Workpiece holding device, component supply device, and workpiece holding method

Abstract

A workpiece holding device (910) includes: a workpiece fixing part (915) that fixes a workpiece (900) having an attachment surface to which a component (901) is attached; a moving part (970) that moves the workpiece fixing part (915) such that the attachment surface faces downward; and a control unit (990) that controls movement of the workpiece fixing part (915). The control unit (990) uses the moving part (970) to move the workpiece fixing part (915) in the middle of the attachment process for attaching the component (901) to the attachment surface.

Description

Workpiece holding device, part supply device, and workpiece holding method

[0001] The present disclosure relates to a workpiece holding device, a component supply device, and a workpiece holding method.

[0002] 2. Description of the Related Art Conventionally, there have been component supply devices that supply components by jumping them.

[0003] JP 11-216696 A JP 2010-050470 A

[0004] Conventional component supply devices are unable to stably attach components to a workpiece.

[0005] In an embodiment of the present disclosure, it is desired to be able to stably attach parts to a workpiece.

[0006] The work holding device of the present disclosure comprises a work fixing unit that fixes a work, a moving unit that moves the work fixing unit, and a control unit that controls the movement of the work fixing unit by the moving unit, and the control unit moves the work fixing unit by the moving unit during an attachment process in which a part is attached to the work.

[0007] According to the present disclosure, by moving the workpiece fixing part by the moving part during the part attachment process, the part can be stably attached to the workpiece.

[0008] 1 is a perspective view of the vertical vibration device 100 and workpiece holding device 910 of embodiment 1. FIG. 2 is an AA sectional view of the vertical vibration device 100 and workpiece holding device 910 of embodiment 1. FIG. 3 is a BB sectional view of the vertical vibration device 100 and workpiece holding device 910 of embodiment 1. FIG. 4 is a diagram of a workpiece 900 of embodiment 1. FIG. 5 is a flowchart showing a workpiece holding method and a component supply method of embodiment 1. FIG. 6 is a diagram showing the operation of a lifting unit 950 of embodiment 1. FIG. 7 is a diagram showing the operation of a rotating unit 920 of embodiment 1. FIG. 8 is a diagram showing the operation of a displacement unit 930 of embodiment 1. FIG. 9 is a diagram showing the operation of an inclination unit 940 of embodiment 1. FIG. 10 is a diagram showing the operation of a striking unit 980 of embodiment 1. FIG. 11 is a diagram of a workpiece 900 and a component 901 of embodiment 1. FIG. 12 is a flowchart showing a workpiece holding method and a component supply method of embodiment 2. FIG. 13 is a perspective view of the vertical vibration device 100 and workpiece holding device 910 of embodiment 3. FIG. 14 is a front view of the vertical vibration device 100 and workpiece holding device 910 of embodiment 4. FIG. 15 is a diagram showing a component reservoir 91 covered with a workpiece 900 of embodiment 5. FIG. 10 is a diagram showing a part reservoir 91 covered by a cover 916 according to a fifth embodiment.

[0009] Embodiment 1. Fig. 1 is a perspective view of a component supply device 200. Fig. 2 is a front view of the component supply device 200. Fig. 3 is a side view of the component supply device 200. In the figures, X indicates the left-right direction. In the figures, Y indicates the front-rear direction. In the figures, Z indicates the up-down direction. The XY plane is a horizontal plane. Z is a vertical axis.

[0010] <<<Configuration of Component Supply Device 200>>> The component supply device 200 has a vertical vibration device 100 that makes the component 901 jump, and a workpiece holding device 910 that holds the workpiece 900. The component supply device 200 is a device that makes the component 901 jump, and attaches the component 901 to the workpiece 900.

[0011] <<<Configuration of the Vertical Vibration Device 100>>> The vertical vibration device 100 has a plate 20 and a frame 90. The vertical vibration device 100 vibrates the plate 20 up and down in the YZ plane, and vibrates the plate 20 up and down in standing waves in the XZ plane.

[0012] <<<<Description of Plate 20>>> The plate 20 has a rectangular plate shape in a plan view. The plate 20 is preferably made of a material that allows sound waves to easily pass through, and metal is preferred. The material of the plate 20 is preferably aluminum, titanium, or stainless steel. The plate 20 is preferably rectangular, and a square shape is preferred.

[0013] <<<<Explanation of Frame 90>>> The frame 90 is an enclosure fence or an enclosure wall fixed to the surface 21 of the plate 20. The frame 90 has a square or rectangular shape in a plan view. The frame 90 is fixed to the surface 21 of the plate 20 along all four sides thereof. The surface 21 of the plate 20 is exposed at a bottom surface 95 of the frame 90. The frame 90 is formed of four hexahedral, rod-shaped or plate-shaped wall panels. As shown in FIG. 2 , the wall panels of the frame 90 are provided inside the plate 20, away from the outer periphery of the plate 20 in the front-rear and left-right directions.

[0014] <<<<Explanation of Parts Storage 91>>> The parts storage 91 is formed by the inner surface of the frame 90 and the surface 21 of the plate 20. The parts storage 91 is a hexahedral space with an open top. The parts storage 91 is a place where multiple parts 901 are stored. The parts storage 91 is a place where the parts 901 are jumped. The area of ​​the parts storage 91 is sufficiently larger than the area of ​​the workpiece 900 in a plan view. The horizontal length of the parts storage 91 is at least twice the length of the workpiece 900 in at least one or both of the X and Y directions.

[0015] <<<<Explanation of Components 901>>> A large number of components 901 are stored in the component reservoir 91. The components 901 jump only in the vertical direction in the component reservoir 91 as the plate 20 vibrates only in the vertical direction. The components 901 are spherical, granular, or powder-like. Suitable examples of the components 901 are solder balls or metal balls.

[0016] <<<Features of the Vertical Vibration Device 100>>> The vertical vibration device 100 jumps the components 901. The frame 90 forms a component reservoir 91 that stores the components 901. The size of the component reservoir 91 in a plan view is smaller than the size of the plate 20.

[0017] The vertical vibration device 100 vibrates the plate 20 using a vibration device (not shown). The vibration device (not shown) simultaneously generates traveling waves 60 of the same frequency, wavelength, and amplitude at multiple locations on the outer periphery of the plate 20, causing the plate 20 to vibrate up and down.

[0018] The up-and-down vibration device 100 jumps the component 901 to bring the component 901 into contact with the adhesive 902 , thereby adhering the component 901 to the lower surface of the workpiece 900 .

[0019] <<<<Explanation of Workpiece 900>>> As shown in FIG. 4 , the workpiece 900 is a rectangular plate. The workpiece 900 is a flat circuit board on which an electrical circuit is formed. A plurality of electrodes 903 are arranged and formed on the surface of the workpiece 900. The surface of the workpiece 900 is flat and smooth. A conductive adhesive 902 is printed on the electrodes 903 of the workpiece 900 using a screen printing device. The workpiece 900 is a metal plate such as a copper plate, an iron plate, or an aluminum plate, a ceramic plate, a substrate, a resin plate, or a glass plate. A suitable example of the workpiece 900 is a printed wiring board or a semiconductor wafer on which an electrical circuit is already formed. The workpiece 900 may also be an arrangement plate for arranging components 901. A suitable example of the conductive adhesive 902 is soldering flux, solder paste, or a conductive adhesive. The length of the workpiece 900 in the X and Y directions is defined as L. The length of the arrangement of the adhesive 902 (electrodes 903) in the X and Y directions is defined as M. The interval between the adhesive 902 (electrodes 903) in the X and Y directions is defined as N.

[0020] <<<Configuration of Work Holding Device 910>>> The work holding device 910 holds the work 900 having an adhesive 902 applied to its underside. The work holding device 910 positions the work 900 at a height less than the jump height of the component 901. The work holding device 910 is a device that holds the work 900. The work holding device 910 is a device that acquires the component 901 onto the work 900. The work holding device 910 holds the work 900 with the side of the work 900 with the adhesive 902 facing downward.

[0021] <<<<Description of Workpiece Holding Device 910 >>> The workpiece holding device 910 has a workpiece fixing unit 915 , a moving unit 970 , and a control unit 990 .

[0022] <Workpiece fastening unit 915> The workpiece fastening unit 915 fastens the workpiece 900, which has an attachment surface to which the component 901 is attached. The workpiece fastening unit 915 fastens the workpiece 900 in a detachable manner. The workpiece fastening unit 915 fastens the workpiece 900 by suction or adsorption. The workpiece fastening unit 915 is a planar fastening device that fastens the top surface of the workpiece 900. The workpiece fastening unit 915 may be a suction cup fastening device that fastens the workpiece 900 with a suction cup.

[0023] <Moving unit 970> The moving unit 970 moves the workpiece fastening unit 915 with the attachment surface facing downward. The moving unit 970 has a rotating unit 920, a displacement unit 930, an inclining unit 940, a lifting unit 950, and a transport unit 960. The control unit 990 controls the moving unit 970 to control the movement of the workpiece fastening unit 915.

[0024] <Rotation Unit 920> The rotation unit 920 rotates the workpiece fixing unit 915 while keeping the workpiece 900 horizontal. The rotation unit 920 rotates the workpiece 900 by rotating the workpiece fixing unit 915. The rotation unit 920 changes the relative position of the workpiece 900 in the rotation direction with respect to the part reservoir 91. The rotation unit 920 has a vertical rotation axis (Z-axis) and rotates around the rotation axis (Z-axis). The rotation unit 920 rotates the workpiece 900 by aligning the center of the workpiece 900 with the rotation axis (Z-axis). The rotation unit 920 rotates the workpiece 900 while keeping the attachment surface of the workpiece 900 horizontal. The rotation unit 920 can rotate the workpiece 900 in both forward and reverse directions. The rotation unit 920 can continuously rotate the workpiece 900 in the same direction. The control unit 990 rotates and moves the workpiece fixing unit 915 by the rotating unit 920 while holding the workpiece 900 horizontally.

[0025] <Displacement Unit 930> The displacement unit 930 changes the position of the workpiece fixing unit 915 in the horizontal direction. The displacement unit 930 changes the position of the workpiece fixing unit 915 in two-dimensional directions. The displacement unit 930 moves the workpiece 900 by moving the rotation unit 920 and the workpiece fixing unit 915. The displacement unit 930 changes the horizontal position of the workpiece 900 relative to the part reservoir 91. The displacement unit 930 moves the workpiece 900 in the X direction and the Y direction, and in both forward and reverse directions. The displacement unit 930 can move the workpiece 900 in the X direction and the Y direction simultaneously. The displacement unit 930 can move the workpiece 900 along any trajectory. The displacement unit 930 moves the workpiece 900 while keeping the attachment surface of the workpiece 900 horizontal. The control unit 990 holds the workpiece 900 horizontally and causes the displacement unit 930 to change the position of the workpiece fixing unit 915 in the horizontal direction. The control unit 990 can operate the rotation unit 920 and the displacement unit 930 simultaneously.

[0026] <Tilting unit 940> The tilting unit 940 tilts the workpiece fixing unit 915 so that it is angled with respect to the horizontal plane. The tilting unit 940 tilts the workpiece 900 by tilting the displacement unit 930, the rotation unit 920, and the workpiece fixing unit 915. The tilting unit 940 has a horizontal rotation axis (Y-axis) and rotates around the rotation axis (Y-axis). The tilting unit 940 tilts the workpiece 900 so that the attachment surface of the workpiece 900 intersects with the horizontal plane. The tilting unit 940 can tilt the workpiece 900 in both forward and reverse directions with respect to the horizontal plane. The tilting unit 940 can rotate the workpiece 900 360 degrees. The control unit 990 tilts the workpiece fixing unit 915 using the tilting unit 940.

[0027] <Elevating Unit 950> The elevating unit 950 elevates the workpiece fixing unit 915. The elevating unit 950 elevates the workpiece 900 by elevating the tilting unit 940, the displacement unit 930, the rotation unit 920, and the workpiece fixing unit 915. The elevating unit 950 changes the vertical position of the workpiece 900 relative to the part reservoir 91. The elevating unit 950 elevates the workpiece 900 in the Z-axis direction. The elevating unit 950 can fix the workpiece 900 at any height. The control unit 990 elevates the workpiece 900 using the elevating unit 950. The control unit 990 can simultaneously operate the rotation unit 920, the displacement unit 930, the tilting unit 940, the elevating unit 950, and the impact unit 980.

[0028] <Transport Unit 960> The transport unit 960 transports the workpiece 900. The transport unit 960 transports the workpiece 900 into the space above the vertical vibration device 100. The transport unit 960 transports the workpiece 900 from the space above the vertical vibration device 100. The transport unit 960 may have any configuration as long as it can transport the workpiece 900 in and out. The control unit 990 controls the transport unit 960 to transport the workpiece 900 in and out.

[0029] <Impact Unit 980> The workpiece holding device 910 is provided with an impact unit 980 that is fixed to either the workpiece fixing unit 915 or the moving unit 970 and generates an impact. The impact unit 980 applies an impact in the vertical direction to the workpiece 900. The impact unit 980 particularly applies an impact in the downward direction to the workpiece 900. The control unit 990 causes the impact unit 980 to apply an impact in the vertical direction to the workpiece 900.

[0030] <Piston-type vibrator> The impact unit 980 has a vibrator that applies an impact. The impact unit 980 vibrates the vibrator at an audible frequency (a frequency of 10 Hz or more and 800 Hz or less). The vibrator does not vibrate ultrasonically. It is desirable to use a piston-type vibrator for the impact unit 980. A piston-type vibrator is a vibrator that generates an impact by linear vibration. By using a piston-type vibrator, it is possible to apply an impact in the vertical direction to the workpiece 900.

[0031] <Knocker> The striking unit 980 may have a knocker that can apply a strike. As the knocker of the striking unit 980, an air-type knocker that can adjust the striking force by changing the air pressure is suitable.

[0032] <Distributor 47> The striking portion 980 is fixed to the inclined portion 940 by the distributor 47. The distributor 47 is an impact propagation plate that spreads and propagates an impact over a wide range. The distributor 47 propagates the impact to the inclined portion 940.

[0033] <Camera 985> The camera 985 is fixed to the plate 20. The camera 985 may be movable. The camera 985 captures an image of the attachment surface of the workpiece 900. The camera 985 may be located anywhere as long as it can capture an image of the attachment surface of the workpiece 900. The control unit 990 uses the camera 985 to capture an image of the attachment surface of the workpiece 900 and determines whether the attachment result is good or bad.

[0034] <Control Unit 990> The control unit 990 controls the operation of the component supply device 200. The control unit 990 controls the operation of the up-and-down vibration device 100 and the workpiece holding device 910. The control unit 990 has a central processing unit and a program storage unit. The control unit 990 executes a program in the central processing unit and controls the operation of each of the above-mentioned units via signal lines (not shown).

[0035] <Horizontal Movement> The control unit 990 controls the horizontal movement of the workpiece 900 during the attachment process of the component 901. Horizontal movement means moving the workpiece 900 while keeping the lower surface (attachment surface) of the workpiece 900 horizontal. Horizontal movement includes rotating the workpiece 900 and displacing the workpiece 900 while keeping the lower surface (attachment surface) of the workpiece 900 horizontal.

[0036] <<<<Explanation of Operation of Work Holding Device 910: Fig. 5>>> Fig. 5 is a flowchart showing a work holding method and a component supply method according to the first embodiment. Fig. 2 is a diagram showing the state immediately before the start of the operation shown in Fig. 5. Fig. 2 shows a state in which the work holding device 910 holds the workpiece 900 with the attachment surface facing downward. Fig. 2 shows a case in which the workpiece 900 is transported above the component reservoir 91 by the transport unit 960.

[0037] 6 to 9, the workpiece holding method and the component supply method will be described below. The operation of each step described below is performed in response to instructions from the control unit 990. It is assumed that components 901 are supplied to the component stocker 91, and that a sufficient number of components 901 are present in the component stocker 91.

[0038] <Jump Start Step S11> The vertical vibration device 100 causes the component 901 to jump in the component storage 91. The vertical vibration device 100 vibrates the plate 20 up and down by generating traveling waves 60 of the same frequency, wavelength, and amplitude simultaneously at multiple locations on the outer periphery of the plate 20 using a vibration device (not shown) with the vibration direction relative to the surface 21 of the plate 20.

[0039] <Workpiece Lowering Step S12: FIG. 6> The control unit 990 starts the adhesion process by starting the workpiece lowering step S12. As shown in FIG. 6, the workpiece holding device 910 holds the workpiece 900 with the adhesive surface, on which the adhesive 902 is applied, facing downward. The lifting unit 950 lowers the workpiece 900 toward the part reservoir 91.

[0040] 6 , the lifting unit 950 holds the workpiece 900 above the plate 20 for a certain period of time. The up-and-down vibration device 100 jumps the component 901 in the component reservoir 91, causing the component 901 to adhere to the adhesive 902, and thereby causing the component 901 to adhere to the attachment surface of the workpiece 900.

[0041] The component 901 adheres to the workpiece 900 only by the adhesive force of the adhesive 902. The component supply device 200 does not use magnetic force to attract the component 901 to the workpiece 900. The component supply device 200 does not use suction holes in the workpiece 900 to attract the component 901, and therefore does not use suction force to attract the component 901 to the workpiece 900. The component supply device 200 does not acquire the component 901 through a mask.

[0042] The control unit 990 operates at least one of the lifting unit 950, the rotating unit 920, and the displacement unit 930 during the attachment process of attaching the component to the attachment surface.

[0043] <Elevating Unit 950: FIG. 6 > As shown in FIG. 6 , the elevating unit 950 reciprocates the workpiece fixing unit 915 in the up-down direction during the attachment process of attaching a component to the attachment surface of the workpiece 900. The elevating unit 950 raises and lowers the workpiece fixing unit 915 within the range of heights that the component 901 can jump. The elevating unit 950 changes the vertical distance between the component reservoir 91 and the workpiece 900 within the range of heights that the component 901 can jump in the component reservoir 91. Specifically, if the component 901 jumps to a height of 5 mm from the surface 21 of the plate 20 (the bottom surface 95 of the component reservoir 91), the elevating unit 950 raises and lowers the workpiece fixing unit 915 within the range of 5 mm. For example, the elevating unit 950 raises and lowers the workpiece fixing unit 915 within a range from a minimum height of 2 mm to a maximum height of 4 mm. The elevating unit 950 may raise and lower the workpiece fixing unit 915 once or multiple times. The lifting unit 950 may temporarily suspend the lifting operation of the workpiece fixing unit 915 when the workpiece fixing unit 915 is at the minimum height or the maximum height, or may temporarily suspend the lifting operation midway through the lifting operation. Not all parts 901 jump to the planned 5 mm height, and the parts 901 do not jump to the same height uniformly. By lifting and lowering the workpiece 900 with the lifting unit 950, parts 901 that do not jump to the planned height and fall midway can be attached to the workpiece 900. By lifting and lowering the workpiece 900 within the range of the height that the parts 901 jump, parts 901 that do not jump to the planned height can be attached to the workpiece 900, reducing the number of parts 901 that are not missed.

[0044] <Rotating Unit 920: FIG. 7 > As shown in FIG. 7 , the rotating unit 920 rotates the workpiece fastening unit 915 around a vertical rotation axis C during the attachment process of attaching components to the attachment surface of the workpiece 900, thereby moving the position of the workpiece fastening unit 915 in the horizontal direction. The rotating unit 920 may rotate the workpiece 900 by 90 degrees, 360 degrees, or continuously. The rotating unit 920 may rotate the workpiece 900 forward and then reverse. By rotating the workpiece 900, even if there are areas in the component reservoir 91 where the components 901 are not uniformly distributed, the rotation of the workpiece 900 reduces the likelihood of components 901 missing from attachment due to the unevenness of the components 901. Furthermore, the rotation of the workpiece 900 reduces the density of the jumping components 901 due to the attachment of the components 901, thereby reducing the likelihood of components 901 missing from attachment.

[0045] <Displacement Unit 930: FIG. 8> As shown in FIG. 8, the displacement unit 930 displaces the workpiece fixing unit 915 in the X or Y direction during the attachment process of attaching components to the attachment surface, thereby moving the workpiece fixing unit 915 in the horizontal direction. The displacement unit 930 may move the workpiece 900 only in the X direction, only in the Y direction, or in both the X and Y directions. The displacement unit 930 may move the workpiece 900 back and forth, or in a rectangular, Z, or L shape. The displacement unit 930 may move the workpiece 900 along a straight line or a curved line. The displacement unit 930 moves the attachment surface of the workpiece 900 to a location in the component storage 91 where the number of components 901 has not decreased. By moving the workpiece 900, even if there are locations in the component storage 91 where the components 901 are not uniformly distributed, the occurrence of missed attachment of the components 901 due to the unevenness of the components 901 is reduced. Furthermore, the movement of the workpiece 900 reduces the density of the jumping components 901 due to the attachment of the components 901, thereby reducing the amount of missing components 901.

[0046] <Specific example 1 of X-direction movement of displacement unit 930: FIG. 8> In FIG. 8, the length of the component reservoir 91 in the X direction is more than twice the length of the workpiece 900. FIG. 8 shows a case where the displacement unit 930 moves the workpiece fixing unit 915 to the right in the X direction. The displacement unit 930 moves the workpiece fixing unit 915 as follows: 1. Move it to the right in the X direction by half the length L of the workpiece 900 in the X direction. 2. Next, move it to the left in the X direction by the length L of the workpiece 900 in the X direction. 3. Next, move it to the right in the X direction by half the length L of the workpiece 900 in the X direction. In the movements 1, 2, and 3 above, the "length L of the workpiece 900 in the X direction" may be replaced with the "length M of the arrangement of the adhesive 902 (electrodes 903) in the X direction." The displacement unit 930 moves the workpiece fixing unit 915 by at least twice the "length L of the workpiece 900 in the X direction" or the "length M of the arrangement of the adhesive 902 (electrodes 903) in the X direction."

[0047] <Specific example 2 of X-direction movement of displacement unit 930> The displacement unit 930 moves the workpiece fastening unit 915 as follows: 1. Move in the X direction by half the X-direction spacing N of the adhesive 902 (electrodes 903). 2. At the same time, move in the Y direction by half the Y-direction spacing N of the adhesive 902 (electrodes 903). The displacement unit 930 moves the workpiece fastening unit 915 by half the "spacing N of the adhesive 902 (electrodes 903)."

[0048] <Workpiece Lifting Step S14> As shown in FIG. 9, the lifting unit 950 lifts the workpiece 900 from the part storage 91 after a certain period of time has elapsed.

[0049] The control unit 990 operates one or both of the tilting unit 940 and the striking unit 980 after the attachment process of attaching the component to the attachment surface.

[0050] <Tilting section 940: FIG. 9> As shown in FIG. 9, the tilting section 940 rotates the workpiece fixing section 915 around a horizontal rotation axis D. The tilting section 940 may rotate the workpiece 900 by 90 degrees or 360 degrees. The tilting section 940 may rotate the workpiece 900 forward and then reverse. By tilting the workpiece 900, components 901 that have fallen onto the top surface of the workpiece 900 can be returned to the component reservoir 91 by rolling them over the top surface of the workpiece 900. Furthermore, by tilting the workpiece 900, components 901 that are attached in places where they should not be attached can be returned to the component reservoir 91 by rolling them over the attachment surface of the workpiece 900.

[0051] <Impacting Unit 980: FIG. 10> As shown in FIG. 10, the impacting unit 980 generates an impact. The impacting unit 980 applies an impact in the vertical direction to the inclined unit 940. The impact from the impacting unit 980 is transmitted to the inclined unit 940, the displacement unit 930, the rotation unit 920, and the workpiece fixing unit 915, and then impacts the workpiece 900. The impact on the workpiece 900 causes parts 901 that have fallen onto the top surface of the workpiece 900 to bounce off the top surface of the workpiece 900, allowing the parts 901 to be returned to the part reservoir 91. In addition, the impact on the workpiece 900 can cause parts 901 that are attached in places where they should not be attached to fall off the attachment surface of the workpiece 900. The control unit 990 ends the attachment process upon completion of the workpiece lifting step S14.

[0052] <Inspection Step S19: FIG. 11> The control unit 990 causes the lifting unit 950 to raise the workpiece 900. The control unit 990 causes the transport unit 960 to move the workpiece 900 to a position directly above the camera 985.

[0053] The control unit 990 uses the camera 985 to capture an image of the underside of the workpiece 900. The control unit 990 analyzes the image of the underside of the workpiece 900. (a) of Fig. 11 is an image captured by the camera 985. (b) of Fig. 11 is a side view of the workpiece 900 to which a part 901 is attached.

[0054] As shown in Fig. 11(b), the workpiece 900 holds the component 901 on the underside of the workpiece 900 solely by the adhesive force of the adhesive 902. If there is adhesive 902 to which the component 901 does not adhere, such as adhesive 902x in Fig. 11(a), the control unit 990 returns to workpiece lowering step 12 and repeats the component adhesion process again. If there is an excess component 901 adhered, such as component 901x in Fig. 11(a), the control unit 990 returns to workpiece lowering step 12 and repeats the component adhesion process again.

[0055] <Repeated Adhesion Process> If the inspection result indicates that the adhesion process should be repeated, the transport unit 960 moves the workpiece 900 above the component reservoir 91. The control unit 990 executes the workpiece lowering step S12 and subsequent steps.

[0056] <Uniform Density of Components 901> During the execution of inspection step S19, the components 901 in the component reservoir 91 can jump freely without colliding with the underside of the workpiece 900, thereby uniforming the density of the components 901 in the component reservoir 91. The plate 20 continues to vibrate up and down due to the traveling wave 60 between the start of workpiece lifting step S14 and the end of workpiece lowering step S12. Therefore, even if a low density of components 901 occurs in some parts of the component reservoir 91 due to adhesion of the components 901, the continuous vibration of the plate 20 uniforms the density of the components 901.

[0057] <Jump End Step S18> The jump of the part 901 caused by the up-and-down vibration device 100 is ended. The workpiece 900 is carried out by the transport unit 960.

[0058] <Repair Processing> If there is any adhesive 902 to which the component 901 has not adhered even after repeated adhesion processing, a repair device (not shown) is used to adhere the component 901. If there is any excess component 901 adhered even after repeated adhesion processing, the repair device (not shown) is used to remove it.

[0059] <Characteristics of Work Holding Method> The work holding method of the work holding device 910 has the following characteristics. The control unit 990 moves the work fixing unit 915, which fixes the work 900, above the component reservoir 91 that supplies the components 901. The control unit 990 changes the relative position between the component reservoir 91 and the work 900 using at least one of the rotation unit 920, the displacement unit 930, and the lifting unit 950. By changing the relative position between the component reservoir 91 and the work 900, it is possible to prevent the components 901 from leaking from the work 900 even if there is a bias in the density of the components 901 in the component reservoir 91.

[0060] <Changing the Relative Position> The relative position between the component reservoir 91 and the workpiece 900 is changed as follows: 1. The control unit 990 changes the vertical distance between the component reservoir 91 and the workpiece 900 within the range of the jump height of the component reservoir 901. 2. The control unit 990 changes the rotation angle between the component reservoir 91 and the workpiece 900 using the rotation unit 920 while keeping the component reservoir 91 and the workpiece 900 parallel to each other. 3. The control unit 990 changes the horizontal positions of the component reservoir 91 and the workpiece 900 using the displacement unit 930 while keeping the component reservoir 91 and the workpiece 900 parallel to each other. 4. In order to make the density of the jumping components 901 in the component reservoir 91 uniform, the control unit 990 uses the lifting unit 950 to make the vertical distance between the component reservoir 91 and the workpiece 900 greater than the jump height of the component reservoir 901.

[0061] <<<Effects of First Embodiment>>> According to the first embodiment, the moving unit 970 changes the relative position of the component reservoir 91 and the workpiece 900, so that even if the density of the components 901 varies depending on the location in the component reservoir 91, the components 901 can be attached to the workpiece 900. According to the first embodiment, the workpiece 900 is tilted, so that unnecessary components 901 can be removed. According to the first embodiment, an impact is applied to the workpiece 900, so that unnecessary components 901 can be removed.

[0062] <<<Modifications>>> Modification 1. <Continuous Jump of Parts 901> When multiple workpieces 900 are transported continuously, it is not necessary to perform the jump start step S11 and the jump end step S18 for each workpiece 900. The control unit 990 may cause the parts to jump continuously throughout the attachment process on the multiple workpieces 900.

[0063] Modification Example 2 <Shape of Parts Reservoir 91> The shape of the parts reservoir 91 formed by the frame 90 in a plan view does not have to be rectangular. The shape of the parts reservoir 91 formed by the frame 90 in a plan view may be hexagonal, octagonal, or circular.

[0064] Modification Example 3. <Timing of Vertical Movement, Rotational Movement, and Positional Movement> The control unit 990 may fix the workpiece 900 in the first half of the component attachment step S13, and perform vertical movement, rotational movement, or positional movement in the second half. The control unit 990 may perform vertical movement, rotational movement, or positional movement throughout the entire component attachment step S13. In the component attachment step S13, the control unit 990 may perform two or more combinations of vertical movement, rotational movement, and positional movement simultaneously, or may perform them sequentially.

[0065] Modification Example 4 <Timing of tilting and impact application> The control unit 990 may apply tilting or impact throughout the entire workpiece lifting step S14. The control unit 990 may apply tilting and impact simultaneously or sequentially in the workpiece lifting step S14. The control unit 990 may apply tilting and impact after the workpiece lifting step S14, rather than during the workpiece lifting step S14.

[0066] Modification Example 5. <Tilting / Impacting and Rotational / Positional Movement> In the work lifting step S14, rotational movement and positional movement may be performed in addition to tilting and impacting. In the work lifting step S14, rotational movement and positional movement may be performed instead of tilting and impacting. If the rotation unit 920 performs rotational movement of the work 900 in the work lifting step S14, the unnecessary parts 901 can be shaken off by centrifugal force. If the displacement unit 930 performs positional movement of the work 900 in the work lifting step S14, the unnecessary parts 901 can be shaken off by inertia.

[0067] Modification Example 6. <Attachment of Striking Unit 980> Multiple striking units 980 may be installed. When multiple striking units 980 are installed, it is desirable that they generate impacts simultaneously and with the same force. The striking units 980 may be fixed to the workpiece fixing unit 915, the rotating unit 920, or the displacement unit 930, rather than to the inclined unit 940. It is desirable that the striking unit 980 be installed on the workpiece fixing unit 915, which fixes the workpiece 900 directly below. The distributor 47 may not be necessary, and the striking unit 980 may be fixed directly to the inclined unit 940, the workpiece fixing unit 915, the rotating unit 920, or the displacement unit 930.

[0068] Modification Example 7 <Combined Use and Substitution> The movement of the displacement unit 930 in the X direction may be realized by the transport unit 960. If the transport unit 960 has a configuration that can tilt the workpiece 900, the tilt unit 940 may be realized by the transport unit 960. The displacement unit 930 may move the workpiece fixing unit 915 only in one direction (only either the X direction or the Y direction). The displacement unit 930 may be realized by an XY table. The rotation unit 920 and the displacement unit 930 may be realized by an XYθ table.

[0069] Embodiment 2 In embodiment 2, differences from embodiment 1 will be described. The configuration of the component supply device 200 in embodiment 2 is the same as that in embodiment 1. In embodiment 2, attachment of components 901 is performed multiple times in one attachment process.

[0070] Figure 12 is a flowchart showing a workpiece holding method and a component supply method according to the second embodiment. Figure 12 differs from Figure 5 in that steps S15 to S17 have been added instead of inspection step S19. The operations of steps S15 to S17 in Figure 12 are the same as steps S12 to S14. The control unit 990 starts the attachment process upon the start of workpiece lowering step S12. The control unit 990 ends the attachment process upon the end of workpiece lifting step S17.

[0071] <Density of Components 901> The density of jumping components 901 is low in locations where components 901 are attached in the first component attachment step S13. Between the first component attachment step S13 and the second component attachment step S16, there are a workpiece lift step S14 and a workpiece lower step S15. This allows the components 901 in the component reservoir 91 to jump freely without colliding with the underside of the workpiece 900, making the density of the components 901 in the component reservoir 91 uniform.

[0072] <Waiting Time> The lifting and lowering time between the work lifting step S14 and the work lowering step S15 may not be enough to achieve uniform density of the parts 901. The control unit 990 stops the operation of the lifting and lowering unit 950 to provide a waiting time between the work lifting step S14 and the work lowering step S15.

[0073] During the attachment process of attaching the parts 901 to the attachment surface, the control unit 990 causes the lifting unit 950 to raise the work fixing unit 915, and after a waiting time has elapsed during which the supply of the parts 901 to the work 900 is evenly distributed, the control unit 990 causes the lifting unit 950 to lower the work fixing unit 915.

[0074] The control unit 990 performs at least one of positional movement and rotational movement of the workpiece 900 using the lifting unit 950, displacement unit 930, and rotation unit 920 in any of the following cases: 1. First component attachment step S13 (vertical movement can also be performed by the lifting unit 950) 2. Second component attachment step S16 (vertical movement can also be performed by the lifting unit 950) 3. Workpiece lifting step S14 (at least one of tilting the workpiece and applying an impact to the workpiece is also performed simultaneously) 4. Workpiece lowering step S15 5. Waiting time 6. A combination of two or more of the above 1 to 5

[0075] In the first embodiment, the attachment of the component 901 is repeated again depending on the result of the inspection. In the second embodiment, the attachment of the component 901 is performed twice, and therefore the lifting unit 950 always performs an operation to change the relative distance in the vertical direction between the component reservoir 91 and the workpiece 900. For this reason, in the second embodiment, there is a time during the attachment process when the component 901 in the component reservoir 91 can jump freely.

[0076] <<<Effects of Second Embodiment>>> According to the second embodiment, since there is a time for the workpiece 900 to be raised and lowered or a waiting time, the parts 901 can jump freely, and the density of the parts 901 in the part reservoir 91 can be made uniform.

[0077] <<<Modifications>>> Modification 1. <Inspection step S21> The control unit 990 may perform inspection step S21 after workpiece lifting step S17 in Fig. 12. If the inspection result is not good, the control unit 990 starts from either workpiece lowering step S12 or workpiece lowering step S15.

[0078] Modification Example 2 <Performed Three or More Times> The attachment of the component 901 may be performed three or more times instead of twice as in FIG.

[0079] Third Embodiment In the third embodiment, differences from the first and second embodiments will be described.

[0080] <<<Configuration of the vertical vibration device 100: Fig. 13>>> Fig. 13 is a diagram showing a component supply device 200 according to embodiment 3. Fig. 13 differs from Fig. 1 in that the vertical vibration device 100 has a moving unit 971. The vertical vibration device 100 has, as the moving unit 971, an elevating unit 150 and an XYθ table 160.

[0081] The lifting unit 150 lifts and lowers the XYθ table 160, thereby lifting and lowering the plate 20 and the component reservoir 91. The lifting unit 150 changes the relative position of the component reservoir 91 with respect to the workpiece 900 in the up-down direction.

[0082] The plate 20 is fixed to the upper surface of the XYθ table 160. The XYθ table 160 has a displacement function (displacement unit) that moves the plate 20 in the horizontal direction. The XYθ table 160 has a rotation function (rotation unit) that rotates the plate 20 around the θ axis (Z axis).

[0083] Moving the plate 20 in the horizontal direction moves the component reservoir 91 in the horizontal direction. Rotating the plate 20 about the θ-axis (Z-axis) rotates the component reservoir 91. The XYθ table 160 changes the relative position of the component reservoir 91 in the rotational direction with respect to the workpiece 900. The XYθ table 160 changes the relative position of the component reservoir 91 in the horizontal direction with respect to the workpiece 900.

[0084] The relative vertical positions of the part reservoir 91 and the workpiece 900 may be changed in the following cases: 1. Using only the lifting / lowering unit 950 2. Using only the lifting / lowering unit 150 3. Using both the lifting / lowering unit 950 and the lifting / lowering unit 150

[0085] The relative horizontal position of the part reservoir 91 and the workpiece 900 can be changed in the following cases: 1. Using only the displacement unit 930 alone; 2. Using only the displacement function of the XYθ table 160 alone; 3. Using both the displacement unit 930 and the displacement function of the XYθ table 160 together.

[0086] The relative positions of the parts reservoir 91 and the workpiece 900 in the rotation direction can be changed in the following cases: 1. Using only the rotating unit 920 2. Using only the rotation function of the XYθ table 160 3. Using both the rotating unit 920 and the rotation function of the XYθ table 160

[0087] <<<Effects of Third Embodiment>>> According to the third embodiment, the relative positions of the part reservoir 91 and the workpiece 900 can be changed using either the workpiece holding device 910 or the up-and-down vibration device 100.

[0088] <<<Modifications>>> Modification 1. <Only one side> Either the moving unit 970 or the moving unit 971 is sufficient. Either the lifting unit 950 or the lifting unit 150 is sufficient. Either the displacement unit 930 or the displacement function of the XYθ table 160 is sufficient. Either the rotation unit 920 or the rotation function of the XYθ table 160 is sufficient.

[0089] Embodiment 4 In embodiment 4, differences from embodiments 1, 2, and 3 will be described. In embodiment 4, a case where a component 901 is attached to a workpiece 900 in a stationary state will be described.

[0090] <<<Configuration of the up-and-down vibration device 100: Fig. 14>>> Fig. 14 is a flowchart showing a workpiece holding method and a component supply method according to embodiment 4. Fig. 14 differs from Fig. 12 in the following points: 1. The jump start step S11 is performed after the first component attachment step S22. 2. In the first component attachment step S22, a stationary component 901 is attached instead of a jumping component 901.

[0091] The control unit 990 starts the adhesion process when the workpiece lowering step S12 starts, and ends the adhesion process when the workpiece lifting step S17 ends.

[0092] <Workpiece Lowering Step S12> The lifting unit 950 lowers the workpiece fixing unit 915 until it comes into contact with the component 901, while the component 901 is stationary on the surface 21 of the plate 20. The lifting unit 950 lowers the workpiece fixing unit 915, while the component 901 is not jumping, until the distance between the bottom surface 95 of the component reservoir 91 and the attachment surface of the workpiece 900 becomes equal to the diameter of the component 901. After lowering, the lifting unit 950 applies downward pressure to the workpiece fixing unit 915.

[0093] <First Component Adhesion Step S22> As a result of the workpiece lowering step S12, the component 901 is tightly sandwiched between the surface 21 of the plate 20 and the attachment surface of the workpiece 900. The component 901 that comes into contact with the adhesive 902 of the workpiece 900 adheres to the adhesive 902 while remaining stationary. In this state, the rotation unit 920 or the displacement unit 930 horizontally moves the position of the workpiece 900 by an amount less than the diameter of the adhesive 902 (the diameter of the electrode 903) while applying downward pressure. This horizontal movement allows the component 901 to roll between the surface 21 of the plate 20 and the attachment surface of the workpiece 900. This displacement of the workpiece 900 causes the adhesive 902 to cling to the component 901 that is in contact with the adhesive 902 of the workpiece 900, increasing the adhesive force between the adhesive 902 and the component 901. Due to this displacement of the workpiece 900, the parts 901 that were not in contact with the adhesive 902 of the workpiece 900 newly come into contact with the adhesive 902 of the workpiece 900 and adhere to the workpiece 900. The rotating unit 920 or the displacing unit 930 does not move the position of the workpiece 900 by more than the diameter of the adhesive 902 (the diameter of the electrode 903) so as to prevent the parts 901 that are in contact with the adhesive 902 of the workpiece 900 from coming off. It is preferable that the rotating unit 920 or the displacing unit 930 move the position of the workpiece 900 by less than half or less than one-third of the diameter of the adhesive 902 (the diameter of the electrode 903).

[0094] <Workpiece Lifting Step S14> The same operation as in the workpiece lifting step S14 in Fig. 12 is executed. By applying tilt and impact, the attachment of the component 901 is ensured and excess component 901 is knocked off.

[0095] <Jump Start Step S11> After the workpiece lift step S14, the jump of the part 901 is started. The subsequent operations are the same as those in FIG.

[0096] The control unit 990 of the fourth embodiment changes the vertical distance between the part reservoir 91 and the workpiece 900 using the lifting unit 950 in order to bring the part 901 stationary in the part reservoir 91 into contact with the workpiece 900 .

[0097] <<<Effects of Fourth Embodiment>>> According to the fourth embodiment, because the component 901 is stationary, an adhesion process can be performed by the workpiece 900 applying pressure to the component 901. According to the fourth embodiment, because the component 901 is rolled between the surface 21 of the plate 20 and the adhesion surface of the workpiece 900, it is possible to increase the adhesive force. According to the fourth embodiment, because the component 901 is rolled between the surface 21 of the plate 20 and the adhesion surface of the workpiece 900, it is possible to adhere the component 901 to the workpiece 900, which would not adhere if the workpiece 900 were only lowered.

[0098] According to this embodiment 4, during one attachment process, attachment is performed in a state where the part 901 is stationary and a state where the part 901 is jumping, so that even if the part 901 does not attach in one state, it can be attached in the other state.

[0099] Fifth Embodiment In the fifth embodiment, differences from the first, second, third and fourth embodiments will be described. In the fifth embodiment, a case where a lid is placed on the parts reservoir 91 will be described.

[0100] <<<Configuration of the Up-and-Down Vibration Device 100: Fig. 15>>> Fig. 15 is a diagram showing a workpiece 900 covering the space above the component reservoir 91. Fig. 15 differs from Fig. 1 in the following ways: 1. The height of the frame 90 is lower than the jump height of the component 901. 2. In a plan view, the area of ​​the workpiece 900 is sufficiently larger than the area of ​​the component reservoir 91.

[0101] The control unit 990 causes the part 901 to jump only when the workpiece 900 covers the space above the part reservoir 91. The control unit 990 causes the part 901 to jump only in the closed space surrounded by the frame 90, the bottom surface 95, and the workpiece 900. Even when the rotation unit 920 rotates the workpiece 900, the workpiece 900 covers the entire space above the part reservoir 91. Even when the displacement unit 930 moves the position of the workpiece 900, the workpiece 900 covers the entire space above the part reservoir 91.

[0102] <<<Effects of Fifth Embodiment>>> The component 901 does not end up on the top surface of the workpiece 900 .

[0103] <<<Modifications>>> Modification 1. <Cover 916: FIG. 16> FIG. 16 is a diagram showing a cover 916 covering the space above the part reservoir 91. FIG. 16 differs from FIG. 1 in that a cover 916 has been added. The cover 916 is fixed to the periphery of the workpiece fixing portion 915. The cover 916 is a lid that covers the space above the part reservoir 91. The cover 916 is a flat plate fixed to the periphery of the workpiece fixing portion 915. The lower surface of the cover 916 and the upper surface of the workpiece 900 are in surface contact with each other, leaving no gaps. The area of ​​the cover 916 is sufficiently larger than the area of ​​the part reservoir 91 in a plan view. Even when the rotating portion 920 rotates the workpiece 900, the cover 916 covers the entire space above the part reservoir 91. Even when the displacing portion 930 moves the position of the workpiece 900, the cover 916 covers the entire space above the part reservoir 91.

[0104] *** Supplementary Explanation of the Embodiments *** The above-described embodiments are examples of desirable forms and are not intended to limit the technical scope of the present invention. The embodiments may be implemented in part or in combination with other forms. The above-described embodiments may also be combined.

[0105] 20 plate, 21 surface, 47 distributor, 60 traveling wave, 90 frame, 91 parts reservoir, 95 bottom surface, 100 up and down vibration device, 150 lifting section, 160 XYθ table, 200 parts supply device, 900 work, 901 parts, 902 adhesive, 903 electrode, 910 work holding device, 915 work fixing section, 916 cover, 920 rotating section, 930 displacement section, 940 tilting section, 950 lifting section, 960 transport section, 970 moving section, 971 moving section, 980 striking section, 985 camera, 990 control section.

Claims

1. A work holding device comprising: a work fixing unit that fixes a work; a moving unit that moves the work fixing unit; and a control unit that controls the movement of the work fixing unit by the moving unit, wherein the control unit causes the moving unit to move the work fixing unit during an attachment process in which a part is attached to the work.

2. A work holding device as described in claim 1, wherein the moving unit has a rotating unit that rotates the work fixing unit while keeping the work horizontal, and the control unit rotates the work fixing unit using the rotating unit while holding the work horizontally.

3. A work holding device as described in claim 1 or 2, wherein the moving unit has a displacement unit that changes the position of the work fixing unit in the horizontal direction, and the control unit causes the displacement unit to move the position of the work fixing unit in the horizontal direction while holding the work horizontally.

4. A work holding device as described in claim 1 or 2, wherein the moving part has a tilting part that tilts the work fixing part, and the control part tilts the work fixing part using the tilting part after the adhesion process.

5. A workpiece holding device as described in claim 1 or 2, further comprising an impact unit that generates vertical vibrations, wherein the control unit applies vertical vibrations to the workpiece using the impact unit after the adhesion process.

6. A workpiece holding device according to claim 5, wherein the impact portion applies a downward impact to the workpiece.

7. A work holding device as described in claim 1 or 2, wherein the moving unit has a lifting unit that raises and lowers the work fixing unit, and the control unit raises the work fixing unit using the lifting unit during the attachment process, and after a waiting time has passed during which the supply of parts to the work becomes uniform, lowers the work fixing unit using the lifting unit.

8. A work holding device as described in claim 1 or 2, wherein the moving unit has a lifting unit that raises and lowers the work fixing unit, and the control unit raises and lowers the work fixing unit using the lifting unit within a range of heights that the part jumps during the attachment process.

9. A work holding device as described in claim 1 or 2, wherein the moving unit has a lifting unit that raises and lowers the work fixing unit, and the control unit, while the part is stationary, lowers the work fixing unit using the lifting unit, brings the work into contact with the part to adhere the part to the work, and raises the work fixing unit using the lifting unit.

10. A parts supply device comprising: a work holding device with a work fixing portion for fixing a work; and an up-and-down vibration device for supplying parts from a parts reservoir, wherein, during an attachment process for attaching parts to the work, the work fixing portion is moved above the parts reservoir, thereby changing the relative position between the parts reservoir and the work, and the parts supplied from the parts reservoir are attached to the work.

11. A parts supply device as described in claim 10, wherein either the work holding device or the up-and-down vibration device has at least one of a lifting section that changes the vertical distance between the parts storage and the work, a rotation section that changes the rotation angle between the parts storage and the work, and a displacement section that changes the horizontal position between the parts storage and the work.

12. A work holding method for a work holding device comprising a work fixing section for fixing a work, a moving section for moving the work fixing section, and a control section for controlling the movement of the work fixing section, wherein the control section moves the work fixing section above a parts storage section, thereby changing the relative position between the parts storage section and the work, and attaching parts jumping from the parts storage section to the underside of the work.

13. A work holding method as described in claim 12, wherein the control unit performs at least one of the following: changing the rotation angle between the parts reservoir and the work while maintaining the parts reservoir and the work in parallel; changing the horizontal positions of the parts reservoir and the work while maintaining the parts reservoir and the work in parallel; changing the vertical distance between the parts reservoir and the work within the range of height at which the parts jump in the parts reservoir; changing the vertical distance between the parts reservoir and the work in order to make uniform the density of parts jumping in the parts reservoir; and changing the vertical distance between the parts reservoir and the work in order to bring the work into contact with a part stationary in the parts reservoir.

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