing procedure of the component crimping device according to the embodiment. [Figure 5] FIG. 5 is a diagram for explaining a modified example of the change in torque over time. [Figure 6] FIG. 6 is a flowchart showing a modified example of the processing procedure of the component crimping device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] (Background to the invention) As described above, there is a conventional component crimping device that uses a cylinder to crimp a component onto a substrate. This type of component crimping device includes, for example, a cylinder such as an air cylinder that generates a pressing force of a crimping head, and a motor such as a servo motor that raises and lowers the crimping head to control the height of the crimping head.

[0012] In this way, in a component crimping device equipped with a cylinder for pressurizing the crimping head and a servo motor for controlling the height of the crimping head, if, for example, the electromagnetic valve for supplying compressed air to the cylinder fails and the specified air pressure is not supplied to the cylinder, the required pressure force cannot be obtained for the component, which may result in a mounting failure.

[0013] To prevent such mounting defects, there is a method of providing a limit switch that detects the cylinder's maximum extension and return positions, and checking whether the piston rod of the cylinder is operating normally.

[0014] However, even if the piston rod is operating, there is no guarantee that the specified pressing force is being obtained, and it is difficult to detect when the pressing force generated by the air cylinder has deviated from the desired range. For example, to prevent malfunction of the piston rod, it is possible to use a pressure sensor to monitor the pressure of the air supplied to the cylinder (also simply referred to as air pressure). However, for example, if a component crimping device has multiple crimping heads, it is necessary to install as many pressure sensors as there are crimping heads, so the more crimping heads there are, the higher the cost of the component crimping device becomes.

[0015] Therefore, the inventors have discovered a device that can determine whether the cylinder is functioning normally with a simple configuration. Specifically, a component crimping device according to one aspect of the present invention can prevent mounting defects by detecting insufficient pressing force of the cylinder without providing a pressure sensor. Furthermore, since there is no need to provide a pressure sensor, the cost of the component crimping device according to the present invention can be reduced.

[0016] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection forms, steps, step order, etc. shown in the following embodiments are merely examples and are not intended to limit the present invention. Furthermore, among the components in the following embodiments, components not recited in independent claims will be described as optional components.

[0017] Furthermore, the drawings are schematic diagrams in which emphasis, omission, and proportions have been appropriately adjusted in order to illustrate the present invention, and may differ from the actual shapes, positional relationships, and proportions.

[0018] In this specification and the drawings, the X-axis, Y-axis, and Z-axis represent the three axes of a three-dimensional Cartesian coordinate system. In the following embodiments, the Z-axis direction is defined as the up-down direction (vertical direction), and the positive direction of the Z-axis is defined as the upward direction.

[0019] Furthermore, in this specification, the terms "above" and "below" do not refer to the upward direction (vertically upward) and downward direction (vertically downward) in absolute spatial recognition, but are used as terms defined by a relative positional relationship. Furthermore, the terms "above" and "below" are applied not only to a case where two components are arranged with a gap between them and another component exists between them, but also to a case where two components are arranged closely together and the two components are in contact with each other.

[0020] (Embodiment) [composition] First, the configuration of component crimping device 200 will be described.

[0021] FIG. 1 is a schematic diagram showing the configuration of a component crimping device 200 according to an embodiment.

[0022] Component pressure bonding apparatus 200 is an apparatus that pressure bonds (that is, mounts) component 160 onto substrate 150. A production system that includes component pressure bonding apparatus 200 is a system that produces display panels such as liquid crystal displays.

[0023] The substrate 150 is exemplified by a display panel using a glass substrate or the like.

[0024] Examples of the component 160 include flexible components such as TCP (Tape Carrier Package) and FPC (Flexible Printed Circuits), and IC (Integrated Circuit) chips.

[0025] The production system is composed of, for example, an ACF (Anisotropic Conductive Film) attachment device, a temporary pressure bonding (component placement) device, a component pressure bonding device 200, and a conveyance device.

[0026] The ACF attachment device is a device that attaches ACF tape to electrode terminal portions provided on the periphery of a substrate 150 such as a glass plate having electrode terminals.

[0027] Here, "ACF tape" refers to a tape-shaped anisotropic conductive film made from a material that mixes fine conductive metal particles with a thermosetting resin. By pressing under conditions that suit the properties of the ACF tape, such as type and size, the tape hardens, bonding the terminals arranged above and below while maintaining conductivity.

[0028] The temporary pressure bonding device is a device that attaches the component 160 to the terminal of the electrode on the peripheral edge of the substrate 150 to which the ACF tape is attached.

[0029] The transport device is a device that transports the substrate 150 between the ACF attachment device, the temporary pressure bonding device, and the component pressure bonding device 200.

[0030] Component crimping device 200 is a so-called main crimping device that crimps substrate 150 and component 160 together by pressing component 160 and substrate 150 to which component 160 is attached under predetermined crimping conditions via ACF tape attached to the peripheral edge of substrate 150. As a result, the ACF tape hardens and establishes electrical continuity between the electrode terminals of substrate 150 and the electrode terminals of component 160.

[0031] Here, the compression conditions refer to conditions for pressing the component 160. The compression conditions include, for example, the time for pressing the component 160 against the substrate 150, the temperature at which the pressing is performed, and the pressure at which the pressing is performed.

[0032] Specifically, component crimping device 200 is a device that crimps substrate 150 and component 160 supported by support stage 131. In this embodiment, component crimping device 200 crimps component 160 onto substrate 150, with a lower end of substrate 150 supported by backup unit 201a and component 150 placed above said end, by pressing substrate 150 from above with crimping head 203. Component crimping device 200 includes base 201, backup unit 201a, support column 202, crimping head 203, cylinder 205, stopper 211, pressure control unit 213, motor 214, support 220, control device 230, and notification unit 240.

[0033] The base 201 is a platform for supporting the cylinder 205 (more specifically, the main body 206), the motor 214, etc. On the base 201, a backup unit 201a and a support 202 are installed.

[0034] The backup unit 201a is a support unit that supports the substrate 150. Specifically, the backup unit 201a is a backup stage that supports from below the peripheral edge of the substrate 150 to which the component 160 is bonded, and supports the component 160 when it is pressed against the substrate 150.

[0035] The support pillar 202 is a columnar member that stands on the base 201. The support pillar 202 includes a ball screw 218 and a movement guide 204.

[0036] The ball screw 218 is a columnar member having a thread groove that is screwed into the support 220 and supports the support 220 so that the support 220 can move in the direction in which the ball screw 218 extends.

[0037] The movement guide 204 is a guide that restricts the movement of the crimping head 203 relative to the component 160 in the direction along the support 202 .

[0038] Cylinder 205 is a component provided on support 202, and generates a pressing force for pressing substrate 150 and component 160 together. In this embodiment, cylinder 205 is an air cylinder that generates a pressing force using air supplied from pressure control unit 213, which has a supply unit for supplying air such as a pump. Cylinder 205 includes main body 206, piston 207, and piston rod 208.

[0039] The main body 206 is a cylinder tube fixed to the support 202. Specifically, the main body 206 is fixed to the support 202 so that its relative position with respect to the support 202 does not change. The main body 206 is a hollow cylinder through which gas (e.g., air), which is a fluid that serves as a pressure transmission medium, flows in and out.

[0040] The fluid that serves as the pressure transmission medium may be either a compressed fluid such as a gas or an incompressible fluid such as a liquid. In this embodiment, air is supplied to the cylinder 205, but other gases may also be supplied.

[0041] Piston 207 is a disk-shaped part that reciprocates inside main body 206. Air is used to apply pressure to piston 207 to press substrate 150 and component 160. A ring member 207a is attached to the outer circumferential surface of piston 207 that comes into contact with main body 206 to improve airtightness, ensure smooth movement, and the like.

[0042] Piston rod 208 is a columnar member that is connected to piston 207 and reciprocates in conjunction with the reciprocating movement of piston 207. Piston rod 208 is provided movably along support column 202. Specifically, piston rod 208 is a columnar member that extends in a direction parallel to the extending direction of support column 202, and is arranged to be movable (movable up and down) in the direction parallel to the extending direction of support column 202. Furthermore, piston rod 208 extends on both sides of piston 207 in the sliding direction of piston 207.

[0043] The crimping head 203 is attached to one end (the lower end side in this embodiment) of the piston rod 208, and is a head for pressing the substrate 150 supported by the backup part 201a, thereby crimping the component 160 onto the substrate 150. Specifically, the crimping head 203 is attached to one end (tip end) of both ends located in the extension direction of the piston rod 208, which is on the side where the substrate 150 and the component 160 are arranged, and presses the component 160 onto the substrate 150 supported by the backup part 201a, thereby crimping the component 160 onto the substrate 150. The crimping head 203 moves in conjunction with the movement of the piston rod 208 along the extension direction of the support 202. The crimping head 203 is also provided with a heater for thermally bonding the component 160 to the substrate 150 via the ACF tape.

[0044] Stopper 211 is a member provided at the other end (upper end in this embodiment) located opposite to one end of piston rod 208. Stopper 211 is fixed to piston rod 208.

[0045] The support 220 is provided movably along the support column 202 and is a member that supports the piston rod 208 from one end side of the piston rod 208 via the stopper 211. In other words, the support column 220 is a member that supports the lower end of the stopper 211, thereby supporting the upper end side of the piston rod 208 from the lower end side. Specifically, the support column 220 is provided movably along the support column 202 and supports the piston rod 208 from one end side via the stopper 211. More specifically, the support column 220 supports the stopper 211 from below on the side opposite to the pressure direction by the cylinder 205 (in this embodiment, the negative Z-axis direction), and supports the piston rod 208 via the stopper 211. The support column 220 is threadedly engaged with the ball screw 218 and moves in a direction parallel to the extension direction of the support column 202 in conjunction with the rotation of the ball screw 218. This movement causes the piston rod 208 supported by the support 220 and the crimping head 203 and other components provided on the piston rod 208 to move along the support 202.

[0046] The pressure control unit 213 is a device for controlling the pressing force of the cylinder 205 so that the cylinder 205 generates a pressing force necessary to apply a target pressing force (hereinafter also referred to as a target pressing force) to the substrate 150 and the component 160. The pressure control unit 213 is realized by, for example, a pump (air source) that supplies air to the cylinder 205, a regulator such as an electromagnetic valve that controls the amount of air supplied, a solenoid valve, etc.

[0047] Motor 214 is a motor that moves support 220 along support column 202. Specifically, motor 214 is a drive source that rotates ball screw 218 and moves support 220, which is threadedly engaged with ball screw 218, along support column 202. In other words, motor 214 moves support 220 in a direction parallel to the extension direction of piston rod 208. In this embodiment, motor 214 is a servo motor (more specifically, an AC servo motor) that includes an encoder and a driver.

[0048] The encoder is a detector for detecting the position of a drive shaft provided in the motor 214. The encoder outputs position information indicating the detected position of the drive shaft to the control device 230 via the driver. The position information is, for example, information such as the amount of rotation (rotation angle) and rotation speed. The driver is a drive circuit for driving the motor 214 in response to a command from the control device 230. The driver outputs information related to the torque of the motor 214 to the control device 230. For example, the control device 230 controls the rotation operation of the motor 214 based on information such as the torque of the motor 214 detected by an encoder, driver, or the like provided in the motor 214.

[0049] The control device 230 is a control device that issues a command to a driver to control the driving of the motor 214 and controls the pressure control section 213 to control the pressing force of the cylinder 205 .

[0050] The control device 230 controls the start of movement of the support 220, the speed of movement, and the position after movement by, for example, controlling the amount of rotation of the motor 214 based on information such as the torque from the motor 214. The control device 230 also acquires, for example, information indicating the total thickness of the substrate 150 and the component 160, and information indicating the pressing force to be applied to the substrate 150 and the component 160 from the storage unit 235, etc., and determines the position where the support 220 should be placed based on the acquired information.

[0051] The control device 230 is realized by, for example, an interface to which control lines for controlling the pressure control unit 213 and the motor 214 are connected, a non-volatile memory in which a program is stored, a volatile memory which is a temporary storage area for executing the program, an input / output port for sending and receiving signals, and a processor that executes the program.

[0052] The control device 230 includes an acquisition unit 231 , a control unit 232 , a determination unit 233 , an output unit 234 , and a storage unit 235 .

[0053] The acquisition unit 231 is a processing unit that acquires various information used in the processes executed by the control unit 232 and the determination unit 233. The acquisition unit 231 acquires torque information related to the torque of the motor 214 from the motor 214, for example.

[0054] The torque information is, for example, a current value output from a driver of the motor 214 and corresponding to the torque generated in the motor 214 .

[0055] The control unit 232 is a processing unit that controls the cylinder 205 (more specifically, the pressure control unit 213) and the motor 214. Specifically, the control unit 232 controls the cylinder 205 and the motor 214 to move the support 220 together with the piston rod 208 toward one end of the piston rod 208, thereby causing the crimping head 203 to crimp the component 160 onto the substrate 150 supported by the backup unit 201a. More specifically, the control unit 232 controls the cylinder 205 to perform a first control to support the piston rod 208 on the support 220 via the stopper 211 and generate a first pressing force acting from the piston rod 208 toward the one end of the piston rod 208 on the support 220 via the stopper 211, and then controls the motor 214 to perform a second control to move the support 220 together with the piston rod 208 toward the one end of the piston rod 208, thereby causing the crimping head 203 to crimp the component 160 onto the substrate 150.

[0056] FIG. 2 is a diagram for explaining the operation of piston rod 208 and support body 220 provided in component crimping device 200 according to the embodiment.

[0057] 2(a), for example, before component crimping device 200 crimps component 160 onto substrate 150, piston rod 208 is positioned in a state in which stopper 211 located at the other end of piston rod 208 is not in contact with support body 220. In other words, in this state, piston rod 208 is not supported by support body 220.

[0058] 2(b), when the component crimping device 200 crimps the component 160 onto the substrate 150, the control unit 232 performs a first control to control the cylinder 205 to move the piston rod 208 downward and bring the stopper 211 located at the other end of the piston rod 208 into contact with the support 220. As a result, the piston rod 208 is supported by the support 220. At this time, the pressing force acting from the piston rod 208 on the support 220 toward the one end of the piston rod 208 is a first pressing force. In addition, a torque is generated in the motor 214 to maintain the position of the support 220, which is likely to be moved downward by the pressing force.

[0059] 2(c), the control unit 232 performs a second control to control the cylinder 205 to move the piston rod 208 downward and also to move the support 220 downward, thereby pressing the component 160 onto the substrate 150. That is, the component 160 is pressed onto the substrate 150 in a state in which a first pressing force toward one end side of the piston rod 208 is generated. As a result, the component 160 can be pressed onto the substrate 150 while a pressing force by the cylinder 205 (more specifically, the piston rod 208) corresponding to the first pressing force is applied to the substrate 150 and the component 160.

[0060] The determination unit 233 determines whether the cylinder 205 is functioning normally based on torque information related to the torque generated in the motor 214. Specifically, the determination unit 233 determines whether a predetermined air pressure is being applied to the cylinder 205 (that is, whether a predetermined air pressure is being supplied to the main body 206) based on the torque information. In other words, the determination unit 233 determines whether the pressing force with which the crimping head 203 presses the substrate 150 (more specifically, the substrate 150 via the component 160) is good or bad. The determination unit 233 determines whether the cylinder 205 is functioning normally based on torque information related to the torque generated in the motor 214 while the support body 220 is supporting the piston rod 208, for example.

[0061] Furthermore, for example, the determination unit 233 determines whether the torque generated in the motor 214 is equal to or greater than a predetermined torque based on the torque information. For example, if the determination unit 233 determines that the torque generated in the motor 214 is equal to or greater than the predetermined torque, it determines that the cylinder 205 is functioning normally. On the other hand, for example, if the determination unit 233 determines that the torque generated in the motor 214 is less than the predetermined torque, it determines that the cylinder 205 is not functioning normally.

[0062] The predetermined torque may be arbitrarily determined in advance and is not particularly limited. Threshold information indicating the predetermined torque is stored in the storage unit 235 in advance, for example.

[0063] For example, the determination unit 233 determines whether the cylinder 205 is functioning normally based on torque information related to the torque generated in the motor 214 while the control unit 232 is performing the first control. Specifically, the determination unit 233 determines whether the cylinder 205 is functioning normally based on the torque information before the control unit 232 causes the crimping head 203 to crimp the component 160 onto the substrate 150.

[0064] The time period during which the control unit 232 performs the first control, that is, the time period during which the first pressing force is generated, may be determined arbitrarily. Time information indicating this time period is stored in advance in the storage unit 235, for example.

[0065] Alternatively, the control unit 232 may control the cylinder 205 (more specifically, the pressure control unit 213) so that the first pressing force is generated until the determination unit 233 determines whether the cylinder 205 is good or bad.

[0066] Furthermore, for example, when the determining unit 233 determines that the cylinder 205 is not functioning normally, the control unit 232 does not perform the second control, that is, the control for pressure-bonding the component 160 to the substrate 150.

[0067] If the determination unit 233 determines that the cylinder 205 is not functioning normally, the control unit 232 may stop the motor 214 and the cylinder 205 in their current state (for example, the state shown in (b) of Figure 2), or may return the motor 214 and the cylinder 205 to their initial positions (for example, the state shown in (a) of Figure 2) and stop them.

[0068] FIG. 3 is a diagram illustrating an example of the change in torque over time. Specifically, (a) of FIG. 3 is a graph schematically illustrating the change in the downward driving force applied to the piston rod 208 over time. (b) of FIG. 3 is a graph schematically illustrating the change in the height of the crimping head 203 over time. (c) of FIG. 3 is a graph schematically illustrating the change in the force (pressing force) with which the piston rod 208 presses down on the support 220 over time. (d) of FIG. 3 is a graph schematically illustrating the change in the height of the support 220 over time. (e) of FIG. 3 is a graph schematically illustrating the change in the pressing force with which the crimping head 203 presses the component 160 against the substrate 150 over time. (f) of FIG. 3 is a graph schematically illustrating the change in the torque generated in the motor 214 (the amount of current used by the motor 214 to maintain a predetermined position) over time.

[0069] As shown in FIG. 3 , when air is supplied to the pressurizing port of the cylinder 205, or in other words, when air (also referred to as air pressure) is supplied to the main body 206 by the first control so as to move the piston rod 208 downward, the height of the crimping head 203 decreases without changing the height of the support 220. That is, the piston rod 208 moves downward. Next, the stopper 211 and the support 220 come into contact with each other, and a first pressing force acting on the support 220 is generated. Next, with the first pressing force being generated by the second control, the support 220 is moved downward, and the component 160 is crimped onto the substrate 150. The determination unit 233 determines whether the cylinder 205 is operating normally, for example, based on the torque generated in the motor 214 from the time when air is supplied to the pressurizing port of the cylinder 205 to the time when the support 220 is lowered.

[0070] The determination unit 233 may determine whether the torque generated in the motor 214 is within a predetermined range based on the torque information. For example, when the determination unit 233 determines that the torque generated in the motor 214 is within the predetermined range, the determination unit 233 determines that the cylinder 205 is functioning normally. On the other hand, when the determination unit 233 determines that the torque generated in the motor 214 is outside the predetermined range, the determination unit 233 determines that the cylinder 205 is not functioning normally. In this way, the determination unit 233 may determine that the cylinder 205 is not functioning normally when the torque generated in the motor 214 is too large (for example, when it is equal to or greater than a predetermined torque).

[0071] The output unit 234 is a processing unit that outputs the determination result (determination result information) by the determination unit 233 to the notification unit 240.

[0072] When the determination unit 233 determines that the cylinder 205 is not functioning normally, the output unit 234 may output, as a determination result, defect information indicating that the cylinder 205 is not functioning normally. In this case, for example, when the determination unit 233 determines that the cylinder 205 is not functioning normally, the output unit 234 does not need to output the determination result.

[0073] The memory unit 235 is a storage device that stores various data necessary for the component pressure bonding process, such as the size of the substrate 150, the type of component 160 to be mounted on the substrate 150, the mounting position, the mounting direction, the operation of each device, the timing of the operation, the timing of transporting the substrate 150, and the control program executed by the processing unit.

[0074] The storage unit 235 is realized by a memory such as a ROM (Read Only Memory) or a RAM (Random Access Memory).

[0075] The notification unit 240 is a device that notifies the user of the determination result by the determination unit 233 .

[0076] For example, when the determining unit 233 determines that the cylinder 205 is not functioning normally, the notifying unit 240 notifies, as a determination result, defect information indicating that the cylinder 205 is not functioning normally.

[0077] For example, when the determining unit 233 determines that the cylinder 205 is not functioning normally, the notifying unit 240 does not need to notify the determination result.

[0078] The notification unit 240 may be any device that can notify the user of the determination result by the determination unit 233, and may be, for example, a display device such as a display that displays an image indicating the determination result, or an audio device that outputs a sound indicating the determination result.

[0079] [Processing Procedure] Next, the processing procedure of the component crimping device 200 will be described.

[0080] FIG. 4 is a flowchart showing the processing procedure of component crimping apparatus 200 according to the embodiment.

[0081] First, the control unit 232 controls the cylinder 205 to support the piston rod 208 on the support body 220 via the stopper 211 (S110). Specifically, the control unit 232 causes the pressure control unit 213 to supply a predetermined air pressure to the main body 206 so that the piston rod 208 moves downward, and thereby causes the lower end side of the stopper 211 to be supported on the support body 220, thereby supporting the piston rod 208 fixed to the stopper 211 from below on the support body 220.

[0082] As a result, the control unit 232 generates a first pressing force acting from the piston rod 208 to the support body 220 and directed toward one end of the piston rod 208 (S120).

[0083] Next, the acquisition unit 231 acquires torque information relating to the torque generated in the motor 214 from the driver of the motor 214 (S130).

[0084] Next, the determination unit 233 determines, based on the torque information, whether or not the cylinder 205 is functioning normally. Specifically, the determination unit 233 determines, based on the torque information, whether or not the torque generated in the motor 214 is equal to or greater than a predetermined torque (S140).

[0085] When the determination unit 233 determines that the torque generated in the motor 214 is equal to or greater than a predetermined torque (Yes in S140), that is, when the control unit 232 determines that the cylinder 205 is functioning normally, the control unit 232 controls the motor 214 to move the support 220 together with the piston rod 208 toward one end of the piston rod 208, and causes the crimping head 203 to crimp the component 160 onto the substrate 150 (S150).

[0086] This allows the control unit 232 to cause the pressure-bonding head 203 to pressure-bond the component 160 to the substrate 150 while generating the first pressing force.

[0087] On the other hand, when the determination unit 233 determines that the torque generated in the motor 214 is less than the predetermined torque (No in S140), that is, when the determination unit 233 determines that the cylinder 205 is not functioning normally, the control unit 232 stops the process of pressing the component 160 onto the substrate 150 (S160). Specifically, the control unit 232 does not execute the second control.

[0088] Next, the control unit 232 causes the notification unit 240 to notify the failure information indicating that the cylinder 205 is not functioning normally (S170).

[0089] As described above, the control unit 232 executes various processes based on the determination result of the determination unit 233. For example, when the determination unit 233 determines that the cylinder 205 is functioning normally, the control unit 232 executes the second control, that is, executes control to press the component 160 onto the substrate 150. On the other hand, for example, when the determination unit 233 determines that the cylinder 205 is not functioning normally, the control unit 232 does not execute the second control, that is, does not execute control to press the component 160 onto the substrate 150. Furthermore, for example, when the determination unit 233 determines that the cylinder 205 is not functioning normally, the control unit 232 controls the notification unit 240 to notify the user of defect information indicating that the cylinder 205 is not functioning normally.

[0090] [Variations] In the modified example, in the first control, the control unit 232 controls the cylinder 205 to support the piston rod 208 on the support 220 via the stopper 211, and generates a second pressing force that is smaller than the first pressing force and acts from the piston rod 208 on the support 220 via the stopper 211 toward one end of the piston rod 208. The second pressing force is then generated, and the first pressing force is then generated. In other words, the control unit 232 controls the air pressure supplied to the cylinder 205 so that the second pressing force, which is a pressing force when pressure-bonding the component 160 to the substrate 150, is generated in the cylinder 205.

[0091] Furthermore, the determination unit 233 determines whether the cylinder 205 is functioning normally based on torque information relating to the torque generated in the motor 214 while the control unit 232 is generating the second pressing force.

[0092] Fig. 5 is a diagram illustrating a modified example of the change in torque over time. Specifically, Fig. 5(a) is a graph schematically showing a modified example of the change in downward driving force applied to piston rod 208 over time. Fig. 5(b) is a graph schematically showing a modified example of the change in force (pressing force) with which piston rod 208 presses down support body 220. Fig. 5(c) is a graph schematically showing a modified example of the change in torque generated in motor 214 over time.

[0093] As shown in FIG. 5, the supply of air to the pressurized port of the cylinder 205 is started. In other words, the first control starts the supply of air to the main body 206 so as to move the piston rod 208 downward, causing the stopper 211 to come into contact with the support 220, and generating a pressing force acting on the support 220.

[0094] In this modified example, first, the second air pressure is supplied to the main body 206. As a result, a second pressing force acting on the support 220 is generated.

[0095] Next, after a predetermined time has elapsed, a first air pressure higher than the second air pressure is supplied to the main body 206. This generates a first pressing force higher than the second pressing force acting on the support 220.

[0096] Next, by the second control, with the first pressing force being generated, support 220 is moved downward to press component 160 onto substrate 150. Determination unit 233 determines whether cylinder 205 is operating normally, for example, based on the torque generated in motor 214 with the second pressing force acting on support 220 being generated.

[0097] The predetermined time for which the second pressure force is generated may be determined arbitrarily. Time information indicating the predetermined time is stored in the storage unit 235 in advance, for example.

[0098] Alternatively, the control unit 232 may control the cylinder 205 (more specifically, the pressure control unit 213) so that the second pressing force is generated until the determination unit 233 determines whether the cylinder 205 is good or bad.

[0099] Next, a modified example of the processing procedure of the component crimping device 200 will be described.

[0100] FIG. 6 is a flowchart showing a modified example of the processing procedure of component crimping apparatus 200 according to the embodiment.

[0101] First, the control unit 232 controls the cylinder 205 to support the piston rod 208 on the support body 220 via the stopper 211 (S110).

[0102] As a result, the control unit 232 generates a second pressing force acting from the piston rod 208 to the support body 220 and directed toward one end of the piston rod 208 (S210).

[0103] Next, the acquisition unit 231 acquires torque information relating to the torque generated in the motor 214 from the driver of the motor 214 (S130).

[0104] Next, the determination unit 233 determines, based on the torque information, whether or not the cylinder 205 is functioning normally. Specifically, the determination unit 233 determines, based on the torque information, whether or not the torque generated in the motor 214 is equal to or greater than a predetermined torque (S140).

[0105] When the determination unit 233 determines that the torque generated in the motor 214 is equal to or greater than a predetermined torque (Yes in S140), that is, when the determination unit 233 determines that the cylinder 205 is functioning normally, the control unit 232 controls the cylinder 205 to generate a first pressing force acting from the piston rod 208 to the support body 220 toward one end of the piston rod 208 (S220). Specifically, the control unit 232 controls the pressure control unit 213 to supply a first air pressure to the main body unit 206, thereby generating the first pressing force.

[0106] Next, the control unit 232 controls the motor 214 to move the support 220 together with the piston rod 208 toward one end of the piston rod 208, and causes the crimping head 203 to crimp the component 160 onto the substrate 150 (S150).

[0107] On the other hand, if the determination unit 233 determines that the torque generated in the motor 214 is less than the predetermined torque (No in S140), that is, if the determination unit 233 determines that the cylinder 205 is not functioning normally, the control unit 232 stops the process of pressing the component 160 onto the substrate 150 (S160). Specifically, the control unit 232 does not perform control to generate the first pressing force, and does not execute the second control.

[0108] Next, the control unit 232 causes the notification unit 240 to notify the failure information indicating that the cylinder 205 is not functioning normally (S170).

[0109] As described above, the control unit 232 executes various processes based on the determination result of the determination unit 233. For example, when the determination unit 233 determines that the cylinder 205 is functioning normally, the control unit 232 generates the first pressing force and then executes the second control, that is, executes control to pressure-bond the component 160 to the substrate 150. On the other hand, when the determination unit 233 determines that the cylinder 205 is not functioning normally, the control unit 232 does not generate the first pressing force and does not execute the second control, that is, does not execute control to pressure-bond the component 160 to the substrate 150.

[0110] [Effects, etc.] As described above, component crimping device 200 according to the embodiment includes backup unit 201a that supports substrate 150, support column 202 that stands on base 201 on which backup unit 201a is installed, main body 206 that is fixedly provided with respect to support column 202, cylinder 205 that has piston rod 208 that is movable along support column 202, crimping head 203 attached to one end of piston rod 208, stopper 211 that is provided at the other end of piston rod 208 that is positioned opposite to the one end, and stopper 211 that is provided movably along support column 202. The pressure-bonding head 203 includes a support 220 that supports the piston rod 208 from one end side via a stopper 211, a motor 214 that moves the support 220 along the support column 202, a control unit 232 that controls the cylinder 205 and the motor 214 to move the support 220 together with the piston rod 208 to the one end side and cause the crimping head 203 to crimp the component 160 onto the substrate 150 supported by the backup unit 201a, and a determination unit 233 that determines whether the cylinder 205 is functioning normally based on torque information related to the torque generated in the motor 214.

[0111] This makes it possible to determine whether the cylinder 205 is functioning normally based on torque information obtained from the normally provided motor 214, without providing a pressure sensor or the like for measuring the air pressure of the cylinder 205. Therefore, the component crimping device 200 can determine, with a simple configuration, whether the cylinder 205 is functioning normally.

[0112] Furthermore, for example, the control unit 232 performs a first control by controlling the cylinder 205 to support the piston rod 208 on the support 220 via the stopper 211, and to generate a first pressing force acting from the piston rod 208 toward the one end side on the support 220 via the stopper 211, and then performs a second control by controlling the motor 214 to move the support 220 together with the piston rod 208 toward the one end side, and to cause the crimping head 203 to crimp the component 160 onto the substrate 150.

[0113] Furthermore, for example, the determination unit 233 determines whether the cylinder 205 is functioning normally based on torque information relating to the torque generated in the motor 214 while the first control is being performed.

[0114] According to this, the first pressing force is stable because the support 220 is not moved, and therefore stable torque information can be obtained.

[0115] Furthermore, for example, the determining unit 233 determines whether the cylinder 205 is functioning normally before the control unit 232 causes the crimping head 203 to crimp the component 160 onto the substrate 150 based on the torque information.

[0116] According to this, for example, if the cylinder 205 is not functioning normally, the occurrence of mounting defects can be suppressed by stopping the pressure bonding or the like.

[0117] Also, for example, in the first control, the control unit 232 controls the cylinder 205 to support the piston rod 208 on the support body 220 via the stopper 211, and generates a second pressing force that is smaller than the first pressing force and acts from the piston rod 208 toward one end side acting on the support body 220 via the stopper 211, and then generates the first pressing force, and the determination unit 233 determines whether the cylinder 205 is functioning normally based on torque information regarding the torque generated in the motor 214 while the second pressing force is being generated.

[0118] For example, the pressing force required to pressure-bond the component 160 to the substrate 150 differs between substrates A, B, and C, which are different types of component 160 to be pressure-bonded. Therefore, in order to set the pressing force to an appropriate value, the air pressure supplied to the main body 206 is set according to the type of substrate 150. In the example shown in FIG. 5, the first pressing force required to mount the component on substrate B is greater than the first pressing force required to mount the component on substrate A. Therefore, as shown by the dashed dotted line in FIG. 5(a), when mounting the component on substrate B, an air pressure higher than the first air pressure supplied to the main body 206 when mounting the component on substrate A is supplied to the main body 206. Furthermore, because the first pressing force required when mounting a component on board C is smaller than the first pressing force required when mounting a component on board A, as shown by the two-dot chain line in FIG. 5A, when mounting a component on board C, an air pressure lower than the first air pressure supplied to main body unit 206 when mounting a component on board A is supplied to main body unit 206. Therefore, as shown in FIG. 5C, the torque generated in motor 214 when the first pressing force is generated differs when mounting component 160 on board A, when mounting component 160 on board B, and when mounting component 160 on board C. Therefore, in order for determination unit 233 to determine whether cylinder 205 is functioning normally based on the torque when the first pressing force is generated, a determination criterion for each type of board 150 is required.

[0119] Therefore, when the component 160 is pressure-bonded to each substrate 150, a common second pressing force is generated regardless of the type of substrate 150, as shown in (b) of Fig. 5. That is, as shown in (a) of Fig. 5, a second air pressure is supplied to the main body 206 so as to generate a common second pressing force regardless of the type of substrate 150. This allows the load at the moment the piston rod 208 contacts the support 220 to be the same value regardless of the type of substrate 150 (i.e., the type of component 160). Therefore, it is not necessary to set a judgment criterion according to the pressing force that differs depending on the type of substrate 150 (i.e., the type of component 160).

[0120] Furthermore, for example, when the determining unit 233 determines that the cylinder 205 is not functioning normally, the control unit 232 does not perform the second control.

[0121] This can prevent the occurrence of mounting defects.

[0122] Also, for example, the system further includes a notification unit 240 that, when the determination unit 233 determines that the cylinder 205 is not functioning normally, notifies the user of defect information indicating that the cylinder 205 is not functioning normally.

[0123] This allows the user to be notified that the cylinder 205 is not functioning properly.

[0124] Furthermore, for example, the judgment unit 233 judges whether the torque generated in the motor 214 is equal to or greater than a predetermined torque based on the torque information, and if it is determined that the torque generated in the motor 214 is equal to or greater than the predetermined torque, it judges that the cylinder 205 is functioning normally, and if it is determined that the torque generated in the motor 214 is less than the predetermined torque, it judges that the cylinder 205 is not functioning normally.

[0125] This allows for an appropriate determination of whether the cylinder is functioning normally.

[0126] The component crimping method according to the embodiment includes a cylinder 205 having a backup section 201a that supports the substrate 150, a support column 202 that is erected on a base 201 on which the backup section 201a is installed, a main body section 206 that is fixedly provided with respect to the support column 202, and a piston rod 208 that is movable along the support column 202, a crimping head 203 that is attached to one end of the piston rod 208, a stopper 211 that is provided at the other end of the piston rod 208 that is positioned opposite to the one end of the piston rod 208, and a pressure-bonding head 203 that is provided movably along the support column 202 and that stops the piston rod 208 via the stopper 211. 208 from one end side, and a motor 214 that moves the support 220 along the support 202, and includes a control step of controlling the cylinder 205 and the motor 214 to move the support 220 together with the piston rod 208 toward the one end side, causing the crimping head 203 to crimp the component 160 onto the substrate 150 supported by the backup part 201a, and a determination step of determining whether the cylinder 205 is functioning normally based on torque information related to the torque generated in the motor 214.

[0127] This provides the same effects as those of component crimping device 200.

[0128] (Other embodiments) Although the component crimping device and the like according to the present embodiment have been described above based on the above embodiment, the present invention is not limited to the above embodiment.

[0129] In the above embodiment, component crimping device 200 includes one crimping head 203, but may include multiple crimping heads. For example, if the component crimping device includes multiple pairs of crimping heads and cylinders, and each pair is controlled (height controlled) by a single motor, the total value of the pressing force generated by each cylinder may be used to determine whether each cylinder is functioning normally.

[0130] Furthermore, for example, the motor 214 may not be a servo motor, but may be a pulse motor, a linear motor, or the like.

[0131] Furthermore, for example, the encoder that detects the amount of rotation of the motor 214 may be a rotary encoder provided in the motor 214, or may be a linear encoder or the like that is provided separately from the motor 214.

[0132] Also, for example, in the above embodiment, all or some of the components of the processing unit included in the control device 230 may be configured with dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or processor reading and executing a software program recorded on a recording medium such as a HDD or semiconductor memory.

[0133] Furthermore, the processing unit included in the control device 230 may be configured with one or more electronic circuits. Each of the one or more electronic circuits may be a general-purpose circuit or a dedicated circuit.

[0134] The one or more electronic circuits may include, for example, a semiconductor device, an IC, or an LSI (Large Scale Integration). The IC or LSI may be integrated on a single chip or on multiple chips. Although the IC or LSI is referred to here as an IC or LSI, the name may vary depending on the degree of integration, and may be called a system LSI, a VLSI (Very Large Scale Integration), or an ULSI (Ultra Large Scale Integration). Also, a field programmable gate array (FPGA), which is programmed after the LSI is manufactured, can be used for the same purpose.

[0135] In addition, the present invention also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art would think of, and forms realized by arbitrarily combining the components and functions of each embodiment within the scope of the present invention. [Industrial Applicability]

[0136] The present invention can be used in a crimping device that crimps a component onto a substrate. [Explanation of symbols]

[0137] 131 Support Stage 150 boards 160 parts 200 Component Crimping Device 201 Foundation 201a Backup Department 202 Post 203 Crimping Head 204 Travel Guide 205 cylinder 206 Main body 207 Piston 207a Ring member 208 Piston rod 211 Stopper 213 Pressure control section 214 Motor 218 Ball screw 220 Support 230 Control device 231 Acquisition Department 232 Control Unit 233 Judgment section 234 Output section 235 Storage section 240 Information Department

Claims

1. a backup section for supporting the substrate; a support pillar erected on a base on which the backup unit is installed; a cylinder having a main body portion fixed to the support column and a piston rod movable along the support column; a crimping head attached to one end of the piston rod; a stopper provided at the other end of the piston rod opposite to the one end; a support body that is movably provided along the support column and supports the piston rod from the one end side via the stopper; a motor for moving the support along the support column; a control unit that controls the cylinder and the motor to move the support body together with the piston rod toward the one end portion, and causes the crimping head to crimp a component onto the substrate supported by the backup unit; a determination unit that determines whether the cylinder is functioning normally based on torque information related to the torque generated in the motor. Component crimping device.

2. The control unit a first control is performed to control the cylinder so that the piston rod is supported by the support body via the stopper, and a first pressing force is generated from the piston rod toward the one end side acting on the support body via the stopper, and then a second control for controlling the motor to move the support member together with the piston rod toward the one end portion, thereby causing the crimping head to crimp the component onto the substrate; The component crimping device according to claim 1 .

3. the determination unit determines whether the cylinder is functioning normally based on the torque information related to the torque generated in the motor while the first control is being performed. The component crimping device according to claim 2 .

4. The determination unit determines whether the cylinder is functioning normally based on the torque information before the control unit causes the crimping head to crimp the component onto the substrate.

4. The component crimping device according to claim 2 or 3.

5. In the first control, the control unit controls the cylinder to support the piston rod on the support body via the stopper, and generates a second pressing force that acts from the piston rod on the support body via the stopper toward the one end side, the second pressing force being smaller than the first pressing force, and then generates the first pressing force; the determination unit determines whether the cylinder is functioning normally based on the torque information related to the torque generated in the motor while the second pressing force is being generated. The component crimping device according to any one of claims 2 to 4.

6. The control unit does not perform the second control when the determination unit determines that the cylinder is not functioning normally. The component crimping device according to any one of claims 2 to 5.

7. The system further includes a notification unit that, when the determination unit determines that the cylinder is not functioning normally, issues defect information indicating that the cylinder is not functioning normally. The component crimping device according to any one of claims 1 to 6.

8. The determination unit determining whether the torque generated in the motor is equal to or greater than a predetermined torque based on the torque information; If it is determined that the torque generated in the motor is equal to or greater than the predetermined torque, it is determined that the cylinder is functioning normally; If it is determined that the torque generated in the motor is less than the predetermined torque, it is determined that the cylinder is not functioning normally. The component crimping device according to any one of claims 1 to 7.

9. a backup section for supporting the substrate; a support pillar erected on a base on which the backup unit is installed; a cylinder having a main body portion fixed to the support column and a piston rod movable along the support column; a crimping head attached to one end of the piston rod; a stopper provided at the other end of the piston rod opposite to the one end; a support body that is movably provided along the support column and supports the piston rod from the one end side via the stopper; a motor that moves the support member along the support rod, a control step of controlling the cylinder and the motor to move the support body together with the piston rod toward the one end portion, thereby causing the crimping head to crimp the component onto the substrate supported by the backup section; and a determining step of determining whether the cylinder is functioning normally based on torque information relating to the torque generated in the motor. Part crimping method.

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