Substrate work machine and method for changing arrangement of backup member

Abstract

This substrate work machine comprises: a backup plate having a first placement surface on which a backup member for supporting a substrate from below is placed; an accommodation part that opens on the first placement surface and can accommodate the backup member below the first placement surface; and a cover member that is provided so as to be capable of opening / closing the opening of the accommodation part, the cover member having a second placement surface on which the backup member is placed when the opening is in the closed state.

Description

Substrate-related operation device and method for changing the position of backup members

[0001] The present invention relates to a substrate-related operating device and a method for changing the arrangement of a backup member.

[0002] Substrate-related operation machines are used in the production of product substrates. The substrate-related operation machine includes a backup device that supports the substrate from below using backup members arranged at predetermined positions within the machine when performing a predetermined substrate-related operation. Patent Document 1 discloses a component mounting machine that includes a backup device and mounts components on a substrate as a substrate-related operation. The number, type, and placement position of the backup members are appropriately set depending on the substrate-related operation to be performed, the type of substrate, and the condition of the back surface of the substrate (the lower surface of the positioned substrate).

[0003] WO 2004 / 103054

[0004] In a substrate-related operation machine equipped with a backup device, it is desirable to increase the degree of freedom in the placement of backup members in order to more reliably support the substrate. Also, there is a demand for shortening the time required for the process of changing the placement of the backup members.

[0005] A first object of this specification is to provide a substrate-related performing apparatus that allows for greater flexibility in the placement of back-up members, and a second object of this specification is to provide a substrate-related performing apparatus and a method for rearranging back-up members that can improve the efficiency of the process of rearranging back-up members.

[0006] This specification discloses a substrate-related operating machine that includes a backup plate having a first mounting surface on which a backup member that supports a substrate from below is placed, a storage section that opens at the first mounting surface and is capable of storing the backup member below the first mounting surface, and a cover member that is openable and closable relative to the opening of the storage section and has a second mounting surface on which the backup member is placed when in a closed state.

[0007] This specification is applicable to a substrate-related operation machine that performs a predetermined substrate-related operation on a substrate, and the substrate-related operation machine includes a backup plate having a first mounting surface on which backup members that support the substrate from below are placed, a storage section that opens at the first mounting surface and is capable of storing the backup members below the first mounting surface, a cover member that is openable and closable relative to the opening of the storage section and has a second mounting surface on which the backup members are placed in a closed state, and a control device that executes a relocation process to move a plurality of the backup members from current positions to target positions, and the relocation process discloses a backup member relocation method that includes, when the cover member needs to be opened or closed, a first step of moving the backup members from the current positions to temporary placement positions set on the first installation surface, and a second step of moving the backup members from the temporary placement positions to the target positions after the cover member has been opened or closed.

[0008] This specification also discloses the technical idea of ​​changing "the substrate-related operation machine according to claim 2 or 3" in claim 5 as originally filed to "the substrate-related operation machine according to any one of claims 2 to 4", the technical idea of ​​changing "the substrate-related operation machine according to claim 2 or 3" in claim 6 as originally filed to "the substrate-related operation machine according to any one of claims 2 to 5", and the technical idea of ​​changing "the substrate-related operation machine according to claim 2 or 3" to "the substrate-related operation machine according to any one of claims 2 to 5" in claim 7 as originally filed. This specification also discloses the technical idea of ​​changing "the substrate-related operation machine according to claim 2 or 3" in claim 8 as originally filed to "the substrate-related operation machine according to any one of claims 2 to 7", the technical idea of ​​changing "the substrate-related operation machine according to claim 2 or 3" in claim 9 as originally filed to "the substrate-related operation machine according to any one of claims 2 to 7", and the technical idea of ​​changing "the substrate-related operation machine according to claim 1 or 2" to "the substrate-related operation machine according to any one of claims 1 to 9" in claim 10 as originally filed.

[0009] This configuration of the substrate-related-operation performing apparatus allows backup members to be placed on the second placement surface in addition to the first placement surface, increasing the degree of freedom in the placement of the backup members in the placement change process. Furthermore, the configuration of the method for changing the placement of the backup members makes it possible to improve the efficiency of the placement change process of the backup members.

[0010] FIG. 1 is a top view schematically showing a component mounting machine as a substrate-related operating machine in an embodiment. FIG. 2 is a side view showing a backup device for a substrate transporting device. FIG. 3 is a plan view showing a backup device for a substrate transporting device. FIG. 4 is a side view showing an enlarged view of a cover member of an accommodating device in a closed state. FIG. 5 is a side view showing an enlarged view of a cover member of an accommodating device in an open state. FIG. 6 is a flowchart showing a process for changing the arrangement of a backup member. FIG. 7 is a flowchart showing a process for setting and moving a temporary placement position. FIG. 8 is a schematic view showing a movement path of a backup member that is moved from a current position via a temporary placement position to a target position.

[0011] 1. Overview of the Substrate-Related Performing Machine and the Method for Changing the Position of the Backup Members A substrate-related performing machine used in the production of product substrates includes a backup device 50 that supports a substrate 91 from below using backup members 70 arranged in predetermined positions within the machine when performing a predetermined substrate-related performing operation. A control device of the substrate-related performing machine executes a process for changing the position of the backup members 70 in accordance with the substrate-related performing operation to be performed. The process for changing the position of the backup members 50 is executed as needed, for example, during setup work for the substrate-related performing operation. In this embodiment, a component mounting machine 1 is illustrated as an example of a substrate-related performing machine equipped with a backup device 15.

[0012] 2. Configuration of Production Line Ln A plurality of the component mounting machines 1 described above are installed side by side together with other substrate-related operation machines to form the production line Ln. A mounting process for mounting components on a board 91 is performed as a predetermined substrate-related operation. As shown in FIG. 1, the production line Ln is configured by installing a plurality of substrate-related operation machines in the transport direction of the board 91. Each of the plurality of substrate-related operation machines is communicably connected to a host computer (not shown) that controls the production line Ln as a whole.

[0013] The host computer stores placement information for the backup members 70. This placement information indicates the placement positions of the backup members 70 set for substrate-related operations corresponding to the production of product substrates. The placement information is downloaded in response to a request from the substrate-related operation machine on each production line Ln and stored in the control device of the substrate-related operation machine.

[0014] The production line Ln is composed of a plurality of substrate-related processing machines, such as a printer, a reflow oven, and an inspection machine. The printer prints solder paste onto the component mounting positions of the board 91 that has been carried in. The reflow oven heats the board 91 that has been carried in from the upstream side of the production line Ln, melting the solder on the board 91 and soldering it. The inspection machine inspects whether the appearance or function of the product boards produced on the production line Ln is normal.

[0015] In this embodiment, a factory for producing product substrates may be configured with multiple production lines Ln. The configuration of each of the multiple production lines Ln may be appropriately added or modified depending on, for example, the type of product substrate to be produced. Specifically, the multiple production lines Ln may be appropriately equipped with substrate-related processing devices such as a buffer device for temporarily holding the transported substrates 91, a substrate supply device, a substrate inverting device, various inspection devices, a shield mounting device, an adhesive application device, and an ultraviolet irradiation device.

[0016] 1 , the component mounting machine 1 includes a board transport device 10, a component supply device 20, a component transfer device 30, a component camera 41, a board camera 42, a nozzle station 43, and a control device 45. In the following description, the horizontal direction, which is the front-to-rear direction of the component mounting machine 1 (the up-and-down direction in FIG. 1 ), is referred to as the Y direction, the horizontal direction intersecting the Y direction, which is the left-to-right direction of the component mounting machine 1 (the left-to-right direction in FIG. 1 ), is referred to as the X direction, and the vertical direction (the front-to-rear direction in FIG. 1 ) perpendicular to the X and Y directions is referred to as the Z direction.

[0017] 3-1. Substrate Transfer Device 10 The substrate transfer device 10 is composed of a transfer mechanism 11 arranged side by side in the Y direction. Each transfer mechanism 11 has a pair of guide rails 12 and a pair of conveyor belts 13. The pair of guide rails 12 extend in the substrate transfer direction (X direction) and support the periphery of the substrate 91 placed on the conveyor belts 13 for transfer. At least one of the pair of guide rails 12 is provided on a base so as to be movable in the Y direction.

[0018] The board transport device 10 sequentially transports the boards 91 in the transport direction and positions the boards 91 at predetermined positions within the machine. The board transport device 10 has a backup device 50 that clamps the positioned boards 91. The detailed configurations of the board transport device 10 and the backup device 50 will be described later. After performing the component mounting process, the board transport device 10 transports the boards 91 out of the component mounting machine 1.

[0019] 3-2. Component Supply Device 20 The component supply device 20 includes a plurality of slots 21 and a plurality of reel holders 22 arranged in the X direction. A feeder 23 is detachably attached to each of the plurality of slots 21. The feeder 23 feeds and moves a carrier tape containing a large number of components, thereby supplying the components so that they can be picked up. The reel holder 22 replaceably holds a reel around which the carrier tape is wound. Furthermore, the component supply device 20 may supply, for example, relatively large components arranged on a tray placed on a pallet. In the above configuration, the component supply device 20 draws a predetermined pallet from a storage device that stores a plurality of pallets, depending on the mounting process, and supplies the components.

[0020] 3-3. Component transfer device 30 The component transfer device 30 transfers components supplied by the component supply device 20 to predetermined mounting positions on the board 91 carried into the machine by the board transport device 10. The head drive device 31 of the component transfer device 30 moves the movable table 32 in horizontal directions (X and Y directions) using a linear motion mechanism. A mounting head 33 is replaceably fixed to the movable table 32 by a clamp member (not shown). Various tools are detachably attached to the mounting head 33.

[0021] The above tools include a suction nozzle 34 that holds a component. The suction nozzle 34 sucks and holds the component using supplied negative pressure air. The suction nozzle 34 has its elevation position and angle relative to the mounting head 33, and the state of the negative pressure air supply controlled. In addition, a chuck that clamps the component can be attached to the mounting head 33 as another tool.

[0022] Furthermore, another tool, such as a picker 80 (see FIG. 2 ) that holds the backup member 70 by engaging with a predetermined portion of the backup member 70, can be detachably attached to the mounting head 33. As described above, the component transfer device 30 is configured to be able to hold the backup member 70 in addition to components, and functions as a moving device that moves the backup member 70. The component transfer device 30 is used to change the arrangement of the backup member 70 (including increasing / decreasing the arrangement and changing the position).

[0023] 3-4. Component camera 41, board camera 42 The component camera 41 and board camera 42 are digital imaging devices having imaging elements such as CMOS. The component camera 41 and board camera 42 capture images based on control signals and send image data acquired by the images. The component camera 41 is configured to be able to capture images of the component held by the suction nozzle 34 from below. The board camera 42 is mounted on the moving stage 32 so as to be movable horizontally integrally with the mounting head 33. The board camera 42 is configured to be able to capture images of the board 91 from above.

[0024] Furthermore, in addition to capturing an image of the surface of the substrate 91, the substrate camera 42 can also capture an image of various devices within the movable range of the movable stage 32. For example, the substrate camera 42 can capture an image of a reference mark or barcode attached to the nozzle station 43 (described later) or a tool (suction nozzle 34 or picker 80) housed in the nozzle station 43 within the camera's field of view. In this way, the substrate camera 42 can be used to capture images of different objects in order to obtain image data used for various image processing.

[0025] 3-5. Nozzle Station 43 The nozzle station 43 is provided inside the component mounting machine 1. The nozzle station 43 is a tool station that houses various tools used by the component mounting machine 1 as a substrate-related operation machine for substrate-related operations. In this embodiment, the nozzle station 43 detachably holds multiple suction nozzles 34 and pickers 80. In the process of replacing a suction nozzle 34, the nozzle station 43 holds a suction nozzle 34 that has been removed from the mounting head 33, and also holds another suction nozzle 34 so that it can be removed. This allows the component mounting machine 1 to automatically replace the suction nozzle 34 depending on the type of component to be mounted, for example, during the mounting process.

[0026] The nozzle station 43 is detachably mounted on the base of the component mounting machine 1. An unillustrated reference mark and a barcode are provided on the top surface of the nozzle station 43. The reference mark indicates a reference position on the top surface of the nozzle station 43 and is provided so as to have a specified positional relationship with the storage units that store the individual tools. The barcode indicates identification information for the nozzle station 43. This identification information is associated with the identification information and storage position of the tool stored in the nozzle station 43. This storage position is indicated, for example, by the relative position of the storage unit with respect to the reference position.

[0027] 3-6. Control Device 45 The control device 45 is mainly composed of a CPU, various memories, and control circuits. The control device 45 executes a mounting process for mounting components on the board 91. During the mounting process, the control device 45 controls the operation of the component transfer device 30 based on information output from various sensors, the results of image processing, pre-stored control programs, and the like. This controls the positions and angles of the multiple suction nozzles 34 supported by the mounting head 33. The control device 45 also executes a placement change process, including adding or removing backup members 70 used by the board transport device 10 to support the board 91 from below during the mounting process, and changing the position of the backup members 70.

[0028] The control device 45 stores the placement information downloaded from the host computer. The above-mentioned "placement information" indicates the placement positions of the backup members 70 set for the substrate-related work (corresponding to the type of product substrate) to be performed. The placement information indicates the placement positions of the backup members 70 and the type of backup members 70 (e.g., hard type, soft type). In addition to the above, the placement information may also include the tolerance for the placement of the backup members 70 relative to the placement positions. The placement information is set in advance according to the type of substrate 91 (including size and hardness), the type of product substrate to be produced (including component mounting positions), the production process, etc.

[0029] 4. Detailed Configuration of Board Transfer Device 10 and Backup Device 50 4-1. Board Transfer Device 10 The component mounting machine 1 of this embodiment is a double-track conveyor system equipped with multiple transfer mechanisms 11A, 11B. A pair of guide rails 12 constituting the transfer mechanism 11 are mounted on a base so as to be relatively movable in the Y direction. This allows the transfer mechanism 11 to adjust the spacing between the pair of guide rails 12 in accordance with the dimension of the board 91 in the Y direction (see FIG. 3).

[0030] 4-2. Backup Device 50 The backup device 50 supports the substrate 91 transported by the transport mechanism 11 from below, and clamps the substrate 91 between the pair of guide rails 12. In this embodiment, the backup device 50 supports the substrate 91 by bringing the backup members 70 into contact with the underside of the substrate 91. In this way, the backup device 50 clamps the substrate 91 between the pair of guide rails 12, and prevents the substrate 91 from bending by maintaining the height of the portion with which the backup members 70 are in contact.

[0031] As shown in FIG. 2 , the backup device 50 includes a backup plate 51 and an elevating device 52. The backup plate 51 is disposed opposite the underside of the substrate 91 positioned by the transport mechanism 11. The backup plate 51 is mounted on a base so as to be able to move up and down in the Z direction. In this embodiment, the backup plate 51 has an overall rectangular shape. The backup plate 51 has a first mounting surface 511 on which the backup member 70 is detachably mounted. The first mounting surface 511 is the upper surface of the backup plate 51.

[0032] The lifting device 52 raises and lowers the backup plate 51 relative to the base. In this embodiment, the lifting device 52 is composed of a plurality of air cylinders each having a rod 53 and a cylinder body 54. The rod 53 of each air cylinder is detachably fixed to the four corners of the backup plate 51. The cylinder body 54 of each air cylinder moves the rod 53 back and forth in the Z direction in response to air pressure.

[0033] The lifting device 52 of the backup device 50 retracts the backup member 70 downward from the back surface of the substrate 91 when the substrate 91 is carried in or out. As a result, the lifting device 52 lowers the backup plate 51 to a preparation height (shown by a two-dot chain line in FIG. 2 ) at which components (back surface components) mounted on the back surface of the substrate 91 do not interfere with the backup member 70. Furthermore, the lifting device 52 raises the backup plate 51 to a backup height (shown by a solid line in FIG. 2 ) during the mounting process. As a result, the backup device 50 pushes up the substrate 91 from below and supports it.

[0034] 4-3. Storage device 60 Here, for a predetermined production process (e.g., a mounting process by the component mounting machine 1), the number of backup members 70 required for each production process (hereinafter referred to as the "required number Nr") are arranged at predetermined positions as set in the arrangement information. Excess backup members 70 in the machine that are not used for the production process are generally evacuated to an evacuation area set up so as not to interfere with the board 91 being positioned. However, if the size of the board 91 to be processed is large, the configurable evacuation area may be narrow.

[0035] Therefore, the backup device 50 of this embodiment employs a configuration including an accommodation device 60 that has an opening in the upper surface of the backup plate 51 and can accommodate multiple backup members 70 below the backup plate 51. However, providing an opening in the upper surface of the backup plate 51 as described above reduces the area of ​​the first placement surface 511, which can reduce the degree of freedom in arranging the backup members 70. Therefore, in this embodiment, the backup device 50 employs a configuration that allows the backup members 70 to be arranged in this opening.

[0036] As shown in FIGS. 2 and 3 , the storage device 60 includes a storage section 61, a cover member 62, a table 63, a guide member 64, a bracket 65, and an auxiliary lifting device 66. The storage section 61 opens at a first mounting surface 511 and is a space below the first mounting surface 511 that can accommodate a backup member 70. Note that the term "opening" refers not only to the upper end of a through-hole that penetrates the backup plate 51 in the vertical direction, but also to the upper end of a shape in which a portion of the outer edge of the backup plate 51 is cut away, as in this embodiment. The cover member 62 is provided so as to be able to open and close relative to the opening 611 of the storage section 61. As shown in FIG. 2 , the cover member 62 has a second mounting surface 621 on which the backup member 70 is placed when in the closed state.

[0037] The table 63 is provided below the opening 611 so as to be able to move up and down. The upper surface of the table 63 is formed flat so that the backup member 70 can be placed thereon. In this embodiment, the guide member 64 is a plate-like member in which an L-shaped guide groove 641 is formed. The vertical dimension from the upper surface (storage surface) of the table 63 to the lower surface of the cover member 62 is set to be slightly larger than the vertical dimension of the backup member 70.

[0038] The guide member 64 is fixed to the table 63 and moves up and down integrally with the table 63. The bracket 65 is fixed to the underside of the cover member 62. The bracket 65 has a guide pin 651 that is movable along the guide groove 641. The bracket 65 has a support shaft 652 that is rotatably supported with respect to the backup plate 51. The auxiliary lifting device 66 has a configuration similar to that of the lifting device 52, and moves the table 63 up and down independently of the backup plate 51.

[0039] 4, the storage device 60 configured as described above can raise and lower the table 63 and cover member 62 together relative to the backup plate 51 by synchronously operating the lifting device 52 and the auxiliary lifting device 66. In addition, the storage device 60 can raise the table 63 relatively to the backup plate 51, thereby transitioning the cover member 62 from a closed state to an open state as shown in FIG.

[0040] More specifically, when the table 63 rises relative to the backup plate 51, the guide pin 651 moves toward the end of the short side of the guide groove 641 while approaching the same height as the support shaft 652. This causes the cover member 62 and the bracket 65 to rotate around the support shaft 652. When the table 63 is further raised, the guide pin 651 moves toward the corner of the guide groove 641. This causes the cover member 62 and the bracket 65 to rotate to the maximum angle around the support shaft 652. In other words, the cover member 62 transitions from the closed state to the open state.

[0041] Thereafter, when the table 63 is raised, the guide pin 651 moves along the long side of the guide groove 641. As a result, the table 63 and the guide member 64 are raised while the angle of the cover member 62 in the open state is maintained. When the raising of the table 63 is completed, as shown in FIG. 5 , the cover member 62 is in the open state and the backup member 70 stored in the storage section 61 is moved to a height at which it can be picked up by the picker 80. In this way, the auxiliary lifting device 66 of the storage device 60 constitutes a drive mechanism that raises and lowers the arranged backup member 70, and also constitutes an opening and closing mechanism that opens and closes the cover member 62.

[0042] With the cover member 62 in the open state as described above, the backup member 70 can be removed from a predetermined storage position in the storage section 61 through the opening 611, or the backup member 70 can be stored. In addition, the storage device 60 lowers the table 63 relatively to the backup plate 51, causing the guide pin 651 to move along the guide groove 641 in the reverse order described above, transitioning the cover member 62 from the open state to the closed state. When the cover member 62 is in the closed state, the second mounting surface 621, which is its upper surface, is flush with the first mounting surface 511 and, like the first mounting surface 511, serves as a surface on which the backup member 70 can be placed.

[0043] According to the above-described configuration, spare backup members 70 can be stored without providing a retraction area on the first placement surface 511 for retracting spare backup members 70 that are not used to support the substrate 91. Furthermore, by closing the cover member 62 so as to close the opening 611 of the storage section 61, the backup members 70 can be placed on the second placement surface 621, which is the upper surface of the opening 611. This makes it possible to place the backup members 70 on the second placement surface 621 in addition to the first placement surface 511, thereby increasing the degree of freedom in the placement of the backup members 70 in the placement change process.

[0044] 4-4. Backup Member 70 Here, the backup member 70 is detachably disposed on the first mounting surface 511 or the second mounting surface 621. In this embodiment, the backup member 70 includes a hard pin 70H, whose tip has a support portion 53 made of a relatively hard material (e.g., a metal material), and a soft pin 70S, whose tip has a support portion 53 made of a relatively soft material (e.g., a rubber material). The backup member 70 has a body portion 72, and the support portion 73 is connected to a base portion 71 via the body portion 72. The backup member 70 has a magnet embedded in the base portion 71 located at the lower end, and is fixed to the magnetically resistant backup plate 51 or cover member 62. The backup member 70 also has an engaging portion 74 formed above the base portion 71. The engaging portion 74 engages with a picker 80 attached to the mounting head 33.

[0045] 4-5. Picker 80 The picker 80 has a main body 81 and a collection portion 82. The main body 81 is formed into an overall cylindrical shape. The main body 81 is formed so as to be attachable to the mounting head 33, similar to the suction nozzle 34. The collection portion 82 is provided at the lower end of the main body 81. The collection portion 82 engages with the engaging portion 74 of the hard pin 70H and the engaging portion 74 of the soft pin 70S. To maintain a state in which the picker 80 holds the hard pin 70H or the soft pin 70S, the picker 80 presses the tip of the engaging portion 74 with the elastic force of an elastic member provided inside the main body 81, urging the lower end of the engaging portion 74 toward the collection portion 82.

[0046] 5. Relocation Processing of Backup Members 70 5-1. Overview of Relocation Processing Before performing a mounting process (next work on a board) corresponding to a specific product board, for example, the control device 45 of the component mounting machine 1 performs relocation processing of the backup members 70 based on the location information using the component transfer device 30 that functions as a moving device for the backup members 70. The purpose of performing the relocation processing is to accommodate the type and location of the backup members 70, which may vary depending on, for example, the dimensions of the board 91 and the number and locations of the components to be mounted.

[0047] When the type of product board to be produced changes, the component mounting machine 1 performs a process of changing the location of the backup members 70 as part of the setup process as necessary. This process of changing the location includes fixing the backup members 70 to the backup plate 51 located below the board 91, as well as storing the backup members 70 in the storage device 60. This storing of the backup members 70 is a process of moving spare backup members 70 that are not used to support the board 91 to predetermined storage positions in the storage section 61.

[0048] When executing the relocation process for the backup member 70, the control device 45 attaches a picker 80 capable of holding the backup member 70 to the mounting head 33. The picker 80 is housed in the nozzle station 43 and replaces the suction nozzle 34 attached to the mounting head 33. The control device 45 drives the component transfer device 30 to appropriately move the target backup member 70 to the position indicated by the location information.

[0049] The component mounting machine 1 configured as described above can automatically perform all of the rearrangement processing of the backup members 70 during setup. Specifically, during setup for the next mounting process, the control device 45 uses the picker 80 to move each backup member 70 individually based on the above-mentioned layout information, position information indicating the current position of each backup member 70 used in the current mounting process, and spare information indicating the current position of spare backup members 70 placed in the storage section 61.

[0050] After all the backup members 70 have been placed, the control device 45 stores the picker 80 in the nozzle station, thereby completing the relocation process. The control device 45 also updates and stores the position information and preliminary information indicating the target area in the component mounting machine 1 where the backup members 70 are to be placed, and the current position (stored position) of the backup members 70 placed in the storage section 61. This allows the control device 45 to perform the relocation process of the backup members 70 without requiring the operator to move them.

[0051] In a configuration such as this embodiment in which the backup member 70 can be accommodated in the accommodation section 61 provided below the first placement surface 511 and the backup member 70 can be placed on the second placement surface 621, which is the upper surface of the cover member 62 that closes the opening 611 of the accommodation section 61, it is necessary to ensure that the backup member 70 is not placed on the second placement surface 621 when the cover member 62 is opened or closed. It is also preferable to improve the efficiency of the process of changing the position of the backup member 70 by taking into account the execution timing of the opening and closing operation of the cover member 62. Therefore, this embodiment employs the following method for the process of changing the position of the backup member 70 to improve the efficiency of the process.

[0052] 6, for example, during setup work. First, the control device 45 determines whether the current number Nc of pre-processing backup members 70 arranged on the first placement surface 511 and the second placement surface 621 is equal to the required number Nr of post-processing backup members 70 (S11). If the current number Nc and the required number Nr are equal (S11: Yes), the control device 45 determines that there is neither an excess nor a shortage of backup members 70 and that there is no need to take backup members 70 into or out of the storage section 61, and moves the backup members 70 from the current position Pc to the target position Pt (S12).

[0053] On the other hand, if the current number Nc and the required number Nr are not equal (S11: No), the control device 45 moves as many backup members 70 as possible based on the current number Nc from the current position Pc to the target position Pt (S13). In other words, if the current number Nc is less than the required number Nr, the control device 45 rearranges the backup members 70 by the current number Nc (S13), and removes the missing backup members from the storage section 61. If the current number Nc is greater than the required number Nr, the control device 45 rearranges the backup members by the required number Nr (S13), and stores the surplus backup members in the storage section 61. Note that, in the above rearrangement, the control device 45 skips the movement of backup members whose target position Pt is on the second placement surface 621.

[0054] Next, the control device 45 determines whether or not the backup member 70 is placed on the second placement surface 621, which is the upper surface of the cover member 62 (S14). If the backup member 70 is placed on the second placement surface 621 (S14: Yes), the control device 45 executes a process for setting a temporary placement position Pr (S15). The temporary placement position Pr is set on the first placement surface 511 and corresponds to a route position when moving from the current position Pc to the target position Pt. The process for setting the temporary placement position Pr will be described in detail later.

[0055] If the backup member 70 is not placed on the second placement surface 621 (S14: No), or after the backup member 70 that was placed on the second placement surface 621 has been moved to the temporary placement position Pr (S15), the control device 45 changes the cover member 62 from the closed state to the open state (S16). In detail, the control device 45 controls the operation of the auxiliary lifting device 66 to raise the table 63 relative to the backup plate 51. Thereafter, the control device 45 adjusts the heights of the backup plate 51 and the table 63 so that the picker 80 attached to the mounting head 33 can pick up the backup member 70 (see FIG. 5 ).

[0056] Next, the control device 45 determines whether the required number Nr is less than the current number Nc used in the determination of S11 (S17). If the current number Nc is less than the required number Nr (S17: Yes), the control device 45 determines that the number of backup members 70 removed from the storage unit 61 is insufficient, and executes the removal process of the backup members 70 as follows. If the target position Pt of the backup member 70 to be removed from the storage unit 61 does not include the position of the second placement surface 621 (S21: No), the control device 45 moves the removed backup member 70 from its storage position to the target position Pt (S22).

[0057] In this case (S21: No, S22), since the target position Pt does not exist on the second placement surface 621, the placement of all backup members 70 has been completed by removing new backup members 70 from the accommodation section 61. Therefore, the control device 45 changes the cover member 62 from the open state to the closed state (S23), and ends the process of changing the placement of the backup members 70. In the transition to the closed state, the control device 45 controls the operation of the auxiliary lifting device 66 to lower the table 63 relative to the backup plate 51. This causes the cover member 62 to be placed in the closed state.

[0058] Furthermore, if the target position Pt of the backup member 70 to be removed from the storage section 61 includes the position of the second placement surface 621 (S21: Yes), a process of setting a temporary placement position Pr and moving the backup member 70 is executed (S24). The process of setting and moving the temporary placement position Pr is the same as S15, and will be described in detail later. Note that, for the backup members 70 to be removed from the storage section 61 whose target position Pt is set on the first placement surface 511, the control device 45 directly moves the backup member 70 from its storage position to the target position Pt, as in S22.

[0059] As described above, after the backup member 70 removed from the storage section 61 is moved to the temporary placement position Pr or the target position Pt, the control device 45 changes the cover member 62 from the open state to the closed state (S25). Thereafter, the control device 45 moves the backup member 70 placed at the temporary placement position Pr to the target position Pt (S26), and the process of changing the position of the backup member 70 is completed.

[0060] Furthermore, if the required number Nr is greater than the current number Nc used in the determination in S11 (S17: No), the control device 45 determines that there are surplus backup members 70 removed from the storage unit 61, and executes the storage process for the backup members 70 as follows: The control device 45 moves the backup members 70 that remain placed on the first placement surface 511 or the backup members 70 that were moved to the temporary placement position Pr in S15 to predetermined storage positions in the storage unit 61 (S27).

[0061] As described above, after the excess backup members 70 have been moved to the storage section 61, the control device 45 changes the cover member 62 from the open state to the closed state (S25). Thereafter, if there is a backup member 70 placed at the temporary placement position Pr, the control device 45 moves this backup member 70 to the target position Pt (S26). Note that in this case (S17: No, S27), the position of the second placement surface 621 may not be included in the target position Pt, in which case the movement from the temporary placement position Pr to the target position Pt (S26) is omitted.

[0062] 5-3. Processing for Setting Temporary Placement Position Pr The following describes in detail the processing for setting the temporary placement position Pr (S15, S24) in the processing for changing the location of the backup members 70. In the processing for changing the location, if the current number Nc of backup members 70 removed from the storage section 61 is not equal to the required number Nr (S11: No), the control device 45 determines that the cover member 62 needs to be opened or closed in order to store or remove the backup members 70.

[0063] When the cover member 62 needs to be opened or closed, the control device 45 temporarily moves the backup member 70 to the temporary placement position Pr as necessary so that the backup member 70 is not placed on the second placement surface 621 during the opening or closing of the cover member 62. Even when the cover member 62 is opened or closed, if the backup member 70 is not placed on the second placement surface 621 before the opening or closing operation and the target position Pt of the backup member 70 newly removed from the storage section 61 is at the position of the first placement surface 511, the temporary movement to the temporary placement position Pr is omitted.

[0064] When the control device 45 requires the cover member 62 to be opened or closed (S16, S23, S25), it executes a first step (S15, S24) of moving the backup member 70 from the current position Pc to a temporary placement position Pr set on the first placement surface 511, and a second step (S26, S27) of moving the backup member 70 from the temporary placement position Pr to the target position Pt after the cover member 62 is opened or closed (S16, S25).

[0065] Here, the control device 45 may set one of the candidates for temporary placement positions Pr that is set in advance on the first placement surface 511 and that does not have a backup member 70 as the temporary placement position Pr. In this aspect, a plurality of candidate positions at which the backup member 70 can be temporarily placed are set on the first placement surface 511, for example, in a predetermined area of ​​the first placement surface 511 that corresponds to an evacuation area for retracting a spare backup member 70. Then, when movement to the temporary placement position Pr is required, the control device 45 selects from the plurality of candidate positions a candidate position that has a high predetermined priority (for example, priority is given to a candidate position with a smaller identification number) and that is empty and does not have a backup member 70 placed therein, and sets this candidate position as the temporary placement position Pr.

[0066] With the above configuration, the temporary placement position Pr is set from among preset candidate temporary placement positions Pr, thereby reducing the processing load. However, depending on the set temporary placement position Pr, the movement distance may be excessive when the positional relationship between the current position Pc and the target position Pt is taken into consideration. Therefore, the control device 45 may dynamically set the temporary placement position Pr based on the current position Pc and target position Pt of the backup member 70 to be moved, and the positions of other backup members 70.

[0067] For example, the control device 45 may set the temporary placement position Pr to a position on the first placement surface 511 on the shortest path connecting the current position Pc of the backup member 70 to be moved and the target position Pt, while avoiding interference with other backup members 70. The control device 45 may also employ the following method as a configuration for setting an appropriate temporary placement position Pr while reducing the processing load. As shown in Fig. 7 , the control device 45 first obtains the current position Pc and the target position Pt of the backup member 70 to be moved from the position information and the placement information (S31).

[0068] Next, the control device 45 acquires the positions of the other backup members 70 (S32). If the other backup members 70 have already been moved, this position corresponds to the target position Pt of the backup members 70. The control device 45 acquires empty sections SnV in which no backup members 70 exist among the plurality of sections Sn formed by dividing the first placement surface 511 (S33). The above-mentioned "plurality of sections Sn" are, for example, sections obtained by dividing the first placement surface 511 at predetermined intervals, as shown in FIG. 8, and each section Sn is assigned an identification number.

[0069] The control device 45 recognizes sections Sn 1 to 4 occupied by the other backup members 70 based on the positions of the other backup members 70. The control device 45 determines that a section Sn containing part of the other backup members 70 is occupied by the other backup members 70, and restricts the backup member 70 to be moved from being placed in that section Sn to avoid interference. The control device 45 recognizes a plurality of vacant sections SnV, which are sections Sn not occupied by the other backup members 70.

[0070] The control device 45 selects an empty section SnV based on the current position Pc and the target position Pt of the backup member 70 to be moved so that the movement path passing through the empty section SnV will be short. Then, the control device 45 sets the position corresponding to the selected empty section SnV as the temporary placement position Pr (S34). Here, the control device 45 sets the center position of the four empty sections SnV as the temporary placement position Pr to avoid interference with other backup members 70.

[0071] The control device 45 moves the backup members 70 to be moved from the current positions Pc to the temporary placement positions Pr (S35). If the movement of all of the backup members 70 to be moved to the temporary placement positions Pr has not been completed (S36: No), the control device 45 repeatedly executes the above processing (S31-S35).

[0072] 8, the backup member 70A placed on the second placement surface 621 is moved to the temporary placement position Pr1 corresponding to the vacant section Sn (14, 15, 24, 25) whose distance from the line passing through the current position Pc1 and the target position Pt becomes shorter (S15, S35). After the cover member 62 is opened (S16), the backup member 70A is moved to a predetermined storage position, which is the target position Pt1 set inside the storage section 61 (S27).

[0073] 8, the backup member 70B, which has been accommodated in a predetermined accommodation position within the accommodation section 61 as the current position Pc2, is moved to the temporary placement position Pr2 corresponding to the vacant section Sn (1D, 1E9, 2D, 2E) that has the shortest temporary placement path and avoids interference with other backup members 70C that have already been placed there (S24, S35) after the cover member 62 is opened (S16). After the cover member 62 is closed (S25), the backup member 70B is moved to the target position Pt2 on the second placement surface 621 (S26).

[0074] With the above-described configuration, it is possible to place the backup members 70 on the second placement surface 621 in addition to the first placement surface 511, thereby increasing the degree of freedom in the placement of the backup members 70 in the placement change process. Furthermore, with the configuration of the method for changing the placement of the backup members 70 (FIGS. 7 and 8), a suitable temporary placement position Pr can be set as needed, thereby improving the efficiency of the placement change process of the backup members 70.

[0075] 6. Modifications of the Embodiment In the embodiment, the substrate-related operation machine is a component mounting machine 1 that mounts components on a substrate 91. However, the present invention can be applied to other substrate-related operation machines as long as the substrate 91 is supported by a backup member 70 and the position of the backup member 70 can be automatically changed using a work head. For example, the substrate-related operation machine may be one that performs solder printing as a substrate-related operation, applies a bonding material to the substrate 91 using a work head, or inspects the appearance and function of the substrate 91.

[0076] In the embodiment, the opening and closing mechanism for the cover member 62 is configured to be driven by raising and lowering the table 63 relative to the backup plate 51. However, the opening and closing mechanism for the cover member 62 may be configured to include, for example, a drive motor that rotates the cover member 62 around the support shaft 652, so that the cover member 62 can be opened and closed regardless of the relative raising and lowering of the table 63. Even with such a configuration, the same effects as those of the embodiment can be achieved.

[0077] 1: component mounting machine (substrate-related operation machine), 10: substrate transport device, 20: component supply device, 30: component transfer device, 31: head drive device, 32: moving table, 33: mounting head (operation head), 34: suction nozzle, 45: control device, 50: backup device, 51: backup plate, 511: first placement surface, 60: storage device, 61: storage section, 611: opening, 62: cover member, 621: second placement surface, 63: table, 64: guide member, 641: guide groove, 65: bracket, 651: guide pin, 652: support shaft, 66: auxiliary lifting device, 70: backup member, 80: picker, 91: substrate, Pc: current position, Pt: target position, Pr: temporary placement position, Nc: current number, Nr: required number Sn: compartment, SnV: empty compartment

Claims

1. A substrate-related operating machine comprising: a backup plate having a first mounting surface on which a backup member that supports a substrate from below is placed; a storage section that opens at the first mounting surface and is capable of storing the backup member below the first mounting surface; and a cover member that is openable and closable with respect to the opening of the storage section, and has a second mounting surface on which the backup member is placed when in the closed state.

2. A substrate-related operating machine as described in claim 1, further comprising a control device that executes a position change process to move a plurality of said backup members from current positions to target positions, wherein said control device, when the position change process requires an opening or closing operation of said cover member, moves said backup members from said current positions to temporary placement positions set on said first placement surface, and moves said backup members from said temporary placement positions to said target positions after the opening or closing operation of said cover members.

3. The substrate-related operation machine according to claim 2, wherein the control device determines that opening and closing of the cover member is required to store or remove the backup members when the current number of the backup members before processing differs from the required number of the backup members after processing.

4. The substrate-related operation machine according to claim 2 or 3, wherein the control device sets the temporary placement position based on the current position and the target position of the backup member to be moved.

5. The substrate-related operation machine according to claim 2 or 3, wherein the control device sets the temporary placement position based on the position of another backup member different from the backup member to be moved.

6. A substrate-related operating machine as described in claim 2 or 3, wherein the control device selects an empty section in which the backup member is not present from among a plurality of sections formed by dividing the first placement surface, and sets a position corresponding to the empty section to the temporary placement position.

7. The substrate-related operating machine according to claim 2 or 3, wherein the control device sets, as the temporary placement position, one of the temporary placement position candidates preset on the first placement surface where the backup member is not present, as the temporary placement position.

8. A substrate-related operation machine as described in claim 2 or 3, wherein, when the rearrangement process requires opening and closing of the cover member, and when the current position of the backup member to be moved is on the second placement surface and the target position is inside the accommodation section, the control device moves the backup member to the temporary placement position, opens the cover member, and then accommodates the backup member in the accommodation section.

9. A substrate-related operation machine as described in claim 2 or 3, wherein, when the rearrangement process requires opening and closing of the cover member, and when the current position of the backup member to be moved is inside the accommodation section and the target position is on the second placement surface, the control device opens the cover member, moves the backup member to the temporary placement position, and then closes the cover member before moving the backup member to the target position.

10. The substrate-related operation machine according to claim 1 or 2, which is a component mounting machine comprising: a substrate transport device which transports the substrate to a predetermined position within the machine and positions the substrate using the backup member; and a mounting head which mounts components on the positioned substrate.

11. The substrate-related operation machine according to claim 10, wherein the mounting head is provided with a picker capable of holding the backup member, and the backup member is moved using the picker.

12. A method for changing the position of a backup member, applied to a substrate-related operation machine for performing a predetermined substrate-related operation on a substrate, the substrate-related operation machine comprising: a backup plate having a first placement surface on which a backup member for supporting a substrate from below is placed; a storage section that opens at the first placement surface and is capable of accommodating the backup member below the first placement surface; a cover member that is provided so as to be able to open and close with respect to the opening of the storage section and has a second placement surface on which the backup member is placed in a closed state; and a control device that executes a position change process for moving a plurality of the backup members from current positions to target positions, the method comprising: a first step of moving the backup members from the current positions to temporary placement positions set on the first placement surface when the cover member needs to be opened or closed in the position change process; and a second step of moving the backup members from the temporary placement positions to the target positions after the cover member is opened or closed.