Mounting device and attachment state determination method

Abstract

According to the present invention, a mounting device that comprises a head to which a tool can be removably attached comprises a movement unit that moves an attachment member to which the tool is attached in the vertical direction relative to the head, a light sensor that is disposed so as to be capable of receiving light from a light-emitting unit at a light reception unit when the tool as attached to the attachment member is in a prescribed position in the vertical direction, and a determination unit that performs determination processing for the attachment state of the tool on the basis of the light reception state of the light sensor when the tool has been moved to the prescribed position by the movement unit.

Description

Mounting device and mounting state determination method

[0001] This specification discloses a mounting device and a mounting state determination method.

[0002] A mounting apparatus has been proposed that includes a tool with a nozzle for suctioning components and a head to which the tool can be attached or detached (see, for example, Patent Document 1). In this mounting apparatus, a piston member that is activated when the tool is attached is provided on the head, and the opening end of the air exhaust passage that was open before the tool was attached is closed by the operation of the piston member. This makes it possible to determine the attachment state of the tool based on changes in the air flow rate in the air exhaust passage.

[0003] Patent No. 6441953

[0004] In the mounting device described above, if the tool is attached to the head in an inclined position, the piston member may not be able to completely close the open end, or foreign matter may get into the air exhaust path, resulting in an air flow rate that is different from normal. In such cases, a determination based solely on the air flow rate may not properly determine whether a tool is attached, even if it is, and may erroneously determine that the tool is not attached. This may undesirably cause the tool to collide with other components while the head is operating.

[0005] A primary object of the present disclosure is to more appropriately determine the attachment state of a tool that is detachable from a head.

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The mounting device disclosed herein is a mounting device equipped with a head to which a tool can be attached and detached, and includes: a moving unit that moves an attachment member to which the tool is attached in an up and down direction relative to the head; an optical sensor that is positioned so that light from an emitting unit can be received by a light receiving unit when the tool attached to the attachment member is in a predetermined up and down position; and a determining unit that performs processing to determine the attachment state of the tool based on the light receiving state of the optical sensor when the tool has been moved to the predetermined position by the moving unit.

[0008] In the mounting device of the present disclosure, the attachment state of the tool can be determined more appropriately based on the light reception state of the optical sensor.

[0009] 1 is a schematic diagram of the mounting device 10. A block diagram showing a configuration related to control of the mounting device 10. A schematic diagram of the head 30. A schematic diagram of the clamp portion 34 of the mounting member 32. An explanatory diagram of a state in which the tool 60 is normally attached to the head 30. A perspective view of the head 30 and the tool 60. A perspective view of the head 30 and the tool 60. An explanatory diagram showing an example of the arrangement of each optical sensor 55, 57, 59. A flowchart showing an example of a tool attachment process. An explanatory diagram of a state in which the tool 60 is not normally attached. An explanatory diagram showing an example of an R-axis retracted state. An explanatory diagram showing an example of a first position P1 of the tool 60. A flowchart showing an example of a post-abnormal stop determination process. An explanatory diagram showing an example of a second position P2 of the tool 60.

[0010] An embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a schematic configuration diagram of a mounting apparatus 10. Fig. 2 is a block diagram showing a configuration related to control of the mounting apparatus 10. Fig. 3 is a schematic configuration diagram of a head 30. Note that the left-right direction in Fig. 1 is the X-axis direction, the front-rear direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

[0011] As shown in FIG. 1 , the mounting apparatus 10 includes a component supply device 12, a board transport device 14, a head 30, a moving device 20, and a control device 70 (see FIG. 2 ). The component supply device 12 is, for example, a tape feeder equipped with a reel on which components are stored at predetermined intervals. Driven by a motor (not shown), the component supply device 12 pulls out the tape from the reel and supplies the components to a supply position. The board transport device 14 includes, for example, a pair of conveyor belts spaced apart in the front-to-rear direction (Y-axis direction) and stretched horizontally. The conveyor belts are driven by a motor (not shown) to transport the board S from left to right in FIG. 1 . The moving device 20 includes a guide rail 23 provided along the Y-axis direction, a Y-axis slider 24 that moves along the guide rail 23, a guide rail 21 provided on the Y-axis slider 24 along the X-axis direction, and an X-axis slider 22 that moves along the guide rail 21. A head 30 is attached to the X-axis slider 22. The moving device 20 moves the X-axis slider 22 and the Y-axis slider 24 by driving motors (not shown), thereby moving the head 30 in the X and Y directions.

[0012] The mounting apparatus 10 also has a tool 60 (autotool) having one or more nozzles 65 for picking up (picking up) components that can be attached to and detached from the head 30. Examples of such tools include a single-nozzle tool having one nozzle 65 on its axis, and a multi-nozzle tool (rotary tool) having multiple (e.g., 12 or 16) nozzles 65 spaced at predetermined angles in the circumferential direction. The tool is not limited to a tool having a nozzle 65 for picking up components, but may also be a glue tool having a nozzle (glue nozzle) for dispensing adhesive to be applied to the substrate S. The mounting apparatus 10 includes a tool station 26 for stocking these multiple tools. In this embodiment, a multi-nozzle tool will be described as an example of the tool 60. Note that FIG. 1 illustrates a state in which the multi-nozzle tool is attached to the head 30, and the tool station 26 has two storage compartments 26a and 26b, of which the storage compartment 26a is empty and the single-nozzle tool is stored in the storage compartment 26b.

[0013] The tool 60 includes a tool body 61, a nozzle holder 62, an engagement piece 63, a nozzle 65, a switching lever (switching piece) 66, and a mounting recess 67 (see FIG. 5 ). The tool body 61 is formed in a substantially cylindrical shape, and multiple nozzle holders 62 are provided at predetermined intervals on the same circumference. Each nozzle holder 62 is movable vertically relative to the tool body 61, and a nozzle 65 is replaceably attached to its tip (lower end). The engagement piece 63 is provided near the upper end of each nozzle holder 62 so as to protrude outward in the horizontal direction beyond the tool body 61. The engagement piece 63 is biased upward by a spring 64, so that the nozzle holder 62 is positioned at a predetermined position (upper position). When the tool 60 is attached to the head 30, this engagement piece 63 engages with the cam follower 45 and clamping portion 46 of the Z2-axis drive unit 43 described later, and is displaced by the drive of the Z2-axis drive unit 43, thereby allowing the nozzle holder 62 (nozzle 65) to be moved downward.

[0014] With the tool 60 attached to the head 30, the nozzles 65 are supplied with negative or positive pressure via the nozzle holders 62 by a pressure supply device (not shown). The nozzles 65 use the supplied negative pressure to suction and hold a component at their tips (lower ends), and use the supplied positive pressure to release the component from suction and place it on the substrate S. The switching levers 66 are used to switch the supply state (such as a state of supplying negative pressure or a state of supplying positive pressure) to each nozzle holder 62 (nozzle 65), and are provided at positions corresponding to each nozzle holder 62 so as to protrude outward in the horizontal direction from the tool body 61. With the tool 60 attached to the head 30, the switching levers 66 are displaced by the drive of a switching drive unit 44 (described later) to switch the supply state.

[0015] As shown in FIG. 5 , the mounting recess 67 is provided on the central upper surface of the tool 60 and is attached and fixed to the mounting member 32 of the head 30 (described later). The mounting recess 67 has annular claws 67a formed at the opening edge that protrude radially inward, and a pin hole 67b formed at the outer peripheral edge of the upper surface into which a pin 32a provided on the mounting member 32 of the head 30 fits. The lower side of the protruding end face (inner peripheral surface) of the claws 67a is tapered so that the inner diameter decreases from bottom to top, and engages with a clamp ball 38 of the head 30 (described later). The tool 60 of this embodiment also has a through-hole 68 for forming a horizontal optical path when attached to the head 30 (see FIGS. 12 and 14 ). The through-hole 68 forms an optical path through which light can pass horizontally, for example, by a through-hole formed in a component of the tool 60 and a gap between the component members of the tool 60. It is also possible for the through portion 68 not to have a through hole, but to allow light to pass through the gaps between the components of the tool 60 .

[0016] The head 30 includes a housing 31, a mounting member 32, various drive units, various sensors, etc. The housing 31 houses the various components of the head 30 and is detachably attached to the X-axis slider 22 of the movement device 20. The mounting member 32 is configured as an axial member that is movable in the vertical direction relative to the head 30 (housing 31). The mounting member 32 has a recess 33 formed at its lower end, and a clamp 34 is provided in the recess 33.

[0017] The clamping portion 34 clamps the tool 60 attached to the mounting member 32. As shown in FIG. 4 , the clamping portion 34 includes a piston 35, a spring 36, a pusher member 37, a clamp ball 38, and a holding portion 39. The piston 35 has a cylindrical portion 35a with a bottom and a flange portion 35b that extends radially outward from the top of the cylindrical portion 35a and is capable of sliding against the inner wall surface of the recess 33. A spring 36 is disposed within the cylindrical portion 35a of the piston 35, and the piston 35 is movable vertically within the recess 33. The spring 36 biases the piston 35 downward, using the upper bottom surface of the recess 33 of the mounting member 32 as a spring support. The pusher member 37 is a generally disk-shaped member coaxially attached to a protrusion formed on the lower surface of the cylindrical portion 35a of the piston 35, and moves vertically integrally with the piston 35. The pusher member 37 has a tapered sidewall surface so that its outer diameter decreases from top to bottom, i.e., its bottom is tapered. The retaining portion 39 is formed to retain the cylindrical portion 35a of the piston 35 and the clamp ball 38, and is attached to the lower end of the mounting member 32 so as to close the recess 33. The retaining portion 39 also has a mounting protrusion 39a at the center of its lower portion, which protrudes downward in a cylindrical shape with a bottom and is sized to fit into the mounting recess 67 of the tool 60. The clamp ball 38 is retained within the mounting protrusion 39a of the retaining portion 39 and can move between a position where it protrudes outward from an opening formed in the sidewall of the mounting protrusion 39a and a position where it fits within the opening. A plurality of clamp balls 38 are arranged circumferentially around the mounting protrusion 39a, and the inner surface of each is capable of abutting against the tapered sidewall surface of the pusher member 37.

[0018] In the clamping portion 34, when positive pressure is supplied to the space 33a between the top surface of the piston 35 and the upper bottom surface of the recess 33, the piston 35 moves to a lower position due to the positive pressure acting on the upper surface and the biasing force of the spring 36. The pusher member 37, which moves with the piston 35, pushes the clamp ball 38 outward with its tapered sidewall surface, causing the clamp ball 38 to protrude from the sidewall of the mounting protrusion 39a (see FIGS. 4 and 5). The protruding clamp ball 38 engages with the tapered protruding end surface of the claw 67a in the mounting recess 67 of the tool 60. This clamps the tool 60 to the mounting member 32. For this reason, the lower position of the piston 35 is also referred to as the clamped position. On the other hand, in the clamping portion 34, when the supply of positive pressure to the space 33a is stopped and positive pressure is supplied to the space 33b between the lower surface of the flange portion 35b of the piston 35 and the upper surface of the holding portion 39, the piston 35 moves to the upper position. As a result, the force exerted by the push-out member 37 to push the clamp ball 38 outward is no longer applied, and the clamp is released.

[0019] The holding portion 39 is also formed with an air flow path 39c that communicates with the air flow path 32b of the mounting member 32. The air flow path 39c has an open end 39b formed on the inner circumferential surface of the holding portion 39 that houses the cylindrical portion 35a of the piston 35, and the open end 39b is closed when the piston 35 is in the lower position (clamped position) (see FIG. 4). Although not shown, the open end 39b of the air flow path 39c is open when the piston 35 is in the upper position.

[0020] As shown in FIGS. 2 and 3 , the head 30 includes various drive units, such as a Z1-axis drive unit 40, an R-axis drive unit 41, a Q-axis drive unit 42, a Z2-axis drive unit 43, and a switching drive unit 44. Each drive unit operates an object using a motor and a transmission mechanism, such as a gear, that transmits the motor's driving force; detailed description of the transmission mechanism is omitted. The Z1-axis drive unit 40 moves the mounting member 32 vertically relative to the housing 31 by driving a Z1-axis motor 40a. The R-axis drive unit 41 rotates the tool 60 (multi-nozzle tool) attached to the mounting member 32 around its axis (R-axis) by driving an R-axis motor 41a, thereby rotating (revolving) the nozzles 65 attached to each nozzle holder 62 in the circumferential direction. The Q-axis drive unit 42 rotates (spins) each nozzle 65 of the tool 60 around its axis by driving a Q-axis motor 42a. The Z2-axis drive unit 43 moves the slider 47 in the vertical direction by driving the Z2-axis motor 43a. The slider 47 is equipped with a cam follower 45 that can contact the engagement piece 63 of the nozzle holder 62 from above, and a clamping portion 46 that is arranged to sandwich the engagement piece 63 between the cam follower 45 and the slider 47 from above and below (see FIG. 6). Therefore, by moving the slider 47, the Z2-axis drive unit 43 can move the nozzle holder 62 and the nozzle 65 in the vertical direction relative to the tool body 61. The switching drive unit 44 operates a support portion 49 (see FIG. 6), to which a pair of upper and lower cam followers 48 are attached, in the vertical direction by driving the switching motor 44a. Each cam follower 48 is configured to be able to contact the switching lever 66 of the tool 60 from above or below. Therefore, the switching drive unit 44 can operate the support unit 49 upward or downward to displace the switching lever 66 by either the upper or lower cam follower 48, thereby switching the supply state.

[0021] 2, 3, and 8, the head 30 is equipped with various sensors, such as a flow rate sensor 52, a first clamp optical sensor (hereinafter referred to as the first optical sensor) 55, a second clamp optical sensor (hereinafter referred to as the second optical sensor) 57, and a nozzle optical sensor 59. The flow rate sensor 52 detects the flow rate of air flowing through the air flow paths 32b and 39c.

[0022] The first optical sensor 55 is configured as a transmission-type sensor having a light-emitting portion 55a and a light-receiving portion 55b. The first optical sensor 55 is arranged so that, when the tool 60 is at a predetermined height, light L, such as infrared light or laser light, emitted from the light-emitting portion 55a passes through an optical path formed by the through-hole 68 of the tool 60 and is received by the light-receiving portion 55b. This position, where the engagement piece 63 of the tool 60 is below and adjacent to the cam follower 48, is referred to as a first position P1. The second optical sensor 57 and the nozzle optical sensor 59 are also configured as transmission-type sensors. The second optical sensor 57 is arranged above the first optical sensor 55. The second optical sensor 57 is arranged so that, when the tool 60 is at a second position P2, which is higher than the first position P1, light L, emitted from the light-emitting portion 57a, passes through an optical path formed by the through-hole 68 of the tool 60 and is received by the light-receiving portion 57b. The second position P2 is a height position where the engagement piece 63 of the tool 60 is below and in the vicinity of the cam follower 45 (the clamping portion 46).

[0023] The nozzle optical sensor 59 is disposed below the first optical sensor 55. The nozzle optical sensor 59 is disposed so that, when the tool 60 is in an attachment completion position (normal working position, see FIG. 7 ) that is higher than the second position P2, light L emitted from the light-emitting portion 59a can pass slightly below the lower end of the nozzle holder 62 and be received by the light-receiving portion 59b. Therefore, when a nozzle 65 is attached to the nozzle holder 62, the light L emitted from the light-emitting portion 59a of the nozzle optical sensor 59 cannot be received by the light-receiving portion 59b. Therefore, the control device 70 can determine the presence or absence of the nozzle 65 based on the light-receiving state of the nozzle optical sensor 59.

[0024] As shown in FIG. 2 , the control device 70 is configured as a microprocessor centered around a CPU 71. In addition to the CPU 71, the control device 70 also includes a ROM 72, a HDD 73, a RAM 74, and an input / output interface 75. These components are electrically connected via a bus 76. Detection signals from various sensors are input to the control device 70 via the input / output interface 75. The control device 70 also outputs drive signals to the component supply device 12, the board transport device 14, and the moving device 20, as well as drive signals to the various drive units 40, 41, 42, 43, and 44, via the input / output interface 75. The HDD 73 stores production information for the boards S. The production information for the boards S refers to information that defines which components are to be mounted on which positions on the boards S and in what order, which tools are to be used to mount the components, and how many boards S with components mounted thereon are to be produced.

[0025] Next, the operation of the mounting apparatus 10 configured as described above, particularly the operation when attaching the tool 60, will be described. Fig. 9 is a flowchart showing an example of a tool attachment process. This process is executed by the CPU 71 of the control device 70 when no tool is attached to the head 30. The CPU 71 first controls the movement device 20 to move the head 30 above the storage section in the tool station 26 that stores the tool 60 to be attached, and then drives the Z1-axis drive unit 40 to lower the attachment member 32 (S100).

[0026] Next, the CPU 71 attaches the tool 60 to the mounting member 32 by clamping the clamp unit 34 (S110). In S110, the CPU 71 lowers the mounting member 32 so that the mounting protrusion 39a of the holding portion 39 of the clamp unit 34 is fitted into the mounting recess 67 of the tool 60, and then moves the pusher member 37 downward. This causes the clamp ball 38 to protrude from the side wall of the mounting protrusion 39a and engage with the tapered protruding end surface of the claw 67a of the mounting recess 67 (see FIG. 5). This attaches the tool 60 to the mounting member 32. Note that there may be cases where the tool 60 is not securely clamped when attached to the mounting member 32 due to misalignment or tilt of the tool 60 in the storage section of the tool station 26 or misalignment or tilt of the mounting member 32. For example, as shown in Figure 10, the tool 60 may be attached to the mounting member 32 with the claw portion 67a clamped so that it is hooked onto the lower side of the clamp ball 38, and the pin 32a not being inserted into the pin hole 67b.

[0027] Next, the CPU 71 determines the attachment state of the tool 60 based on the detection state of the flow sensor 52, i.e., the air flow rate flowing through the air flow paths 32b and 39c (S120). As described above, the open end 39b of the air flow path 39c is closed when the piston 35 moves to the downward position. Therefore, if the tool 60 is securely clamped and attached, the detected flow rate of the flow sensor 52 changes. Based on this change in the detected flow rate, the CPU 71 determines whether the attachment state of the tool 60 determined in S120 is normal (S130).

[0028] If the CPU 71 determines in S130 that the mounting state is not normal, it executes error processing (S140) and terminates the tool mounting process. The error processing is performed, for example, by displaying an error code or error message on a display unit (not shown) of the mounting device 10 to indicate that a mounting error has occurred, sounding an alarm, or turning on an alarm lamp. The worker who notices the mounting error checks the location of the error, corrects the tool 60 and head 30, and then takes action such as re-executing the tool mounting process.

[0029] If grease, wear particles, or the like enters the air flow path 39c (air flow path 32b), it may not be possible to properly detect changes in the air flow rate. Therefore, determining the installation state solely based on the detection state of the flow sensor 52, as in S120, may result in an erroneous determination. Furthermore, in the state shown in FIG. 10, although secure clamping is not achieved, the piston 35 has descended to the lower position and blocked the open end 39b, which may result in an erroneous determination that the installation state is normal. Therefore, in this embodiment, the installation state is determined using an optical sensor as follows.

[0030] If the CPU 71 determines in S130 that the attachment state is normal based on the air flow rate, it drives the Z1-axis drive unit 40 to raise the tool 60 to the first position P1 (S150, FIG. 12 ) and determines the attachment state based on the light reception state of the first optical sensor 55 (S160). As described above, the first position P1 is the position where light L emitted from the light emitter 55a of the first optical sensor 55 can pass through the optical path formed by the through-hole 68 of the tool 60 and be received by the light receiver 55b. Therefore, if the tool 60 is not securely clamped when attached to the attachment member 32, the tool 60 will tilt, causing the through-hole 68 to shift position, blocking the optical path. In this case, the first optical sensor 55 will enter a light reception state with a reduced light reception level. Based on this light reception state, the CPU 71 determines whether the attachment state of the tool 60 determined in S160 is normal, i.e., whether the attachment state is normal (S170).

[0031] If the CPU 71 determines that the tool 60 is not attached properly based on the light reception state of the first optical sensor 55, it executes error processing (S140) and ends the tool attachment process. On the other hand, if the CPU 71 determines that the tool 60 is attached properly based on the light reception state of the first optical sensor 55, it raises the tool 60 beyond the first position P1 to an upper attachment completion position (S180) and ends the tool attachment process.

[0032] When raising the tool 60 to the attachment completion position, the CPU 71 raises the tool 60 in an R-axis retracted state in which the rotational position of the R-axis is the retracted position, as shown in FIG. 11 . As shown in FIG. 11 , among the multiple (16 in FIG. 11 ) engaging pieces 63, two adjacent engaging pieces 63a, 63b are formed with a narrow circumferential width so that the distance between them is wider than the distance between the other engaging pieces 63. The R-axis retracted state is achieved by controlling the R-axis drive unit 41 so that the clamping portion 46 (cam follower 45) is positioned between the engaging pieces 63a, 63b. The switching lever 66 protrudes radially outward more than the engaging pieces 63. Accordingly, the amount of protrusion of the cam follower 48 toward the tool 60 is smaller than the amount of protrusion of the cam follower 45 toward the tool 60. Therefore, in a normal installation state, the engaging piece 63 does not come into contact with the cam follower 48 for the switching lever 66 when the tool 60 is raised. However, if the installation state is not normal, there is a risk that the engaging piece 63 will collide with and be damaged by the cam follower 48 due to, for example, the tilt of the tool 60. For this reason, in this embodiment, as described in the tool installation process, after determining that the installation state is normal at the first position P1, the tool 60 is moved to a position beyond the first position P1.

[0033] Next, a process for determining the attachment state after an abnormal stop during tool replacement will be described. FIG. 13 is a flowchart illustrating an example of the process for determining the attachment state after an abnormal stop. This process is performed during automatic return after the tool 60 (attachment member 32) is abnormally stopped during ascent due to some abnormality after the tool 60 is moved to a position beyond the first position P1. Automatic return requires the tool 60 to be moved to the attachment completion position after the R-axis retraction state shown in FIG. 11 is established. However, this process is performed prior to this to determine whether the attachment state of the tool 60 is normal. Note that if an abnormal stop occurs due to some disturbance, the clamp of the tool 60 may become unclamped and tilted. In this case, if the tool 60 is lowered to the first position P1, there is a possibility that the engagement piece 63 may collide with the cam follower 48 for the switching lever 66. In this embodiment, to avoid such a collision, the attachment state determination process is performed without lowering the tool 60 to the first position P1, as described below.

[0034] In the post-abnormal stop determination process, the CPU 71 drives the Z1-axis drive unit 40 to move the tool 60 to the second position P2 (S200, FIG. 14 ), and determines the attachment state of the tool 60 based on the light-receiving state of the second optical sensor 57 (S210). As described above, the second position P2 is the position where light L emitted from the light-emitting element 57a of the second optical sensor 57 can pass through the optical path formed by the through-hole 68 of the tool 60 and be received by the light-receiving element 57b. If the clamp comes off due to some kind of disturbance and the tool 60 tilts, the position of the through-hole 68 shifts, blocking the light L. In this case, the second optical sensor 57 enters a light-receiving state in which the light-receiving level is reduced. Based on this light-receiving state, the CPU 71 determines whether the attachment state of the tool 60 determined in S210 is normal (S220).

[0035] If the CPU 71 determines that the tool 60 is not attached properly based on the light reception state of the second optical sensor 57, it executes error processing (S230) and terminates the tool attachment process. S230 is executed in the same manner as S140. On the other hand, if the CPU 71 determines that the tool 60 is attached properly based on the light reception state of the second optical sensor 57, it controls the R-axis drive unit 41 to rotate the tool 60 so as to set the tool 60 to the R-axis retracted state (S240), and terminates the post-abnormal stop determination process. After determining that the tool 60 is attached properly in this manner, the tool 60 can be safely raised to the attachment completion position while avoiding the engagement piece 63 of the tool 60 from colliding with the clamping unit 46, allowing the tool 60 to quickly and automatically return to its original position.

[0036] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. In this embodiment, the Z1-axis drive unit 40 corresponds to the moving unit of the present disclosure, the first optical sensor 55 and the second optical sensor 57 correspond to the optical sensors, and the control device 70, which executes steps S150 to S170 (first determination process) of the tool attachment process and steps S200 to S220 (second determination process) of the post-abnormal stop determination process, corresponds to the determination unit. The nozzle holder 62 corresponds to the holder, the switching lever 66 corresponds to the first protrusion, the engagement piece 63 corresponds to the second protrusion, the cam follower 48 corresponds to the first abutment, the switching drive unit 44 corresponds to the first operating unit, the cam follower 45 corresponds to the second abutment, and the Z2-axis drive unit 43 corresponds to the second operating unit. The first optical sensor 55 corresponds to the first optical sensor, and the second optical sensor 57 corresponds to the second optical sensor. The air flow paths 32b and 39c correspond to the air flow paths, and the flow sensor 52 corresponds to the flow sensor. In this embodiment, the operation of the mounting device 10 is described, thereby clarifying an example of the mounting state determination method of the present disclosure.

[0037] In the mounting device 10 of the embodiment described above, when the tool 60 is moved to a predetermined position (first position P1 or second position P2), a process for determining the installation status of the tool 60 is performed based on the light reception status of the optical sensors (first optical sensor 55 or second optical sensor 57), so that the installation status of the tool 60 can be determined more appropriately.

[0038] Furthermore, in the mounting device 10, after the tool 60 is attached to the head 30, a determination process (first determination process) is performed based on the light reception state of the first optical sensor 55 with the tool 60 at a first position P1 where the engagement piece 63 (second lever) is below and near the cam follower 48 (first abutment portion). Here, even if the tool 60 is attached to the head 30 at an angle due to a clamping failure, the engagement piece 63 will not collide with the cam follower 48 even if the tool is moved upward to the first position P1. Therefore, by performing the determination process at the first position P1, it is possible to appropriately determine the attachment state of the tool 60 while avoiding collision between the engagement piece 63 and the cam follower 48.

[0039] Furthermore, in the mounting device 10, the tool 60 is moved above the first position P1 on the condition that it is determined in the determination process at the first position P1 that the tool 60 is properly attached, so the tool 60 can be safely moved above the first position P1.

[0040] Furthermore, in the mounting device 10, when the tool 60 is at a second position P2 above the first position P1, a determination process (second determination process) is performed based on the light receiving state of the second optical sensor 57. Therefore, after the tool 60 is moved above the first position P1, the mounting state can be appropriately determined without having to lower the tool 60 to the first position P1.

[0041] Furthermore, in the mounting device 10, when the tool 60 moves above the first position P1, then stops abnormally and a return process is performed, a process for determining the attachment state of the tool 60 is performed at the second position P2. Here, when the return process is performed after the abnormal stop, the tool 60 may not be clamped properly due to an external disturbance or the like, and if the tool 60 is moved to the first position P1, there is a risk that the engagement piece 63 or the switching lever 66 will collide with the cam follower 48. Therefore, by performing the second determination process at the second position P2, it is possible to appropriately determine the attachment state of the tool 60 while avoiding such a collision.

[0042] Furthermore, in the mounting device 10, prior to the determination process based on the light receiving state of the optical sensors (first optical sensor 55 and second optical sensor 57), a determination process based on the detection state of the flow sensor 52 is performed. Therefore, when the flow sensor 52 determines that the mounting state is not normal, it is possible to avoid the loss of time required to raise the tool 60 to the first position P1.

[0043] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0044] In the above-described embodiment, a determination process was performed based on the detection state of the flow sensor 52, but this is not limited to this, and S120 and S130 of the tool attachment process may be omitted, and the determination process based on the detected flow rate of the flow sensor 52 may not be performed.

[0045] In the embodiment, the determination process based on the light receiving state of the second optical sensor 57 is performed after an abnormal stop, but the present invention is not limited to this and may be performed at a timing other than after an abnormal stop.

[0046] In the embodiment, the optical sensors include the first optical sensor 55 and the second optical sensor 57, and after the tool 60 moves above the first position P1, the determination process is performed based on the light reception state of the second optical sensor 57. However, this is not limited to this. For example, the optical sensor may include only the first optical sensor 55, and the determination process based on the light reception state of the second optical sensor 57 may not be performed. In that case, even after the tool 60 moves above the first position P1, when performing the determination process, the tool 60 may be lowered to the first position P1. However, in order to avoid the risk of collision, the method as in the embodiment is preferable.

[0047] In the embodiment, the determination process (first determination process) based on the light reception state of the first optical sensor 55 is performed when the tool 60 is at the first position P1, where the engagement piece 63 (second protrusion) is below and near the cam follower 48 (first abutment portion). However, this is not limited to this. That is, the determination process based on the light reception state of the first optical sensor 55 may be performed when the tool 60 is at a position other than the first position P1. Furthermore, although the tool 60 is moved above the first position P1 after the attachment state is confirmed in the determination process, this is not limited to this. That is, the first optical sensor 55 may be positioned so that the light receiving portion 55b can detect light L from the light emitting portion 55a when the tool 60 is moved to a predetermined position in the vertical direction, such as a position above the first position P1, and the attachment state determination process may be performed. However, to avoid the risk of a collision, the process as described in the embodiment is preferable.

[0048] In the embodiment, a transmission type sensor is used as the optical sensor (first optical sensor 55 and second optical sensor 57), but this is not limited thereto and a reflection type sensor may also be used. Furthermore, while the clamp unit 34 is clamped using the clamp ball 38, this is not limited thereto and a clamp using an L-shaped hook or the like may also be used. Furthermore, switching the air supply state to the nozzle 65 is not limited to being performed by a lever member such as the switching lever 66 and may be performed by another member such as a switch.

[0049] Here, the attachment state determination method of the present disclosure is an attachment state determination method for a mounting device having a head to which a tool can be attached and detached, which determines the attachment state of the tool to an attachment member using an optical sensor, wherein the optical sensor is positioned so that light from an light emitting unit can be received by a light receiving unit when the tool attached to the attachment member is at a predetermined position in the vertical direction, and the attachment state determination process for the tool is performed based on the light receiving state of the optical sensor when the tool has been moved to the predetermined position by a moving unit that moves the attachment member in the vertical direction relative to the head.

[0050] The mounting state determination method of the present disclosure, like the mounting device of the present disclosure described above, can more appropriately determine the tool mounting state based on the light reception state of the optical sensor. In this mounting method, various aspects of the mounting device of the present disclosure may be adopted, or configurations or steps may be added to realize each function of the mounting device.

[0051] This specification also discloses the technical idea of ​​changing the "mounting device according to claim 1 or 2" in claim 6 of the original application to "mounting device according to any one of claims 1 to 5."

[0052] The present disclosure can be used in technical fields such as component mounting processing.

[0053] REFERENCE SIGNS LIST 10 Mounting device, 12 Component supply device, 14 Board transport device, 20 Moving device, 21, 23 Guide rail, 22 X-axis slider, 24 Y-axis slider, 26 Tool station, 26a, 26b Storage section, 30 Head, 31 Housing, 32 Mounting member, 32a Pin, 32b Air flow path, 33 Recess, 33a, 33b Space, 34 Clamping section, 35 Piston, 35a Cylindrical section, 35b Flange section, 36 Spring, 37 Pushing member, 38 Clamp ball, 39 Holding section, 39a Mounting protrusion, 39b Open end, 39c Air flow path, 40 Z1-axis driving section, 40a Z1-axis motor, 41 R-axis driving section, 41a R-axis motor, 42 Q-axis driving section, 42a Q-axis motor, 43 Z2-axis drive unit, 43a Z2-axis motor, 44 switching drive unit, 44a switching motor, 45, 48 cam follower, 46 clamping unit, 47 slider, 49 support unit, 52 flow rate sensor, 55 first clamp optical sensor, 55a, 57a, 59a light emitting unit, 55b, 57b, 59b light receiving unit, 57 second clamp optical sensor, 59 nozzle optical sensor, 60 tool, 61 tool body, 62 nozzle holder, 63 engagement piece, 64 spring, 65 nozzle, 66 switching lever, 67 mounting recess, 67a claw portion, 67b pin hole, 68 through portion, 70 control device, P1 first position, P2 second position, S board.

Claims

1. A mounting device equipped with a head to which a tool can be attached and detached, comprising: a moving unit that moves an attachment member to which the tool is attached in an up and down direction relative to the head; an optical sensor that is positioned so that light from an emitting unit can be received by a light receiving unit when the tool attached to the attachment member is in a predetermined up and down position; and a determining unit that performs processing to determine the attachment state of the tool based on the light receiving state of the optical sensor when the tool has been moved to the predetermined position by the moving unit.

2. The mounting device according to claim 1, wherein the tool has a holder that holds a nozzle, a first protrusion that protrudes outward from the tool and switches the supply of negative pressure to the nozzle by displacement, and a second protrusion that protrudes outward from the tool above the first protrusion and moves integrally with the holder; the head has a first operating unit that operates a first abutment that is arranged to be able to abut against the first protrusion so as to displace the first protrusion, and a second operating unit that operates a second abutment that is arranged to be able to abut against the second protrusion so as to displace the second protrusion; the optical sensor comprises a first optical sensor that is arranged so that the light from the light emitting unit can be received by the light receiving unit when the tool is in a first position where the second protrusion is below and in the vicinity of the first abutment; and the determining unit performs a first determination process as the determination process based on the light receiving state of the first optical sensor when the tool is moved upward to the first position as the predetermined position after the tool is attached to the head.

3. The mounting device according to claim 2, wherein the moving unit moves the tool above the first position on condition that the first determination process determines that the tool is attached.

4. The mounting device according to claim 2 or 3, wherein the optical sensor is a second optical sensor arranged so that the light from the light emitting unit can be received by the light receiving unit when the tool is at a second position where the second protrusion is below and near the second abutment unit, and the determination unit performs a second determination process as the determination process based on the light receiving state of the second optical sensor when the tool has moved to the second position as the predetermined position.

5. The mounting device according to claim 4, wherein the determination unit performs the second determination process when the tool moves above the first position after the first determination process, then stops abnormally and a recovery process is performed.

6. The mounting device according to claim 1 or 2, wherein the head has an air flow path whose open end is open when the tool is not attached and whose open end is closed when the tool is attached, and a flow sensor that detects the flow rate of air flowing through the air flow path, and the determination unit determines the attachment state of the tool based on the flow rate detected by the flow sensor prior to the determination process.

7. An attachment state determination method for a mounting device equipped with a head to which a tool can be attached and detached, which determines the attachment state of the tool to an attachment member using an optical sensor, wherein the optical sensor is positioned so that light from an light emitting unit can be received by a light receiving unit when the tool attached to the attachment member is in a predetermined position in the vertical direction, and when the tool has moved to the predetermined position by a moving unit that moves the attachment member in the vertical direction relative to the head, a determination process for the attachment state of the tool is performed based on the light receiving state of the optical sensor.

Images