Pick-and-place device, substrate production time calculation method, substrate production time calculation program, recording medium, and component load control method

Abstract

A load in a high-level load range (first load range) is applied to a component E by executing a high-level load control (first application operation) in step S206, a load in a medium-level load range (second load range) lower than the high-level load range is applied to the component E by executing a medium-level load control (second application operation) in step S207, and a load in a low-level load range (third load range) lower than the low-level load range (second load range) is applied to the component E by executing a low-level load control (third application operation) in step S208. That is, the mode (high-level / medium-level / low-level load control) of applying a load to the component E can be switched over three load ranges. Therefore, the load can be applied to the component E in the mode suitable for each of the three load ranges among the high-level, medium-level, and low-level load controls.

Description

Pick-and-place device, board production time calculation method, board production time calculation program, recording medium, and component load control method

[0001] The present invention relates to a technique for controlling the load applied to a part held by a nozzle.

[0002] Patent Documents 1 and 2 disclose techniques for controlling the load applied to components when mounting the components on a circuit board. As pointed out in Patent Document 1 in particular, it is difficult to appropriately control the load applied to the components over a wide load range. Therefore, Patent Document 1 applies a load in the high load range to the components using a voice coil motor, and a load in the low load range to the components using an air cylinder. In other words, by applying loads to the components in different ways in each of the two load ranges, it is possible to apply an appropriate load to the components according to each load range.

[0003] JP 2006-147702 A JP 2004-186317 A

[0004] However, the above technologies have had issues when it comes to applying appropriate loads to a variety of components. For example, when mounting components with press-fit connectors on a board, a high load must be applied to the component to press the connector in. Also, when mounting lead components on a board, a medium load (lower than a high load) appropriate for inserting the leads must be applied to the component. Furthermore, when mounting ultra-small chip components or thin wafer components on a board, a low load (lower than a medium load) must be applied to the component to prevent damage to the component. In particular, the above technologies were not sufficient when it came to appropriately controlling the load applied to the component to a low load.

[0005] The present invention has been made in view of the above-mentioned problems, and has as its object to make it possible to apply a wide range of loads to components and a low load that is controlled with high precision to components at the same time.

[0006] A pick and place device according to a first aspect of the present invention comprises a nozzle that contacts and holds a component, a load application unit that can switch between a first application operation, a second application operation, and a third application operation that apply a load to a component that contacts the nozzle in different manners, and a control unit that causes the load application unit to perform an application operation out of the first application operation, the second application operation, and the third application operation that corresponds to the load to be applied to the component that contacts the nozzle, wherein the control unit causes the load application unit to perform the first application operation to apply a load within a first load range to the component, causes the load application unit to perform the second application operation to apply a load within a second load range that is lower than the first load range, and causes the load application unit to perform the third application operation to apply a load within a third load range that is lower than the second load range to the component.

[0007] A component load control method according to a first aspect of the present invention includes a step of selecting an application operation from among a first application operation, a second application operation, and a third application operation that apply loads in different manners to a nozzle that contacts and holds a component, according to the load to be applied to the component contacting the nozzle, and a step of executing the selected application operation to apply a load to the nozzle, wherein the first application operation applies a load in a first load range to the component, the second application operation applies a load in a second load range that is lower than the first load range to the component, and the third application operation applies a load in a third load range that is lower than the second load range to the component.

[0008] In the present invention (pick-and-place apparatus and component load control method) configured as described above, a first load application operation is performed to apply a load within a first load range to a component, a second load application operation is performed to apply a load within a second load range lower than the first load range, and a third load application operation is performed to apply a load within a third load range lower than the second load range. In other words, the manner in which a load is applied to a component can be switched between three load ranges. Therefore, a load can be applied to a component in a manner appropriate for each of the three load ranges. As a result, compared to the technology of Patent Document 1, which only switches between two load ranges, the present invention is advantageous in achieving both the application of a wide range of loads to a component and the application of a low load to a component that is controlled with high precision.

[0009] The pick and place device may also be configured such that the load applying unit has a motor and performs the first applying operation by transmitting power generated by the motor to the nozzle. In this configuration, a high load can be applied to the component by the power transmitted from the motor to the nozzle. Therefore, the pick and place device can be appropriately adapted to components that require the application of a high load.

[0010] The pick and place apparatus may also be configured such that the load applying unit includes an electropneumatic regulator and performs the second applying operation by transmitting pressure generated by the electropneumatic regulator to the nozzle. In this configuration, a medium load can be applied to the component by the pressure transmitted from the electropneumatic regulator to the nozzle. This makes it possible to appropriately handle components that require the application of a medium load.

[0011] The pick and place device may also be configured such that the load application unit includes a cylinder, a piston disposed within the cylinder, an electropneumatic regulator that generates pressure within a pressure generation chamber that is a space between the inner wall of the cylinder and the piston, a solenoid valve provided between the electropneumatic regulator and the pressure generation chamber, a pressure gauge that detects the pressure within the pressure generation chamber, and a rod that extends from the piston to the opposite side of the pressure generation chamber and is connected to the nozzle, and the control unit opens the solenoid valve to connect the electropneumatic regulator to the pressure generation chamber and generates a predetermined pressure within the pressure generation chamber that is equal to or less than a pressure range that corresponds to a third load range, and then closes the solenoid valve to isolate the electropneumatic regulator from the pressure generation chamber and seals the pressure generation chamber, and with the pressure generation chamber sealed, moves the cylinder toward the nozzle to apply a load corresponding to the pressure within the pressure generation chamber to the component, and during the third application operation, controls the movement of the cylinder based on the pressure detected by the pressure gauge to apply a load within the third load range to the component. In this configuration, by moving the cylinder toward the nozzle while sealing the pressure generating chamber between the inner wall of the cylinder and the piston inside the cylinder, the pressure inside the pressure generating chamber is transmitted to the nozzle, and a load is applied to the component held by the nozzle (third application operation). Furthermore, as the cylinder is moved toward the nozzle, the volume of the pressure generating chamber decreases and the pressure inside the pressure generating chamber increases. Therefore, the load applied to the component gradually increases. This movement of the cylinder is controlled based on the pressure inside the pressure generating chamber detected by the pressure gauge. As a result, a low load controlled with high precision can be applied to the component. Therefore, this system can be used appropriately for components that require the application of a low load.

[0012] The pick and place device may further include a motor and a power transmission unit that transmits power generated by the motor to the cylinder, and the control unit transmits the power generated by the motor to the cylinder via the power transmission unit to move the cylinder toward the nozzle and perform the third applying operation. With this configuration, it is possible to apply a low load to the component that is controlled with high precision.

[0013] The control unit may also be configured to apply a load within the first load range to a component by transmitting power generated by the motor to the cylinder through a power transmission unit while restricting movement of the cylinder relative to the nozzle. In this configuration, a high load can be applied to the component by the power transmitted from the motor to the nozzle. This allows the pick and place device to appropriately handle components that require the application of a high load.

[0014] The control unit may also be configured to perform the second applying operation by transmitting power generated by the motor to the cylinder via the power transmission unit to move the cylinder toward the nozzle while generating a pressure in a pressure range corresponding to the second load range within the pressure generating chamber with the electropneumatic regulator by opening the solenoid valve to connect the electropneumatic regulator to the pressure generating chamber. In this configuration, a medium load can be applied to the component by the pressure transmitted from the electropneumatic regulator to the nozzle. This allows the pick and place device to appropriately handle components that require the application of a medium load.

[0015] The pick and place device may further include a setting unit that sets, for each component, a condition indicating whether to execute switching control to cause the load application unit to execute an application operation corresponding to the load applied to the component out of the first application operation, the second application operation, and the third application operation, and the control unit executes switching control for components for which the condition indicates execution of switching control. With this configuration, it is possible to appropriately execute switching control as needed.

[0016] Furthermore, the control unit may be configured to cause the load application unit to apply a load in the same manner to a component for which the conditions do not indicate the execution of switching control, regardless of the load applied to the component. In this configuration, unnecessary execution of switching control can be prevented.

[0017] The pick and place device may also be configured so that the nozzle, while holding a component, descends toward the substrate to bring the component into contact with the substrate, thereby performing a mounting operation to mount the component, the condition indicating whether or not to perform switching control in the mounting operation, and the control unit, if the condition indicating to perform switching control in the mounting operation, performs switching control for the component that contacts the substrate in the mounting operation. With this configuration, switching control can be performed accurately for components that require switching control in the mounting operation.

[0018] The pick and place device may also be configured so that the nozzle descends toward the component and, upon contact with the component, performs a suction operation to pick up and hold the component, the condition indicates whether or not to perform switching control in the suction operation, and the control unit, if the condition indicates that switching control should be performed in the suction operation, performs switching control on the component that comes into contact with the nozzle in the suction operation. With this configuration, switching control can be performed appropriately for components that require switching control in the suction operation.

[0019] A board production time calculation method according to a first aspect of the present invention is a board production time calculation method for calculating the production time required to produce a component-mounted board by mounting components at predetermined locations on the board using the above-mentioned pick-and-place device, and includes the steps of selecting an application operation from among a first application operation, a second application operation, and a third application operation in accordance with the load to be applied to the components, acquiring the time required for the selected application operation in accordance with the difference in the time required for the first application operation, the second application operation, and the third application operation, and calculating the production time based on the acquired time required for the application operation. This board production time calculation method can appropriately calculate the production time required to produce a component-mounted board while reflecting the influence of switching control.

[0020] A board production time calculation program according to a first aspect of the present invention causes a computer to execute the board production time calculation method.

[0021] A recording medium according to the first aspect of the present invention stores the above-described board production time calculation program in a computer-readable manner.

[0022] A pick and place device according to a second aspect of the present invention comprises a first lifting member, a member lifting unit that raises and lowers the first lifting member using a motor, a second lifting member provided below the first lifting member, a biasing spring provided between the first lifting member and the second lifting member and biasing the second lifting member downward relative to the first lifting member, a nozzle provided below the second lifting member and attached to the second lifting member, a value acquisition unit that acquires a value corresponding to the length of the biasing spring, and a control unit that executes first load control that applies a load generated by the motor to a component in contact with the nozzle by lowering the first lifting member using the member lifting unit when the length of the biasing spring is at its shortest length, and second load control that applies a load corresponding to the length of the biasing spring to a component in contact with the nozzle by lowering the first lifting member using the member lifting unit when the length of the biasing spring is longer than the shortest length, and the control unit controls the load applied to the component by controlling the position of the first lifting member according to the value acquired by the value acquisition unit in the second load control.

[0023] The present invention (pick-and-place device) configured as described above can apply a load to a component in different modes, namely, the first load control and the second load control. This allows a wide range of loads to be applied to the component. Furthermore, in the second load control, the first lifting member is lowered to apply a load corresponding to the length of the biasing spring between the first and second lifting members to the component contacting the nozzle connected to the second lifting member. At this time, the position of the first lifting member is controlled based on the value obtained corresponding to the length of the biasing spring. This allows a highly precisely controlled low load to be applied to the component. This allows both a wide range of loads to be applied to the component and a highly precisely controlled low load to be applied to the component.

[0024] A pick and place device according to a third aspect of the present invention includes a first lifting member, a member lifting section that lifts and lowers the first lifting member using a motor, a second lifting member provided below the first lifting member, a load cell provided between the first and second lifting members and that bends in response to changes in the distance between the first and second lifting members, a stopper that protrudes from one of the first and second lifting members toward the other and that comes into contact with or separates from the other in response to changes in the distance between the first and second lifting members, and a stopper provided below the second lifting member and attached to the second lifting member. and a control unit that executes a first load control in which a load generated by a motor is applied to a component in contact with the nozzle via the stopper by lowering a first lifting member by the component lifting unit with the stopper in contact with the other component, and a second load control in which a load generated by a motor is applied to a component in contact with the nozzle via a load cell by lowering the first lifting member by the component lifting unit with the stopper separated from the other component, and the control unit controls the load applied to the component by controlling the position of the first lifting member in accordance with the load detected by the load cell in the second load control.

[0025] In the present invention (pick-and-place device) configured as described above, a load can be applied to a component in different modes, namely, the first load control and the second load control. Therefore, a wide range of loads can be applied to the component. Furthermore, in the second load control, the first lifting member is lowered, and a load generated by the motor is applied to the component in contact with the nozzle via a load cell between the first and second lifting members. At this time, the position of the first lifting member is controlled according to the load detected by the load cell. Therefore, a low load can be applied to the component with high precision control. This makes it possible to simultaneously apply a wide range of loads to the component and a low load with high precision control to the component.

[0026] According to the present invention, it is possible to apply a wide range of loads to components and also to apply a low load that is controlled with high precision to components.

[0027] 5 is a partial plan view schematically showing a component mounter corresponding to an example of a pick-and-place apparatus according to the present invention. FIG. 1 is a block diagram showing the electrical configuration of the component mounter of FIG. 1. FIG. 2 is a diagram schematically showing operations executed by the component mounter of FIG. 1. FIG. 3 is a partial cross-sectional view schematically showing a first example of a mounting head provided in the component mounter. FIG. 4 is a flowchart showing an example of load application mode switching control for switching the mode of applying a load from the mounting head to a component depending on the load. FIG. 5 is a flowchart showing an example of high-frequency load control executed by the load application mode switching control of FIG. 5. FIG. 6 is a flowchart showing an example of mid-frequency load control executed by the load application mode switching control of FIG. 5. FIG. 6 is a diagram schematically showing operations executed by an example of high-frequency load control of FIG. 6A. FIG. 6B is a diagram schematically showing operations executed by an example of mid-frequency load control of FIG. 6C. FIG. 6C is a diagram schematically showing operations executed by an example of low-frequency load control of FIG. 5. FIG. 6D is a diagram schematically showing an example of a table used in the load application mode switching control of FIG. 5. 9B is a diagram showing an example of a setting screen for setting whether or not to execute load application mode switching control for each component. FIG. 9A is a diagram showing an example of setting information generated by an operation on the setting screen of FIG. 9A. FIG. 9B is a block diagram showing the configuration of a server computer that calculates the time required to produce a component-mounted board by mounting components on a board using the component mounter of FIG. 1. FIG. 9C is a flowchart showing an example of board production time calculation that calculates the time required to produce a board. FIG. 10B is a diagram showing an example of a table used in the board production time calculation of FIG. 10B. FIG. 10C is a partial cross-sectional view showing a second example of a mounting head provided in a component mounter. FIG. 10D is a partial cross-sectional view showing a third example of a mounting head provided in a component mounter.

[0028] Fig. 1 is a partial plan view schematically showing a component mounter corresponding to an example of a pick-and-place device according to the present invention, Fig. 2 is a block diagram showing the electrical configuration of the component mounter of Fig. 1, and Fig. 3 is a diagram schematically showing the operations executed by the component mounter of Fig. 1. In this embodiment, the X direction, which is the horizontal direction, the Y direction, which is the horizontal direction perpendicular to the X direction, and the Z direction, which is the vertical direction, are appropriately shown.

[0029] As shown in FIG. 2 , the mounter 1 includes a control unit 9 that controls the mounter 1. The control unit 9 includes an arithmetic processing unit 91, a memory unit 92, a drive control unit 93, and a UI (User Interface) 94. The arithmetic processing unit 91 is a processor such as a CPU (Central Processing Unit) that performs the calculation functions of the mounter 1, and the memory unit 92 is a storage device such as an SSD (Solid State Drive) or HDD (Hard Disk Drive). The drive control unit 93 controls the drive system of the mounter 1 in response to commands from the arithmetic processing unit 91. The UI 94 includes input devices such as a keyboard and mouse that accept user input operations, and an output device such as a display that outputs information to the user. The input and output devices of the UI 94 may be integrated into a touch panel display or the like.

[0030] The component mounter 1 includes a base 11 that is substantially rectangular in plan view, and a board transport unit 2 attached to the base 11. The board transport unit 2 has a pair of conveyors 21 arranged parallel to the X direction, and transports a board B in the X direction (board transport direction) using the pair of conveyors 21. Specifically, the board transport unit 2 transports the board B from the upstream side in the X direction in response to a carry-in command from the drive control unit 93, and holds the board B at a predetermined board holding position A (the position of the board B in FIG. 1 ). Furthermore, the board transport unit 2 transports the board B, on which components E have been mounted at the board holding position A, from the board holding position A to the downstream side in the X direction in response to a carry-out command from the drive control unit 93.

[0031] The component mounter 1 is equipped with two head units 3. The head unit 3 is an inline type mounting head having multiple mounting heads 6 arranged in a line in the X direction. A suction nozzle N (FIG. 3) is detachably attached to the bottom end of each mounting head 6. Each mounting head 6 is equipped with a mechanism for raising and lowering the suction nozzle N in the Z direction. The head unit 3 mounts the component E on the board B by placing the component E picked up by the suction nozzle N on the board B. Note that the specific type of head unit 3 is not limited to the inline type, and it may also be a rotary type in which multiple mounting heads 6 are arranged circumferentially.

[0032] The mounter 1 also includes an XY drive mechanism 4 that drives each of the two head units 3 individually in the X and Y directions. The XY drive mechanism 4 has two X beams 41, one for each of the two head units 3. Each X beam 41 extends parallel to the X direction and supports the corresponding head unit 3 movably in the X direction. A ball screw 42 extending parallel to the X direction and an X motor 43 that rotates and drives the ball screw 42 are attached to the X beam 41. In this example, the X motor 43 is a servo motor. The head unit 3 is attached to the nut of the ball screw 42 of the X beam 41. Furthermore, the XY drive mechanism 4 also has a pair of Y beams 44 that extend parallel to the Y direction. Both ends of each X beam 41 are supported by a pair of Y motors 45 that allow movement in the Y direction. A Y motor 45 that drives the X beam 41 in the Y direction is attached to each Y beam 44. Each Y motor 45 is a linear motor in this example, and has a mover 451 attached to both ends of the X beam 41 and a stator 452 extending parallel to the Y direction. The X beam 41 is driven in the Y direction together with the mover 451 by the magnetic force acting between the mover 451 and the stator 452. With this XY drive mechanism 4, the head unit 3 can be moved in the X and Y directions by the X motor 43 and Y motor 45.

[0033] Furthermore, the component mounter 1 is equipped with two component supply units 5 arranged on either side of the board transport unit 2 in the Y direction. Each component supply unit 5 has a plurality of feeders 51 arranged in the X direction and detachably attached thereto. Each of the plurality of feeders 51 supplies a corresponding type of component E, such as press-fit components, lead components, or chip components, to the component supply position Ls.

[0034] The head unit 3 then performs component mounting by removing the component E supplied to the component supply position Ls by the feeder 51 from the component supply position Ls and placing it on the board B held at the board holding position A. That is, the drive control unit 93 drives the head unit 3 using the XY drive mechanism 4 to cause the suction nozzle N attached to the lower end of the mounting head 6 of the head unit 3 to face the component E supplied to the component supply position Ls from above (step S101 in FIG. 3 ). The drive control unit 93 then lowers the suction nozzle N to bring the lower end of the suction nozzle N into contact with the upper surface of the component E (step S102), and the head unit 3 applies negative pressure to the suction hole opening at the lower end of the suction nozzle N to suction the component E to the suction nozzle N. The drive control unit 93 also raises the suction nozzle N that is holding the component E, thereby removing the component E from the component supply position Ls (step S103). Next, the drive control unit 93 drives the head unit 3 using the XY drive mechanism 4, so that the component E picked up by the suction nozzle N of the mounting head 6 of the head unit 3 faces the mounting point Lm on the board B from above (step S104). Then, the drive control unit 93 lowers the suction nozzle N to bring the component E picked up by the suction nozzle N into contact with the surface of the board B (step S105), and the head unit 3 applies atmospheric pressure or positive pressure to the suction hole of the suction nozzle N to detach the component E from the suction nozzle N to the board B. In this way, the component E is mounted on the board B.

[0035] Fig. 4 is a partial cross-sectional view schematically showing a first example of a mounting head provided in a component mounter. The mounting head 6 in Fig. 4 has an elevator unit 61 and an elevator-subject unit 62 that is raised and lowered in the Z direction by the elevator unit 61. The elevator unit 61 has a ball screw 611, a linear guide 613 that guides a nut 612 of the ball screw 611, and a Z motor 614 that drives the ball screw 611. The ball screw 611 is arranged parallel to the Z direction, and the linear guide 613 extends in the Z direction to guide the nut 612 of the ball screw 611 in the Z direction. Therefore, when the Z motor 614 drives the ball screw 611, the nut 612 rises and falls in the Z direction.

[0036] The lifted part 62 is attached to a nut 612 of the lifting part 61, and moves up and down in the Z direction along with the nut 612. This lifted part 62 has a cylinder 63 attached to the nut 612. A cylinder space 632 surrounded by an inner wall 631 of the cylinder 63 is provided inside the cylinder 63. Furthermore, the lifted part 62 has a disk-shaped piston 641 disposed in the cylinder space 632. The piston 641 fits into the cylinder space 632 and is movable in the Z direction relative to the cylinder space 632. The part of the cylinder space 632 above the piston 641 forms a pressure generation chamber 633 in which a predetermined pressure is generated.

[0037] A rod insertion hole 636 penetrates the bottom of the cylinder 63 in the Z direction, and the lifted portion 62 has a rod 642 that is inserted into the rod insertion hole 636. The rod 642 extends parallel to the Z direction and is movable in the Z direction relative to the rod insertion hole 636. The bottom surface of the piston 641 is attached to an upper end 643 of the rod 642, and a suction nozzle N is detachably attached to a lower end 644 of the rod 642.

[0038] The mounting head 6 further includes a pressure generating unit 65 that generates pressure in a pressure generating chamber 633 within the cylinder 63. The pressure generating unit 65 includes an electropneumatic regulator 651, a pipe 652 that connects the electropneumatic regulator 651 to the pressure generating chamber 633, and a solenoid valve 653 that is provided in the pipe 652 between the electropneumatic regulator 651 and the pressure generating chamber 633. When the solenoid valve 653 is open, the pressure generating chamber 633 communicates with the electropneumatic regulator 651 via the pipe 652. Therefore, the pressure generated by the electropneumatic regulator 651 is supplied to the pressure generating chamber 633. On the other hand, when the solenoid valve 653 is closed, the pressure generating chamber 633 is isolated from the electropneumatic regulator 651 and sealed, thereby restricting the flow of gas between the pressure generating chamber 633 and the outside air (sealed state). The mounting head 6 also includes a pressure gauge 66 that detects the pressure within the pressure generating chamber 633.

[0039] The operation of the mounting head 6 is controlled by the drive control unit 93. That is, when the drive control unit 93 controls the current supplied to the Z motor 614, the Z motor 614 generates power corresponding to the current and drives the lifted unit 62 in the Z direction. At this time, the drive control unit 93 controls the current supplied to the Z motor 614, thereby controlling the driving of the lifted unit 62 by the Z motor 614. Furthermore, when the drive control unit 93 sends a pressure command value to the electropneumatic regulator 651, the electropneumatic regulator 651 generates a pressure indicated by the pressure command value. Note that the electropneumatic regulator 651 has a built-in pressure gauge (built-in pressure gauge) that detects the pressure on the secondary side (output side), and generates the pressure indicated by the pressure command value by performing feedback control based on the pressure detected by this pressure gauge. Furthermore, when the drive control unit 93 sends an open command to the solenoid valve 653, the solenoid valve 653 opens, and when the drive control unit 93 sends a close command to the solenoid valve 653, the solenoid valve 653 closes. The pressure inside the pressure generating chamber 633 detected by the pressure gauge 66 is transmitted to the drive control unit 93 .

[0040] Figure 5 is a flowchart showing an example of load application mode switching control that switches the mode of applying load from the mounting head to the component depending on the load, Figure 6A is a flowchart showing an example of high-frequency load control executed by the load application mode switching control of Figure 5, Figure 6B is a flowchart showing an example of mid-frequency load control executed by the load application mode switching control of Figure 5, Figure 6C is a flowchart showing an example of low-frequency load control executed by the load application mode switching control of Figure 5, Figure 7A is a schematic diagram showing the operations executed by an example of high-frequency load control of Figure 6A, Figure 7B is a schematic diagram showing the operations executed by an example of mid-frequency load control of Figure 6B, Figure 7C is a schematic diagram showing the operations executed by an example of low-frequency load control of Figure 6C, and Figure 8 is a schematic diagram showing an example of a table used in the load application mode switching control of Figure 5.

[0041] 7A to 7C show an example in which the load application mode switching control of Fig. 5 is applied to a situation in which the load applied to component E is controlled during the mounting operation (steps S104 to S105 of Fig. 3) in which component E is mounted on board B. However, the load application mode switching control of Fig. 5 can also be applied to a situation in which the load applied to component E is controlled during the suction operation (steps S101 to S102 of Fig. 3) in which component E is sucked up.

[0042] 5 is executed under the control of the control unit 9. In step S201, the drive control unit 93 controls the X motor 43 and the Y motor 45 to move the suction nozzle N that picks up the component E to be controlled to a target position (XY position). Then, the drive control unit 93 sends an open command to the solenoid valve 653 to open the solenoid valve 653 (step S202). This allows communication between the electropneumatic regulator 651 and the pressure generating chamber 633 of the cylinder 63.

[0043] In step S203, the calculation processing unit 91 confirms the target load Nt to be applied to the component E to be controlled. Specifically, target load information indicating the target load Nt for each type of component E is set in advance, for example, by a user's input operation to the UI 94, and stored in the storage unit 92. The calculation processing unit 91 confirms the target load Nt set for the component E to be picked up by the suction nozzle N based on the target load information.

[0044] Next, the calculation processing unit 91 executes steps S204 and S205 by referring to table Ta of Fig. 8. Table Ta of Fig. 8 shows the relationship between the target load Nt and the load control corresponding to the target load Nt, and is stored in advance in the storage unit 92. This table Ta indicates the execution of low-range load control when the target load Nt falls within a low-range load range of Na or more and less than Nb, indicates the execution of mid-range load control when the target load Nt falls within a mid-range load range of Nb or more and less than Nc, and indicates the execution of high-range load control when the target load Nt falls within a high-range load range of Nc or ​​more and less than Nd. As shown in Fig. 8, the low-range load range, mid-range load range, and high-range load range do not overlap with each other and are continuous with each other.

[0045] For example, when mounting a microchip component or a thin wafer component on a substrate, a low load (lower than a medium load) must be applied to the component to prevent damage to the component, so the target load Nt for that component E falls within the low load range of Na or greater but less than Nb. When mounting a lead component on a substrate, a medium load (lower than a high load) suitable for inserting the lead must be applied to the component, so the target load Nt for that component E falls within the mid-load range of Nb or greater but less than Nc. When mounting a component with a press-fit connector on a substrate, a high load must be applied to the component to press-fit the connector, so the target load Nt for that component E falls within the high load range of Nc or ​​greater but less than Nd. However, the relationship between the target load Nt and the load range for various components E is not limited to this example.

[0046] In step S204, the calculation processing unit 91 determines whether or not the target load Nt belongs to the high-frequency load range. If the target load Nt belongs to the high-frequency load range (if "YES" in step S204), high-frequency load control is executed in step S206. If the target load Nt does not belong to the high-frequency load range (if "NO" in step S204), the calculation processing unit 91 determines whether or not the target load Nt belongs to the mid-frequency load range (step S205). If the target load Nt belongs to the mid-frequency load range (if "YES" in step S205), mid-frequency load control is executed in step S207. If the target load Nt does not belong to the mid-frequency load range (if "NO" in step S205), it can be assumed that the target load Nt belongs to the low-frequency load range, and therefore low-frequency load control is executed in step S208.

[0047] 6A and 7A, the high-frequency load control will be described. As shown in the "S301, S302" columns of Fig. 7A, when component E, which is being sucked onto suction nozzle N, is spaced upward from board B, drive control unit 93 transmits a pressure command value indicating pressure Ph to electropneumatic regulator 651, and electropneumatic regulator 651 generates pressure Ph indicated by the pressure command value (step S301). At this time, solenoid valve 653 is open and electropneumatic regulator 651 and pressure generation chamber 633 are in communication, so in step S301, a constant pressure Ph is generated in pressure generation chamber 633 by electropneumatic regulator 651.

[0048] In step S302, the drive control unit 93 instructs the Z motor 614 to descend, and the Z motor 614 starts descending the cylinder 63. As the cylinder 63 descends, the suction nozzle N also descends. As a result, in step S303, the component E picked up by the suction nozzle N comes into contact with (lands on) the board B. This causes the board B to restrict the descent of the suction nozzle N and the component E picked up by the suction nozzle N.

[0049] Furthermore, when the Z motor 614 lowers the cylinder 63, the cylinder 63 descends toward the suction nozzle N that has hit the board B via the component E, and the cylinder 63 approaches the suction nozzle N. As a result, the bottom surface of the cylinder 63 hits the top surface of the suction nozzle N, restricting the movement of the cylinder 63 relative to the suction nozzle N (step S304). During the period from when the suction nozzle N hits the board B via the component E until the cylinder 63 hits the suction nozzle N (the period from step S303 to S304), a constant pressure Ph is continuously generated in the pressure generation chamber 633 by the electropneumatic regulator 651, and a constant load corresponding to the pressure Ph is applied to the component E.

[0050] After the cylinder 63 abuts against the suction nozzle N, a load corresponding to the power generated by the Z motor 614 is applied to the component E via the cylinder 63 and the suction nozzle N. In this state, the drive control unit 93 increases the current supplied to the Z motor 614, thereby increasing the load applied to the component E by the Z motor 614. Then, when the current supplied to the Z motor 614 reaches the target current and the target load Nt is applied to the component E ("YES" in step S305), the drive control unit 93 stops the supply of current to the Z motor 614 and terminates driving by the Z motor 614 (step S306). Here, the target load Nt belongs to a high load range equal to or greater than Nc and equal to or less than Nd, and the target current is a current for causing the Z motor 614 to generate power for applying the target load Nt to the component E.

[0051] In this way, the high-frequency load control applies a load to the part E in such a manner that the power generated by the Z motor 614 is applied to the part E.

[0052] 6B and 7B, the mid-range load control will be described. As shown in the "S401, S402" columns of Fig. 7B, when component E, which is being sucked onto suction nozzle N, is spaced upward from board B, drive control unit 93 transmits a pressure command value indicating a constant target pressure Pm to electropneumatic regulator 651, and electropneumatic regulator 651 generates target pressure Pm (step S401). At this time, solenoid valve 653 is open and electropneumatic regulator 651 and pressure generation chamber 633 are in communication, so in step S401, electropneumatic regulator 651 generates constant target pressure Pm in pressure generation chamber 633.

[0053] In step S402, the drive control unit 93 instructs the Z motor 614 to descend, and the Z motor 614 starts descending the cylinder 63. As the cylinder 63 descends, the suction nozzle N also descends. As a result, in step S403, the component E picked up by the suction nozzle N comes into contact with (lands on) the board B. This causes the board B to restrict the descent of the suction nozzle N and the component E picked up by the suction nozzle N.

[0054] Furthermore, when the Z motor 614 lowers the cylinder 63, the cylinder 63 moves toward the suction nozzle N that has struck the board B via the component E, bringing the cylinder 63 closer to the suction nozzle N. The drive control unit 93 then determines that the height of the cylinder 63 matches the target height based on the output of the encoder of the Z motor 614 (step S404). The drive control unit 93 then terminates the supply of current to the Z motor 614, thereby ending the descent of the cylinder 63 (step S405). During the period from when the suction nozzle N strikes the board B via the component E until the cylinder 63 reaches the target height (the period from step S403 to step S404), the electropneumatic regulator 651 continuously generates a constant target pressure Pm in the pressure generation chamber 633, and a constant load corresponding to the target pressure Pm (i.e., the target load Nt) is applied to the component E. Here, the target load Nt belongs to a medium load range equal to or greater than Nb but less than Nc, and the target pressure Pm is the pressure for applying the target load Nt to the component E.

[0055] In this way, the mid-range load control applies a load to the part E in such a manner that a constant pressure generated by the electro-pneumatic regulator 651 is applied to the part E.

[0056] 6C and 7C , the low-range load control will be described. As shown in the "S501, S502" columns of FIG. 7C , when the component E to be sucked by the suction nozzle N is spaced upward from the board B, the drive control unit 93 issues a pressure command value indicating an initial pressure Pi to the electropneumatic regulator 651, and the electropneumatic regulator 651 generates the initial pressure Pi (step S501). At this time, the solenoid valve 653 is open, and the electropneumatic regulator 651 and the pressure generation chamber 633 are in communication. Therefore, in step S501, the electropneumatic regulator 651 generates the initial pressure Pi in the pressure generation chamber 633. This initial pressure Pi is lower than the pressure (target pressure Pt) to be generated in the pressure generation chamber 633 in order to apply the target load Nt to the component E, but is higher than atmospheric pressure.

[0057] In step S502, the drive control unit 93 instructs the Z motor 614 to descend, and the Z motor 614 starts descending the cylinder 63. As the cylinder 63 descends, the suction nozzle N also descends. As a result, in step S503, the component E picked up by the suction nozzle N comes into contact with (lands on) the board B. This causes the board B to restrict the descent of the suction nozzle N and the component E picked up by the suction nozzle N.

[0058] Furthermore, in step S502, the drive control unit 93 sends a close command to the solenoid valve 653 to close the solenoid valve 653 and isolate the electropneumatic regulator 651 from the pressure generation chamber 633 of the cylinder 63. This achieves a sealed state in which the pressure generation chamber 633 is sealed. Note that the solenoid valve 653 may be closed at any timing between the generation of the initial pressure Pi in step S501 and the contact of the component E with the board B in step S503.

[0059] Furthermore, when the Z motor 614 lowers the cylinder 63, the cylinder 63 descends toward the suction nozzle N that abuts against the board B via the component E, and the cylinder 63 approaches the suction nozzle N. As a result, the piston 641 rises, and the volume of the pressure generation chamber 633 decreases. At this time, because the pressure generation chamber 633 is sealed, the pressure in the pressure generation chamber 633 increases from the initial pressure Pi. The drive control unit 93 controls the lowering of the cylinder 63 by the Z motor 614 while monitoring the pressure in the pressure generation chamber 633 with the pressure gauge 66. Note that the pressure gauge 66 has a narrower detection range than the built-in pressure gauge of the electropneumatic regulator 651, but has high detection accuracy.

[0060] Then, when the pressure in the pressure generating chamber 633 detected by the pressure gauge 66 reaches the target pressure Pt and the target load Nt is applied to the part E ("YES" in step S504), the drive control unit 93 stops the supply of current to the Z motor 614 and ends the descent of the cylinder 63 (step S505). Here, the target load Nt belongs to a low load range equal to or greater than Na and less than Nb, and the target pressure Pt is the pressure for applying the target load Nt to the part E.

[0061] In this way, the low-frequency load control applies a load to part E in such a manner that the pressure of the pressure generating chamber 633 controlled in accordance with the pressure detected by the pressure gauge 66 in the sealed pressure generating chamber 633 is applied to part E.

[0062] In the load application mode switching control ( FIG. 5 ) described above, a load in the high-frequency load range (first load range) is applied to part E by executing the high-frequency load control (first application operation) in step S206, a load in the mid-frequency load range (second load range) lower than the high-frequency load range is applied to part E by executing the mid-frequency load control (second application operation) in step S207, and a load in the low-frequency load range (third load range) lower than the low-frequency load range (second load range) is applied to part E by executing the low-frequency load control (third application operation) in step S208. In other words, the mode of applying a load to part E (high-frequency, mid-frequency, and low-frequency load control) can be switched between three load ranges. Therefore, a load can be applied to part E in a mode appropriate for each of the three load ranges of the high-frequency, mid-frequency, and low-frequency load control. As a result, compared to the technology of Patent Document 1, which simply switches the manner in which a load is applied to part E between two load ranges, the load application manner switching control is advantageous in achieving both the application of a wide range of loads to part E and the application of a low load to part E that is controlled with high precision.

[0063] Furthermore, the mounting head 6 (load application unit) has a Z motor 614 (motor), and performs high-range load control (first application operation) by transmitting the power generated by the Z motor 614 to the suction nozzle N. In this configuration, a high load (load in the high-range load range) can be applied to the component E by the power transmitted from the Z motor 614 to the suction nozzle N. Therefore, it is possible to appropriately handle components E that require the application of a high load.

[0064] The mounting head 6 also has an electropneumatic regulator 651, and performs mid-range load control (second application operation) by transmitting the pressure generated by the electropneumatic regulator 651 to the suction nozzle N (nozzle). With this configuration, a mid-range load (load within the mid-range load range) can be applied to the component E by the pressure transmitted from the electropneumatic regulator 651 to the suction nozzle N. This makes it possible to appropriately handle components E that require the application of a mid-range load.

[0065] The mounting head 6 also includes a cylinder 63, a piston 641 disposed within the cylinder 63, an electropneumatic regulator 651 that generates pressure within a pressure generation chamber 633, which is a space between an inner wall 631 of the cylinder 63 and the piston 641, a solenoid valve 653 disposed between the electropneumatic regulator 651 and the pressure generation chamber 633, a pressure gauge 66 that detects the pressure within the pressure generation chamber 633, and a rod 642 that extends from the piston 641 to the opposite side of the pressure generation chamber 633 and is connected to the suction nozzle N. The drive control unit 93 (control unit) opens the solenoid valve 653 to connect the electropneumatic regulator 651 and the pressure generation chamber 633, and causes the electropneumatic regulator 651 to generate an initial pressure Pi within the pressure generation chamber 633 that is equal to or lower than the pressure range corresponding to the low-load range, and then closes the solenoid valve 653 to isolate the electropneumatic regulator 651 from the pressure generation chamber 633, thereby sealing the pressure generation chamber 633 (steps S501 to S503). Here, the pressure range corresponding to the low-range load range is the range from the pressure that should be generated in the pressure generation chamber 633 to apply the minimum load of the low-range load range to the component E to the pressure that should be generated in the pressure generation chamber 633 to apply the maximum load of the low-range load range to the component E. The drive control unit 93 then performs low-range load control by moving the cylinder 63 toward the suction nozzle N while the pressure generation chamber 633 is sealed, thereby applying a load corresponding to the pressure in the pressure generation chamber 633 to the component E. During low-range load control, the drive control unit 93 controls the movement of the cylinder 63 based on the pressure detected by the pressure gauge 66, thereby applying a load within the low-range load range to the component E (steps S503 to S505). In this configuration, by moving the cylinder 63 toward the suction nozzle N while the pressure generation chamber 633 between the inner wall 631 of the cylinder 63 and the piston 641 in the cylinder 63 is sealed, the pressure in the pressure generation chamber 633 is transmitted to the suction nozzle N, and a load is applied to the component E held by the suction nozzle N (low-range load control). Furthermore, as the cylinder 63 moves toward the suction nozzle N, the volume of the pressure generation chamber 633 decreases and the pressure inside the pressure generation chamber 633 increases. Therefore, the load applied to the component E gradually increases. This movement of the cylinder 63 is controlled based on the pressure in the pressure generation chamber 633 detected by the pressure gauge 66. As a result, a low load (a load in the low load range) controlled with high precision can be applied to the component E.Therefore, it can be appropriately applied to the part E that requires application of a low load.

[0066] Also provided is a Z motor 614 and a ball screw 611 (power transmission unit) that transmits the power generated by the Z motor 614 to the cylinder 63. The drive control unit 93 transmits the power generated by the Z motor 614 to the cylinder 63 via the ball screw 611, thereby moving the cylinder 63 toward the suction nozzle N and performing low-range load control (steps S503 to S505). With this configuration, a low load that is controlled with high precision can be applied to the part E.

[0067] Furthermore, the drive control unit 93 transmits the power generated by the Z motor 614 to the cylinder 63 via the ball screw 611 while restricting the movement of the cylinder 63 relative to the suction nozzle N, and then transmits the power from the Z motor 614 to the suction nozzle N, thereby applying a load of high-range load control to the component E (steps S304 to S306). With this configuration, a high load can be applied to the component E by the power transmitted from the Z motor 614 to the suction nozzle N. This makes it possible to appropriately handle components E that require the application of a high load.

[0068] Furthermore, the drive control unit 93 opens the solenoid valve 653 to connect the electropneumatic regulator 651 to the pressure generation chamber 633, and generates a target pressure Pm in the pressure range corresponding to the medium load range within the pressure generation chamber 633 using the electropneumatic regulator 651, while transmitting the power generated by the Z motor 614 to the cylinder 63 via the ball screw 611 to move the cylinder 63 toward the suction nozzle N, thereby performing medium load control (steps S403 to S405). With this configuration, a medium load can be applied to the component E by the target pressure Pm transmitted from the electropneumatic regulator 651 to the suction nozzle N. This makes it possible to appropriately handle components E that require the application of a medium load.

[0069] 5 does not need to be executed for all types of components E used in the component mounter 1. Therefore, it can be configured so that it can be set whether or not to execute the load application mode switching control for each component E (in other words, for each type of component E).

[0070] FIG. 9A is a diagram schematically illustrating an example of a setting screen for setting whether or not to execute load application mode switching control for each component, and FIG. 9B is a diagram schematically illustrating an example of setting information generated by operating the setting screen of FIG. 9A. The setting screen 100 of FIG. 9A is displayed on the display of the UI 94 under the control of the calculation processing unit 91. The setting screen 100 has a parts list display unit 110 and a setting operation unit 120. The parts list display unit 110 displays names of components E (component names) for identifying the type of component E in association with numbers (No.) assigned to the component names in a list format for each type of component E. The calculation processing unit 91 accepts the selection of one component name from the list of the parts list display unit 110 in response to operation of the UI 94.

[0071] The setting operation unit 120 allows a user to set whether or not to execute load application mode switching control (load control) for a component E of a selected component name. The setting operation unit 120 includes a suction tab 121, a mounting tab 123, and a setting unit 125. With the suction tab 121 selected, the calculation processing unit 91 sets whether or not to execute load application mode switching control for the load applied to the component E during a suction operation in response to an operation performed on the setting unit 125 using the UI 94. The suction operation is the operation of suctioning the component E with the suction nozzle N (steps S101 to S102 in FIG. 3 ). With the mounting tab 123 selected, the calculation processing unit 91 sets whether or not to execute load application mode switching control for the load applied to the component E during a mounting operation in response to an operation performed on the setting unit 125 using the UI 94. The mounting operation is the operation of mounting the component E, which is picked up by the suction nozzle N, onto the board B (steps S104 to S105 in FIG. 3 ).

[0072] The setting unit 125 has a pull-down menu 126 that allows the user to select either "Yes" or "No." "Yes" indicates that the load application mode switching control is to be executed, and "No" indicates that the load application mode switching control is not to be executed. When an operation to select "Yes" in the pull-down menu 126 is performed using the UI 94, the calculation processing unit 91 sets the load application mode switching control (load control) to be executed. The setting unit 125 also has a load input field 127 that sets a target load Nt to be applied to the part E. When an operation to input a numerical value in the load input field 127 is performed using the UI 94, the calculation processing unit 91 sets the target load Nt in the load application mode switching control. When an operation to select "No" in the pull-down menu 126 is performed using the UI 94, the calculation processing unit 91 sets the load application mode switching control (load control) not to be executed.

[0073] The calculation processing unit 91 accepts settings made through operations on the parts list display unit 110 and the setting operation unit 120, and stores setting information I ( FIG. 9B ) indicating the settings in the storage unit 92. This setting information I indicates, for each part name (in other words, for each part type), whether or not to execute load application mode switching control for the part E. In particular, in this example, it indicates, for each part name (in other words, for each part type), whether or not to execute load application mode switching control for the part E during each pickup operation (when picking up) and mounting operation (when placing). In other words, the setting information I indicates, for each part E, the conditions for executing load application mode switching control for the part E.

[0074] When "Yes" is selected in the pull-down menu 126 while the suction tab 121 is selected, the calculation processing unit 91 sets that the load application mode switching control is to be executed during the suction operation. As a result, the load application mode switching control ( FIG. 5 ) is executed for the load applied from the suction nozzle N to the component E during the suction operation. Note that the main difference from the control during the mounting operation described using FIGS. 7A to 7C is that the component E is placed at the component supply position Ls below the suction nozzle N, but the operation after the suction nozzle N comes into contact with the component E is basically the same.

[0075] If "No" is selected in the pull-down menu 126 when the suction tab 121 is selected, the calculation processing unit 91 sets the load application mode switching control not to be executed during the suction operation. In this case, the load applied from the suction nozzle N to the component E is controlled in a single mode regardless of the target load Nt. Specifically, regardless of the target load Nt (in other words, over the entire range where the target load Nt is equal to or greater than Na and equal to or less than Nd), the mid-range load control ( FIG. 6B ) is always executed.

[0076] When "Yes" is selected in the pull-down menu 126 when the mounting tab 123 is selected, the calculation processing unit 91 sets that the load application mode switching control is to be executed in the mounting operation. As a result, the load application mode switching control (FIG. 5) is executed for the load applied from the suction nozzle N to the component E in the mounting operation.

[0077] If "No" is selected in the pull-down menu 126 when the mounting tab 123 is selected, the calculation processing unit 91 sets the load application mode switching control not to be executed during the mounting operation. In this case, the load applied from the suction nozzle N to the component E is controlled in a single mode regardless of the target load Nt (in other words, in the entire range where the target load Nt is equal to or greater than Na and equal to or less than Nd). Specifically, the mid-range load control (FIG. 6B) is always executed regardless of the target load Nt.

[0078] According to the embodiment described above, the calculation processing unit 91 (setting unit) sets, for each component E (in other words, for each type of component E), setting information I (condition) indicating whether or not to execute load application mode switching control (switching control), which causes the mounting head 6 to execute one load control (application operation) selected from high-range load control, mid-range load control, and low-range load control depending on the load to be applied to the component E, in response to an operation on the UI 94. Specifically, the calculation processing unit 91 sets, for each name of the component E, whether or not to execute load application mode switching control in response to an operation on the component list display unit 110. That is, it is set to execute the load application mode switching control when the name (condition) of the component E is a predetermined name (when the condition is satisfied). Furthermore, the calculation processing unit 91 sets, for each pickup operation and mounting operation, whether or not to execute the load application mode switching control in response to an operation on the setting unit 125. That is, it is set to execute the load application mode switching control when the operation (condition) for the component E is a predetermined operation (pickup operation / mounting operation) (when the condition is satisfied). Then, the calculation processing unit 91 (control unit) executes switching control for the part E for which the condition (setting information I) indicates execution of load application mode switching control. With this configuration, it is possible to appropriately execute load application mode switching control according to need.

[0079] Furthermore, for components E for which the setting information I does not indicate the execution of load application mode switching control, the calculation processing unit 91 causes the mounting head 6 to apply a load in the same mode (load control) regardless of the load applied to the component E. With this configuration, it is possible to prevent the load application mode switching control from being executed unnecessarily.

[0080] Furthermore, the suction nozzle N, while holding the component E, descends toward the board B to bring the component E into contact with the board B, thereby executing a mounting operation to mount the component E. In response to this, the setting information I indicates whether or not to execute load application mode switching control in the mounting operation. If the setting information I indicates that load application mode switching control is to be executed in the mounting operation, the calculation processing unit 91 executes load application mode switching control for the component E that comes into contact with the board B in the mounting operation. With this configuration, it is possible to accurately execute load application mode switching control for the component E that requires load application mode switching control in the mounting operation.

[0081] Furthermore, the suction nozzle N performs a suction operation in which it descends toward the component E and, when it comes into contact with the component E, picks up and holds the component E. In response to this, the setting information I indicates whether or not to execute load application mode switching control during the suction operation. If the setting information I indicates that load application mode switching control is to be executed during the suction operation, the calculation processing unit 91 executes load application mode switching control for the component E that comes into contact with the suction nozzle N during the suction operation. With this configuration, it is possible to accurately execute load application mode switching control for the component E that requires load application mode switching control during the suction operation.

[0082] 10A is a block diagram showing the configuration of a server computer that calculates the time required to produce a component-mounted board by mounting components on the board using the component mounter of FIG. 1; FIG. 10B is a flowchart showing an example of board production time calculation that calculates the time required to produce a board; and FIG. 10C is a diagram showing an example of a table used in the board production time calculation of FIG. 10B.

[0083] Server computer 200 shown in Fig. 10A includes a calculation unit 210 and a storage unit 220. Calculation unit 210 is a processor such as a CPU, and storage unit 220 is a storage device such as an SSD or HDD. Storage unit 220 stores a board production time calculation program 230, and calculation unit 210 executes board production time calculation program 230 to perform the board production time calculation in Fig. 10B.

[0084] In the board production time calculation ( FIG. 10A ), a production program is acquired (step S601). This production program defines the procedure of operations to be executed by the mounter 1 to produce a component-mounted board by mounting components E at mounting points Lm provided on the board B. The production program can be acquired, for example, by downloading it from an external server to the storage unit 220. Next, the calculation unit 210 resets a count value M, which identifies each operation defined in the production program, to zero (step S602), and then increments the count value M by one (step S603).

[0085] In step S604, the calculation unit 210 determines whether the operation of the count value M is set as a target for load application mode switching control (load control) based on the setting information I. The server computer 200 may acquire the setting information I by transmitting the setting information I set in the component mounter 1 to the server computer 200 from the component mounter 1, or by operating the UI of the server computer 200. If the operation of the count value M is set as a target for load application mode switching control (if "YES" in step S604), the calculation unit 210 selects one load control from the high-range load control, the mid-range load control, and the low-range load control based on the target load Nt to be applied to the component E by the operation. In this way, the operation of the count value M is set to be performed using the selected load control. This load control selection is performed based on the table Ta, as described above. This table Ta is pre-stored in the storage unit 220, for example. Then, the process proceeds to step S605.

[0086] On the other hand, if the operation of count value M is not set as a target for load application mode switching control (load control) ("NO" in step S604), step S605 is not executed and the process proceeds to step S606.

[0087] In step S606, the time required for the mounter 1 to perform the operation corresponding to the count value M is obtained from table Tb in FIG. 10C . Table Tb shows the operation (such as a pickup operation or a mounting operation) performed by the mounter 1, in association with the time required for the mounter 1 to perform the operation. According to table Tb, a pickup operation using high-range load control requires time th1, a pickup operation using mid-range load control requires time tm1, a pickup operation using low-range load control requires time tl1, a mounting operation using high-range load control requires time th2, a mounting operation using mid-range load control requires time tm2, and a mounting operation using low-range load control requires time tl2. Here, times th1, tm1, and tl1 are different from one another, and times th2, tm2, and tl2 are different from one another. For example, if the operation of count value M is a mounting operation executed by low-frequency load control, the calculation unit 210 acquires the time tl2 corresponding to the mounting operation by low-frequency load control as the execution time of the operation of count value M. Then, the calculation unit 210 adds this execution time to the production time (step S607).

[0088] In step S608, the calculation unit 210 determines whether the count value M has reached a maximum value Mx. Here, the maximum value Mx is the total number of operations defined in the production program. Steps S603 to S607 are then repeated until the count value M reaches the maximum value Mx. In this way, the execution time for each operation defined in the production program is obtained, and the sum of the execution times of each operation is calculated as the production time.

[0089] According to the above example, the component mounter 1 (pick-and-place device) of FIG. 1 calculates the production time required to produce a component-mounted board by mounting a component E at a mounting point Lm (predetermined location) on a board B. Specifically, a load control (application operation) appropriate for the load to be applied to the component E is selected from high-range load control, mid-range load control, and low-range load control (step S605). Furthermore, the time required for the selected load control is acquired based on the difference in the time required for the high-range load control, mid-range load control, and low-range load control (step S606). The production time is then calculated based on the acquired time required for the load control (step S607). As a result, the production time required to produce a component-mounted board can be appropriately calculated while reflecting the influence of the load application mode switching control.

[0090] As described above, in the above embodiment, the component E corresponds to an example of a "component" of the present invention, the suction nozzle N corresponds to an example of a "nozzle" of the present invention, the high-range load control of step S206 corresponds to an example of a "first applying operation" of the present invention, the mid-range load control of step S207 corresponds to an example of a "second applying operation" of the present invention, the low-range load control of step S208 corresponds to an example of a "third applying operation" of the present invention, the mounting head 6 corresponds to an example of a "load applying unit" of the present invention, the drive control unit 93 corresponds to an example of a "control unit" of the present invention, the high-range load range corresponds to an example of a "first load range" of the present invention, the mid-range load range corresponds to an example of a "second load range" of the present invention, the low-range load range corresponds to an example of a "third load range" of the present invention, and the component mounter 1 corresponds to an example of a "pick-and-place device" of the present invention. Electropneumatic regulator 651 corresponds to an example of the "electropneumatic regulator" of the present invention, cylinder 63 corresponds to an example of the "cylinder" of the present invention, piston 641 corresponds to an example of the "piston" of the present invention, pressure generating chamber 633 corresponds to an example of the "pressure generating chamber" of the present invention, solenoid valve 653 corresponds to an example of the "solenoid valve" of the present invention, pressure gauge 66 corresponds to an example of the "pressure gauge" of the present invention, rod 642 corresponds to an example of the "rod" of the present invention, Z motor 614 corresponds to an example of the "motor" of the present invention, ball screw 611 corresponds to an example of the "power transmission unit" of the present invention, arithmetic processing unit 91 corresponds to an example of the "setting unit" of the present invention, board production time calculation program 230 corresponds to an example of the "board production time calculation program" of the present invention, and memory unit 220 corresponds to an example of the "recording medium" of the present invention.

[0091] 11 is a partial cross-sectional view showing a second example of a mounting head provided in a component mounter. That is, the head unit 3 of the component mounter 1 can have the mounting head 7 shown in FIG. 11 in place of or in addition to the above-mentioned mounting head 6.

[0092] 11 has a lifting unit 71 and a lifted unit 72 that is lifted in the Z direction by the lifting unit 71. The lifting unit 71 has a ball screw 711, a linear guide 713 that guides a nut 712 of the ball screw 711, and a Z motor 714 that drives the ball screw 711. The ball screw 711 is arranged parallel to the Z direction, and the linear guide 713 extends in the Z direction to guide the nut 712 of the ball screw 711 in the Z direction. Therefore, when the Z motor 714 drives the ball screw 711, the nut 712 is lifted and lowered in the Z direction.

[0093] The lifted part 72 is attached to a nut 712 of the lifting part 71, and moves up and down in the Z direction along with the nut 712. The lifted part 72 has a lifting member 73 attached to the nut 712. The lifting member 73 has a flat lifting base 731 extending parallel to the Z direction, and a rectangular parallelepiped lifting block 732 protruding horizontally from the lifting base 731. The lifting member 73 also has a linear guide 733 attached to the lifting base 731 below the lifting block 732. The linear guide 733 extends parallel to the Z direction.

[0094] The lifted portion 72 has a lifting block 74 that faces the lifting block 732 from below. This lifting block 74 engages with a linear guide 733 and moves up and down relative to the lifting member 73 while being guided in the Z direction by the linear guide 733. The lifted portion 72 also has a biasing spring 75 (compression spring) disposed between the lifting block 732 and the lifting block 74. The upper end of the biasing spring 75 is connected to the lifting block 732, and the lower end of the biasing spring 75 is connected to the lifting block 74. In this way, the lifting block 732 and the lifting block 74 are connected to each other by the biasing spring 75. When the biasing spring 75 is shorter than its natural length, the biasing spring 75 biases the lifting block 74 downward relative to the lifting block 732.

[0095] The lifted portion 72 also has a rod 77 extending parallel to the Z direction below the lifting block 74. The bottom surface of the lifting block 74 is attached to an upper end 771 of the rod 77, and a suction nozzle N is detachably attached to a lower end 772 of the rod 77.

[0096] Furthermore, the lifted portion 72 has a height detection unit 76 that detects the height of the lifting block 74. The height detection unit 76 has a linear scale 761 and a linear encoder 762 that reads the linear scale 761. The linear scale 761 is attached to the lifting base 731 parallel to the Z direction, and the linear encoder 762 is attached to the lifting block 74. Therefore, the linear encoder 762 moves up and down relative to the linear scale 761 in accordance with the lifting and lowering of the lifting block 74 relative to the lifting base 731.

[0097] The output value of linear encoder 762 that reads linear scale 761 changes depending on the distance between lift block 732 and lift block 74, in other words, indicates the biasing force generated by biasing spring 75. Based on the output value of linear encoder 762, drive control unit 93 detects the biasing force generated by biasing spring 75.

[0098] In this mounting head 7, when the Z motor 714 lowers the lifting member 73 while the length of the biasing spring 75 (compression spring) is longer than its shortest length, the lifting block 732 and the lifting block 74 approach each other. As a result, the biasing force (elastic force) generated by the compression of the biasing spring 75 is transmitted to the component E via the lifting block 74, the rod 77, and the suction nozzle N, and a load is applied to the component E (low-range load control). The drive control unit 93 can apply the target load Nt to the component E by controlling the Z motor 714 based on the output value of the linear encoder 762.

[0099] On the other hand, when the Z motor 714 lowers the lifting member 73 with the length of the biasing spring 75 at its shortest length, the power generated by the Z motor 714 is transmitted to the component E via the lifting block 732, the biasing spring 75, the lifting block 74, the rod 77, and the suction nozzle N, and a load is applied to the component E (medium-high load control). The drive control unit 93 can apply the target load Nt to the component E by controlling the value of the current supplied to the Z motor 714.

[0100] The mounting head 7 described above can apply a load to the component E in two different modes: mid- and high-range load control (first load control) and low-range load control (second load control). This allows a wide range of loads to be applied to the component E. Furthermore, in the low-range load control, the lift block 732 (first lift member) is lowered to apply a load corresponding to the length of the biasing spring 75 between the lift block 732 and the lift block 74 (second lift member) to the component E contacting the suction nozzle N connected to the lift block 74. At this time, the position of the lift block 732 is controlled based on the value obtained corresponding to the length of the biasing spring 75. This allows a highly precisely controlled low load to be applied to the component E. This allows both a wide range of loads to be applied to the component E and a highly precisely controlled low load to be applied to the component E.

[0101] In the above example, the lifting block 732 corresponds to an example of a "first lifting member" of the present invention, the lifting section 71 corresponds to an example of a "member lifting section" of the present invention, the lifting block 74 corresponds to an example of a "second lifting member" of the present invention, the biasing spring 75 corresponds to an example of a "biasing spring" of the present invention, the suction nozzle N corresponds to an example of a "nozzle" of the present invention, the linear encoder 762 corresponds to an example of a "value acquisition section" of the present invention, and the drive control section 93 corresponds to an example of a "control section" of the present invention.

[0102] 12 is a partial cross-sectional view showing a schematic diagram of a third example of a mounting head provided in a component mounter. That is, the head unit 3 of the component mounter 1 can have the mounting head 8 shown in FIG. 12 in place of or in addition to the above-mentioned mounting head 6.

[0103] 12 has a lifting unit 81 and a lifted unit 82 that is lifted in the Z direction by the lifting unit 81. The lifting unit 81 has a ball screw 811, a linear guide 813 that guides a nut 812 of the ball screw 811, and a Z motor 814 that drives the ball screw 811. The ball screw 811 is arranged parallel to the Z direction, and the linear guide 813 extends in the Z direction to guide the nut 812 of the ball screw 811 in the Z direction. Therefore, when the Z motor 814 drives the ball screw 811, the nut 812 is lifted and lowered in the Z direction.

[0104] The lifted part 82 is attached to a nut 812 of the lifting part 81, and moves up and down in the Z direction along with the nut 812. The lifted part 82 has a lifting member 83 attached to the nut 812. The lifting member 83 has a flat lifting base 831 and a rectangular parallelepiped lifting block 832 that protrudes horizontally from the lifting base 831.

[0105] The lifted portion 82 has a lifting plate 841 facing the lifting block 832 from below, and a pair of stoppers 842 protruding from the lifting plate 841 toward the lifting block 832 (upward). The pair of stoppers 842 are spaced apart in the horizontal direction and are located at both ends of the lifting plate 841. The lifted portion 82 also has a load cell 851 located between the lifting block 832 and the lifting plate 841 in the Z direction. The load cell 851 is located between the pair of stoppers 842 in the horizontal direction. The lifted portion 82 also has supporters 852, 853 that support the load cell 851. The supporter 852 is located between the lifting block 832 and the load cell 851 in the Z direction, and supports the load cell 851 relative to the lifting block 832. The supporter 853 is provided between the load cell 851 and the lifting plate 841 in the Z direction, and supports the load cell 851 with respect to the lifting plate 841. The supporters 852 and 853 are arranged offset from each other in the horizontal direction, with the supporter 852 attached to one end of the upper surface of the load cell 851 in the horizontal direction, and the supporter 853 attached to the other end of the lower surface of the load cell 851 in the horizontal direction.

[0106] When the distance between the lifting block 832 and the lifting plate 841 is longer than the length of the stopper 842 and a gap is left between the lifting block 832 and the stopper 842, the load cell 851 deforms in accordance with the change in the distance between the lifting block 832 and the lifting plate 841. When the distance between the lifting block 832 and the lifting plate 841 matches the length of the stopper 842 and the lifting block 832 butts against the stopper 842, the approach of the lifting block 832 to the lifting plate 841 is restricted.

[0107] The lifted portion 82 also has a rod 87 extending parallel to the Z direction below the lifting plate 841. The bottom surface of the lifting plate 841 is attached to an upper end 871 of the rod 87, and a suction nozzle N is detachably attached to a lower end 872 of the rod 87.

[0108] In this mounting head 8, when the Z motor 814 lowers the lifting member 83 while there is a gap between the lifting block 832 and the stopper 842, the lifting block 832 and the lifting plate 841 move closer to each other while deforming the load cell 851. As a result, the biasing force generated in response to the deformation of the load cell 851 is transmitted to the component E via the lifting plate 841, the rod 87, and the suction nozzle N, and a load is applied to the component E (low-range load control). The drive control unit 93 can apply the target load Nt to the component E by controlling the Z motor 814 based on the value of the load detected by the load cell 851.

[0109] On the other hand, when the Z motor 814 lowers the lifting member 83 while the lifting block 832 and the stopper 842 are in contact with each other, the power generated by the Z motor 814 is transmitted to the component E via the lifting block 832, the stopper 842, the lifting plate 841, the rod 88, and the suction nozzle N, and a load is applied to the component E (medium-high load control). The drive control unit 93 can apply the target load Nt to the component E by controlling the value of the current supplied to the Z motor 814.

[0110] The mounting head 8 described above can apply a load to the component E in different modes: mid- and high-range load control and low-range load control. This allows a wide range of loads to be applied to the component E. Furthermore, in low-range load control, the lift block 832 (first lift member) is lowered, and the load generated by the Z motor 814 is applied to the component E in contact with the suction nozzle N via the load cell 851 between the lift block 832 and the lift plate 841 (second lift member). At this time, the position of the lift block 832 is controlled according to the load detected by the load cell 851. This allows a highly precisely controlled low load to be applied to the component E. This allows both a wide range of loads to be applied to the component E and a highly precisely controlled low load to be applied to the component E.

[0111] In the above example, the lifting block 832 corresponds to an example of a "first lifting member" of the present invention, the lifting section 81 corresponds to an example of a "member lifting section" of the present invention, the lifting plate 841 corresponds to an example of a "second lifting member" of the present invention, the load cell 851 corresponds to an example of a "load cell" of the present invention, the stopper 842 corresponds to an example of a "stopper" of the present invention, the suction nozzle N corresponds to an example of a "nozzle" of the present invention, and the drive control section 93 corresponds to an example of a "control section" of the present invention.

[0112] The present invention is not limited to the above embodiment, and various modifications can be made to the above without departing from the spirit of the present invention. For example, it is not necessary for all of the multiple mounting heads 6 provided in the component mounter 1 to have the configuration shown in Figure 4. Therefore, some of the mounting heads 6 may only have a mechanism for applying a load to components E in a single mode, and may not be able to execute the load application mode switching control shown in Figure 5.

[0113] The load application mode switching control may be configured to switch between four or more types of load control including low-range load control, mid-range load control, and high-range load control.

[0114] Furthermore, in the high-range load control, the method of restricting the movement of the cylinder 63 relative to the suction nozzle N is not limited to the abutment of the suction nozzle N against the cylinder 63. For example, the movement of the cylinder 63 relative to the suction nozzle N may be restricted by abutting a stopper provided between the suction nozzle N and the cylinder 63 against the cylinder 63.

[0115] Furthermore, when "No" is selected in the pull-down menu 126 of the setting screen 100 and it is set that the load application mode switching control is not executed, the single control is not limited to the mid-range load control. In other words, the single control may be the high-range load control or the low-range load control, or may be a control different from these.

[0116] Moreover, instead of the ball screws 611, 711 or 811, a linear motor may be provided.

[0117] In addition, in FIG. 12, a stopper 842 may be provided so as to protrude downward from the lift block 832 .

[0118] 1...Component mounter 220...Storage unit 230...Board production time calculation program 6...Mounting head 611...Ball screw 614...Z motor 63...Cylinder 633...Pressure generation chamber 641...Piston 642...Rod 651...Electropneumatic regulator 653...Solenoid valve 66...Pressure gauge 91...Calculation processing unit 93...Drive control unit E...Component N...Suction nozzle S206...Step S207...Step S208...Step

Claims

1. A pick and place device comprising: a nozzle that contacts a component and holds the component; a load application unit that can switch between a first application operation, a second application operation, and a third application operation that apply a load to the component contacting the nozzle in different manners; and a control unit that causes the load application unit to execute an application operation from the first application operation, the second application operation, or the third application operation that corresponds to the load to be applied to the component contacting the nozzle, wherein the control unit causes the load application unit to execute the first application operation to apply a load within a first load range to the component, causes the load application unit to execute the second application operation to apply a load within a second load range that is lower than the first load range to the component, and causes the load application unit to execute the third application operation to apply a load within a third load range that is lower than the second load range to the component.

2. The pick and place device according to claim 1, wherein the load applying unit has a motor, and performs the first applying operation by transmitting power generated by the motor to the nozzle.

3. The pick and place device according to claim 1, wherein the load applying section has an electropneumatic regulator, and performs the second applying operation by transmitting pressure generated by the electropneumatic regulator to the nozzle.

4. The pick and place device according to claim 1, wherein the load application unit includes a cylinder, a piston disposed within the cylinder, an electro-pneumatic regulator that generates pressure within a pressure generation chamber that is the space between the piston and the inner wall of the cylinder, a solenoid valve provided between the electro-pneumatic regulator and the pressure generation chamber, a pressure gauge that detects the pressure within the pressure generation chamber, and a rod that extends from the piston to the opposite side of the pressure generation chamber and is connected to the nozzle; and the control unit opens the solenoid valve to communicate between the electro-pneumatic regulator and the pressure generation chamber and generates within the pressure generation chamber a predetermined pressure that is equal to or less than a pressure range corresponding to the third load range, then closes the solenoid valve to isolate the electro-pneumatic regulator from the pressure generation chamber and seals the pressure generation chamber, and with the pressure generation chamber sealed, moves the cylinder toward the nozzle to apply a load corresponding to the pressure within the pressure generation chamber to the component, thereby performing the third application operation, and during the third application operation, controls the movement of the cylinder based on the pressure detected by the pressure gauge to apply a load within the third load range to the component.

5. A pick and place device as described in claim 4, further comprising: a motor; and a power transmission unit that transmits the power generated by the motor to the cylinder, wherein the control unit transmits the power generated by the motor to the cylinder via the power transmission unit, thereby moving the cylinder toward the nozzle and performing the third application operation.

6. A pick and place device as described in claim 5, wherein the control unit applies a load within the first load range to the component by transmitting the power generated by the motor to the cylinder via the power transmission unit while restricting the movement of the cylinder relative to the nozzle, and then transmitting the power from the motor to the nozzle.

7. A pick-and-place device as described in claim 5 or 6, wherein the control unit opens the solenoid valve to connect the electro-pneumatic regulator to the pressure generating chamber, and generates pressure in the pressure range corresponding to the second load range within the pressure generating chamber using the electro-pneumatic regulator, while transmitting the power generated by the motor to the cylinder via the power transmission unit, thereby moving the cylinder toward the nozzle and performing the second application operation.

8. A pick and place device as described in any one of claims 1 to 7, further comprising a setting unit that sets, for each component, a condition indicating whether or not to execute switching control to cause the load application unit to execute an application operation corresponding to the load applied to the component, from among the first application operation, the second application operation, and the third application operation, and the control unit executes the switching control for the component for which the condition indicates the execution of the switching control.

9. A pick-and-place device as described in claim 8, wherein the control unit causes the load application unit to apply a load in the same manner to a component for which the conditions do not indicate the execution of the switching control, regardless of the load applied to the component.

10. A pick and place device as described in claim 8 or 9, wherein the nozzle performs a mounting operation to mount the component by lowering toward the substrate while holding the component and bringing the component into contact with the substrate, the condition indicates whether or not to perform the switching control in the mounting operation, and the control unit performs the switching control on the component that contacts the substrate in the mounting operation if the condition indicates that the switching control is to be performed in the mounting operation.

11. A pick and place device as described in any one of claims 8 to 10, wherein the nozzle performs a suction operation in which, when it descends toward the component and comes into contact with the component, it picks up the component and holds it, the condition indicates whether or not to perform the switching control in the suction operation, and the control unit, if the condition indicates that the switching control is to be performed in the suction operation, performs the switching control on the component that comes into contact with the nozzle in the suction operation.

12. A method for calculating a board production time in a pick and place device as defined in any one of claims 1 to 11, for calculating the production time required to produce a component-mounted board by mounting components on predetermined locations on the board, the method comprising the steps of: selecting an application operation from the first application operation, the second application operation, and the third application operation in accordance with the load to be applied to the component; acquiring the time required for the selected application operation in accordance with the difference in time required for the first application operation, the second application operation, and the third application operation; and calculating the production time based on the acquired time required for the application operation.

13. A board production time calculation program that causes a computer to execute the board production time calculation method according to claim 12.

14. A recording medium on which the board production time calculation program according to claim 13 is recorded so as to be readable by a computer.

15. A component load control method comprising: a step of selecting an application operation corresponding to the load to be applied to the component in contact with the nozzle from among a first application operation, a second application operation, and a third application operation that apply loads in different modes to a nozzle that contacts and holds a component and holds the component; and a step of executing the selected application operation to apply a load to the nozzle, wherein a load within a first load range is applied to the component by executing the first application operation, a load within a second load range lower than the first load range is applied to the component by executing the second application operation, and a load within a third load range lower than the second load range is applied to the component by executing the third application operation.

16. A device comprising: a first lifting member; a member lifting unit that lifts and lowers the first lifting member using a motor; a second lifting member provided below the first lifting member; a biasing spring that is provided between the first lifting member and the second lifting member and biases the second lifting member downward relative to the first lifting member; a nozzle that is provided below the second lifting member and attached to the second lifting member; a value acquiring unit that acquires a value corresponding to the length of the biasing spring; and a control unit that executes first load control that applies a load generated by the motor to a component that comes into contact with the nozzle by lowering the first lifting member using the member lifting unit when the length of the biasing spring is at its shortest length, and second load control that applies a load corresponding to the length of the biasing spring to a component that comes into contact with the nozzle by lowering the first lifting member using the member lifting unit when the length of the biasing spring is longer than the shortest length, The control unit controls the load applied to the component by controlling the position of the first lifting member in accordance with the value acquired by the value acquisition unit in the second load control.

17. A first lifting member; a member lifting section that lifts and lowers the first lifting member using a motor; a second lifting member provided below the first lifting member; a load cell provided between the first lifting member and the second lifting member and that bends in response to changes in the distance between the first lifting member and the second lifting member; a stopper that protrudes from one of the first lifting member and the second lifting member toward the other and that comes into contact with or moves away from the other in response to changes in the distance between the first lifting member and the second lifting member; and a nozzle provided below the second lifting member and attached to the second lifting member. a control unit that executes first load control in which the load generated by the motor is applied to the component in contact with the nozzle via the stopper by lowering the first lifting member by the member lifting unit with the stopper in contact with the other component, and second load control in which the load generated by the motor is applied to the component in contact with the nozzle via the load cell by lowering the first lifting member by the member lifting unit with the stopper separated from the other component, wherein the control unit controls the load applied to the component by controlling the position of the first lifting member in the second load control in accordance with the load detected by the load cell.

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