Component mounting device and method for controlling component mounting device

Abstract

This component mounting device comprises: a negative pressure first pipeline (NL1); a first nozzle (a first nozzle (Na) and a second nozzle (Nb)) to which negative pressure air is supplied through the negative pressure first pipeline (NL1); a negative pressure second pipeline (NL2); a second nozzle (a third nozzle (Nc)) to which negative pressure air is supplied through the negative pressure second pipeline (NL2); a control valve (V) that controls the flow of the negative pressure air; a communication path (RL) that allows the negative pressure first pipeline (NL1) and the negative pressure second pipeline (NL2) to communicate with each other; and a communication path opening / closing valve (RV) that opens and closes the communication path (RL). Valve control for opening the communication path (RL) and preventing the supply of the negative pressure air to one of the first nozzle and the second nozzle is performed to switch the flow of the negative pressure air to concentrate the negative pressure air on the other nozzle, thereby increasing the suction force generated on the other nozzle.

Description

Component Mounting Device and Control Method for Component Mounting Device

[0001] The present disclosure relates to a component mounting device that adsorbs components by a nozzle and mounts them on a substrate, and a control method therefor.

[0002] Conventionally, a component mounting device includes a plurality of nozzles that adsorb components by the adsorption force generated by receiving the supply of negative pressure air and mount them on a substrate (for example, Patent Document 1 below). The negative pressure pipelines that supply negative pressure air to each nozzle usually extend from a negative pressure air source in a plurality, and each nozzle is configured to be connected to any one of the plurality of negative pressure pipelines.

[0003] Japanese Patent Application Laid-Open No. 2023-183897

[0004] In order to adsorb a component by a nozzle, the adsorption force generated in the nozzle needs to be sufficiently large with respect to the weight of the component. Also, the adsorption surface of the component needs to be flat and sealed when contacting the nozzle, but depending on the component, there may be distortion on the adsorption surface, and air leakage may occur without being in close contact with the nozzle, resulting in inability to adsorb. In such a case, it is necessary to increase the suction flow rate of the nozzle to cope with it. However, even if the output of the negative pressure air source itself is large, when there are a plurality of negative pressure pipelines extending from the negative pressure air source, the maximum negative pressure air flow rate for each negative pressure pipeline becomes small. Therefore, in order to increase the adsorption force of each nozzle, it is necessary to increase the output of the negative pressure air source, but there is a problem that increasing the output of the negative pressure air source leads to an increase in the size and cost of the negative pressure air source.

[0005] Therefore, an object of the present disclosure is to provide a component mounting device and a control method for the component mounting device that can increase the adsorption force generated in the nozzle without increasing the size of the negative pressure air source.

[0006] The component mounting device of the present disclosure comprises: a first negative pressure pipeline supplied with negative pressure air from a negative pressure air source; a first nozzle supplied with negative pressure air through the first negative pressure pipeline; a second negative pressure pipeline supplied with negative pressure air from the negative pressure air source; a second nozzle supplied with negative pressure air through the second negative pressure pipeline; a control valve for controlling the flow of negative pressure air supplied to the first nozzle and the second nozzle; a connecting passage connecting the first negative pressure pipeline and the second negative pressure pipeline; a connecting passage opening / closing valve for opening and closing the connecting passage; and a control unit for controlling the control valve and the connecting passage opening / closing valve. The control unit operates the connecting passage opening / closing valve to open the connecting passage and operates the control valve to prevent negative pressure air from being supplied to one of the first nozzle and the second nozzle, thereby switching the flow of negative pressure air so that it concentrates on the other of the first nozzle and the second nozzle, and increasing the adsorption force generated at the other nozzle.

[0007] The control method for a component mounting device according to the present disclosure comprises: a first negative pressure pipeline supplied with negative pressure air from a negative pressure air source; a first nozzle supplied with negative pressure air through the first negative pressure pipeline; a second negative pressure pipeline supplied with negative pressure air from the negative pressure air source; a second nozzle supplied with negative pressure air through the second negative pressure pipeline; a control valve for controlling the flow of negative pressure air supplied to the first nozzle and the second nozzle; a connecting passage connecting the first negative pressure pipeline and the second negative pressure pipeline; and a connecting passage opening / closing valve for opening and closing the connecting passage. The control method involves operating the connecting passage opening / closing valve to open the connecting passage and operating the control valve to prevent negative pressure air from being supplied to one of the first nozzle and the second nozzle, thereby switching the flow of negative pressure air so that it concentrates on the other of the first nozzle and the second nozzle, and increasing the adsorption force generated at the other nozzle.

[0008] According to this disclosure, the suction force generated at the nozzle can be increased without increasing the size of the negative pressure air source.

[0009] This is a schematic diagram of the component mounting device in Embodiment 1 of the present disclosure. This is an enlarged view of a part of the component mounting device in Embodiment 1 of the present disclosure. This is a diagram of the configuration of the pneumatic circuit provided by the component mounting device in Embodiment 1 of the present disclosure. This is a diagram of the pneumatic circuit showing a state in which negative pressure (suction pressure) of a normal level is generated in some of the nozzles provided by the component mounting device in Embodiment 1 of the present disclosure. This is a diagram showing an example of a valve operation correspondence table stored in the memory unit of the component mounting device in Embodiment 1 of the present disclosure. This is a diagram of the pneumatic circuit showing a state in which negative pressure (suction pressure) of 1.5 times the normal level is generated in some of the nozzles of the component suction mechanism provided by the component mounting device in Embodiment 1 of the present disclosure. This is a diagram of the pneumatic circuit showing a state in which negative pressure (suction pressure) of 3 times the normal level is generated in some of the nozzles of the component suction mechanism provided by the component mounting device in Embodiment 1 of the present disclosure. This is a diagram showing an example of correspondence data stored in the memory unit of the component mounting device in Embodiment 1 of the present disclosure. This is a diagram of the pneumatic circuit showing a state in which positive pressure (blow pressure) is generated in each nozzle provided by the component mounting device in Embodiment 1 of the present disclosure. This is a flowchart showing the flow of the component suction operation performed by the component mounting device in Embodiment 1 of this disclosure. This is a flowchart showing the flow of the component suction operation performed by the component mounting device in Embodiment 2 of this disclosure.

[0010] (Embodiment 1) Figure 1 shows a component mounting device 10 in Embodiment 1 of the present disclosure. The component mounting device 10 is a device that picks up components BH and mounts them on a substrate KB (component mounting work), and comprises a substrate positioning unit 11, a component supply unit 12, a mounting head 13, a head moving mechanism 14, a pneumatic circuit 15, and a control device 16.

[0011] In Figure 1, the substrate positioning unit 11 consists of, for example, a conveyor mechanism, which transports the substrate KB horizontally and positions it in a predetermined position. The component supply unit 12 supplies the components BH to be mounted on the substrate KB.

[0012] In Figure 2, the mounted head 13 is equipped with three lifting shafts 21 (first lifting shaft 21a, second lifting shaft 21b, and third lifting shaft 21c) extending downward, and nozzles N (first nozzle Na, second nozzle Nb, and third nozzle Nc) are attached to the lower end of each of the three lifting shafts 21. Specifically, the first nozzle Na is attached to the first lifting shaft 21a, the second nozzle Nb is attached to the second lifting shaft 21b, and the third nozzle Nc is attached to the third lifting shaft 21c.

[0013] In Figure 1, a lifting mechanism 13L is provided inside the mounting head 13, and when the lifting mechanism 13L is operated, each lifting shaft 21 moves up and down together with the nozzle N. The head moving mechanism 14 is composed of, for example, an XY table, and moves the mounting head 13 in the horizontal plane.

[0014] In Figure 2, each of the three lifting shafts 21 has an internal shaft conduit 22 (first internal shaft conduit 22a, second internal shaft conduit 22b, and third internal shaft conduit 22c) extending in the vertical direction. Specifically, the first internal shaft conduit 22a is formed inside the first lifting shaft 21a, the second internal shaft conduit 22b is formed inside the second lifting shaft 21b, and the third internal shaft conduit 22c is formed inside the third lifting shaft 21c. The internal shaft conduit 22 of each lifting shaft 21 is in communication with an internal nozzle conduit NT that penetrates the nozzle N attached to the lifting shaft 21 in the vertical direction.

[0015] In Figure 3, the pneumatic circuit 15 includes a negative pressure first pipeline NL1 and a negative pressure second pipeline NL2, to which negative pressure air sent from a negative pressure air source NP is supplied, and a positive pressure first pipeline PL1 and a positive pressure second pipeline PL2, to which positive pressure air sent from a positive pressure air source PP is supplied. The negative pressure first pipeline NL1 branches into two branch pipelines (negative pressure first branch pipeline NL11 and negative pressure second branch pipeline NL12), and the positive pressure first pipeline PL1 branches into two branch pipelines (positive pressure first branch pipeline PL11 and positive pressure second branch pipeline PL12).

[0016] In Figure 2, the internal conduits 22 of each lifting shaft 21 are connected to external conduits 23 (first external conduit 23a, second external conduit 23b, and third external conduit 23c) that extend outside the mounting head 13. Specifically, the first internal conduit 22a is connected to the first external conduit 23a, the second internal conduit 22b is connected to the second external conduit 23b, and the third internal conduit 22c is connected to the third external conduit 23c.

[0017] In Figure 3, each external conduit 23 is connected via control valves V (first control valve Va, second control valve Vb, third control valve Vc) to the negative pressure first branch conduit NL11 and negative pressure second branch conduit NL12, which are branched from the negative pressure first conduit NL1, and to the positive pressure first branch conduit PL11, positive pressure second branch conduit PL12, negative pressure second conduit NL2, or positive pressure second conduit PL2, which are branched from the positive pressure first conduit PL1. In detail, the first external conduit 23a is connected to the negative pressure first branch conduit NL11 and the positive pressure first branch conduit PL11 via the first control valve Va, and the second external conduit 23b is connected to the negative pressure second branch conduit NL12 and the positive pressure second branch conduit PL12 via the second control valve Vb. The third external conduit 23c is connected to the negative pressure second conduit NL2 and the positive pressure second conduit PL2 via the third control valve Vc.

[0018] Each of the three control valves V can take on one of the following positions: "negative pressure air supply," "positive pressure air supply," "open to atmosphere," or "closed." When the control valve V is in the negative pressure air supply position, the negative pressure air supplied from the negative pressure air source NP reaches the shaft conduit 22 of the corresponding lifting shaft 21, and negative pressure (suction pressure) is generated at the lower end of the nozzle N attached to the lifting shaft 21.

[0019] When the control valve V is in the positive pressure air supply position, the positive pressure air supplied from the positive pressure air source PP reaches the shaft conduit 22 of the corresponding lifting shaft 21, and positive pressure (blow pressure) is generated at the lower end of the nozzle N attached to the lifting shaft 21. When the control valve V is in the open to atmosphere position, the shaft conduit 22 of the corresponding lifting shaft 21 is opened to the atmosphere. When the control valve V is in the closed position, the shaft conduit 22 of the corresponding lifting shaft 21 is closed.

[0020] In Figure 3, the first negative pressure pipeline NL1 and the second negative pressure pipeline NL2 are connected by a connecting passage RL. A connecting passage opening / closing valve RV is installed in the connecting passage RL to open and close it. The connecting passage opening / closing valve RV can be positioned in either the closed position or the open position.

[0021] When the connecting passage valve RV is in the closed position, the connecting passage RL is closed, and the negative pressure first pipeline NL1 and the negative pressure second pipeline NL2 are not connected. Therefore, negative pressure air flowing through the negative pressure first pipeline NL1 does not flow into the negative pressure second pipeline NL2, nor does negative pressure air flowing through the negative pressure second pipeline NL2 flow into the negative pressure first pipeline NL1.

[0022] On the other hand, when the connecting passage valve RV is in the open position, the connecting passage RL is open, and the negative pressure first pipeline NL1 and the negative pressure second pipeline NL2 are in communication. As a result, negative pressure air flowing through the negative pressure first pipeline NL1 may flow into the negative pressure second pipeline NL2, and negative pressure air flowing through the negative pressure second pipeline NL2 may flow into the negative pressure first pipeline NL1.

[0023] In Figure 3, flow sensors S (first flow sensor Sa, second flow sensor Sb, third flow sensor Sc) are interposed in the external conduits 23 (first external conduit 23a, second external conduit 23b, third external conduit 23c) connected to each of the three internal shaft conduits 22 (first internal shaft conduit 22a, second internal shaft conduit 22b, third internal shaft conduit 22c). Specifically, the first flow sensor Sa is interposed in the first external conduit 23a, the second flow sensor Sb is interposed in the second external conduit 23b, and the third flow sensor Sc is interposed in the third external conduit 23c.

[0024] Each flow sensor S detects the flow rate of negative-pressure air in the interposed external conduit 23, thereby detecting the flow rate of negative-pressure air flowing through the shaft internal conduit 22 connected to the external conduit 23. Specifically, the first flow sensor Sa detects the flow rate of negative-pressure air flowing through the first shaft internal conduit 22a, the second flow sensor Sb detects the flow rate of negative-pressure air flowing through the second shaft internal conduit 22b, and the third flow sensor Sc detects the flow rate of negative-pressure air flowing through the third shaft internal conduit 22c.

[0025] In Figure 1, the control device 16 comprises an operation control unit 16a, a storage unit 16b, and a determination unit 16c. The operation control unit 16a controls the substrate positioning unit 11, the component supply unit 12, the lifting / lowering unit 13L of the mounting head 13, the head movement mechanism 14, and each valve (three control valves V and a connecting passage opening / closing valve RV).

[0026] The operation control unit 16a controls the operation of the substrate positioning unit 11 to transport and position the substrate KB, and controls the operation of the component supply unit 12 to supply components BH. The operation control unit 16a controls the head moving mechanism 14 to move the mounting head 13, and controls the lifting unit 13L to raise and lower each of the three lifting shafts 21 (i.e., each of the three nozzles N). The operation control unit 16a also controls three control valves V (first control valve Va, second control valve Vb, third control valve Vc) to generate negative pressure (suction pressure) or positive pressure (blow pressure) at the lower end of each nozzle N, and controls the communication passage opening / closing valve RV to switch between communication and disconnection (non-communication) between the negative pressure first pipeline NL1 and the negative pressure second pipeline NL2. The detection information of the negative pressure air flow rate detected by each of the three flow sensors S is input to the control device 16 (Figure 3).

[0027] In Figures 1 and 3, a touch panel 16T is connected to the control device 16. The operator can input the necessary information into the control device 16 by operating the touch panel 16T. The operator can also receive necessary information from the control device 16 through the touch panel 16T.

[0028] In this configuration, when the operation control unit 16a of the control device 16 closes the communication passage RL by positioning the communication passage opening / closing valve RV in the closed position (Figure 4), the negative pressure air flowing through the negative pressure first pipeline NL1 and the negative pressure air flowing through the negative pressure second pipeline NL2 do not flow into each other. Therefore, with respect to the negative pressure air, the negative pressure air supplied through the negative pressure first pipeline NL1 reaches the first control valve Va and the second control valve Vb, and the negative pressure air supplied through the negative pressure second pipeline NL2 reaches the third control valve Vc. Therefore, by controlling the three control valves V respectively, the operation control unit 16a can generate an adhesive force at the lower end of each of the three nozzles N (first nozzle Na, second nozzle Nb, third nozzle Nc) (this adhesive force is referred to as an adhesive force of normal magnitude) (see the first column of the valve operation correspondence table TT shown in Figure 5). The data of the valve operation correspondence table TT in Figure 5 is stored in the storage unit 16b.

[0029] In contrast, when the operation control unit 16a positions the communication passage opening valve RV in the open position, thereby opening the communication passage RL, and positions the third control valve Vc in the closed position, thereby closing the negative pressure second pipeline NL2 (Figure 6), the third nozzle Nc becomes unusable (it can no longer adsorb part BH). However, since the negative pressure air in the negative pressure second pipeline NL2 flows through the communication passage RL into the negative pressure first pipeline NL1, the flow rate of negative pressure air reaching the usable nozzles N, namely the first nozzle Na and the second nozzle Nb, increases (to approximately 1.5 times the normal level). As a result, the adsorption force generated at the lower end of the first nozzle Na and the adsorption force generated at the lower end of the second nozzle Nb are each approximately 1.5 times the normal level (see the second column of the valve operation correspondence table TT shown in Figure 5).

[0030] Furthermore, when the operation control unit 16a positions the communication passage opening valve RV in the open position, thereby opening the communication passage RL, and positions the first control valve Va and the second control valve Vb in the closed position, thereby closing the negative pressure first pipeline NL1 (Figure 7), the first nozzle Na and the second nozzle Nb become unusable. However, since the negative pressure air in the negative pressure first pipeline NL1 flows through the communication passage RL into the negative pressure second pipeline NL2, the flow rate of negative pressure air reaching the usable nozzle N, the third nozzle Nc, increases (to approximately three times the normal level). As a result, the suction force generated at the lower end of the third nozzle Nc becomes approximately three times the normal level (see the third column of the valve operation correspondence table TT shown in Figure 5).

[0031] The storage unit 16b of the control device 16 stores correspondence data LD, which records the correspondence between the component BH to be adsorbed (i.e., the component to be mounted on the substrate KB) and the magnitude of the adsorption force required to adsorb that component BH. Figure 8 is an example of the correspondence data LD, showing the magnitude of the required adsorption force for component BH with identification numbers "1", "2", "3", ... corresponding to "normal level", "normal level × 1.5", and "normal level × 3" in Figure 5. When the operation control unit 16a adsorbs a component BH onto the nozzle N, it reads the magnitude of the adsorption force corresponding to the type of component BH to be adsorbed, and performs valve control by operating the communication passage opening / closing valve RV and the three control valves V so that an adsorption force of the read magnitude is generated in one of the three nozzles N.

[0032] Regarding positive pressure air, the first positive pressure pipeline PL1 and the second positive pressure pipeline PL2 are independent of each other and do not communicate with each other. Therefore, the positive pressure air flowing through the first positive pressure pipeline PL1 and the positive pressure air flowing through the second positive pressure pipeline PL2 do not flow into each other. Thus, a normal level of positive pressure (blow pressure) is generated almost equally at the lower end of each of the three nozzles N (Figure 9). Note that the positive pressure (blow pressure) is only necessary to detach the component BH from the nozzle N that has adsorbed the component BH, so a normal level of pressure is sufficient.

[0033] As described above, the component mounting device 10 in Embodiment 1 includes a negative pressure first pipeline NL1 to which negative pressure air is supplied from a negative pressure air source NP, a first nozzle (first nozzle Na and second nozzle Nb) to which negative pressure air is supplied through the negative pressure first pipeline NL1, a negative pressure second pipeline NL2 to which negative pressure air is supplied from the negative pressure air source NP, a second nozzle (third nozzle Nc) to which negative pressure air is supplied through the negative pressure second pipeline NL2, control valves V (first control valve Va, second control valve Vb, third control valve Vc) that control the flow of negative pressure air supplied to the first nozzle and the second nozzle, a communication passage RL that connects the negative pressure first pipeline NL1 and the negative pressure second pipeline NL2, a communication passage opening / closing valve RV that opens and closes the communication passage RL, and an operation control unit 16a that controls the control valves V and the communication passage opening / closing valve RV. The operation control unit 16a then operates the communication passage opening / closing valve RV to open the communication passage RL, and also operates the control valve V to prevent negative pressure air from being supplied to one of the first nozzles or the second nozzle. By doing so, the flow of negative pressure air is switched so that it concentrates on the other of the first nozzles, thereby increasing the suction force generated at the other nozzle.

[0034] In detail, when the operation control unit 16a performs the valve control described above, the third control valve Vc is positioned in the closed position, preventing negative pressure air from being supplied to the third nozzle Nc. As a result, the third nozzle Nc becomes unusable (it can no longer be used to adsorb part BH). However, since the communication passage RL is opened, the negative pressure first pipeline NL1 and the negative pressure second pipeline NL2 are in communication. Therefore, negative pressure air from the negative pressure air source NP is concentrated and supplied to the first nozzle Na and the second nozzle Nb from both the negative pressure first pipeline NL1 and the negative pressure second pipeline NL2. Consequently, the adsorption force generated at the first nozzle Na and the second nozzle Nb increases (to approximately 1.5 times the normal level) (Figure 6).

[0035] Alternatively, if the first control valve Va and the second control valve Vb are positioned in the closed position, negative pressure air is not supplied to the first nozzle Na and the second nozzle Nb, rendering both nozzles unusable. However, since the communication passage RL is opened, the first negative pressure pipeline NL1 and the second negative pressure pipeline NL2 are in communication. As a result, negative pressure air from the negative pressure air source NP is supplied to the third nozzle Nc from both the first negative pressure pipeline NL1 and the second negative pressure pipeline NL2, increasing the adsorption force generated at the third nozzle Nc (to approximately three times the normal level) (Figure 7).

[0036] The determination unit 16c determines whether the nozzle N has successfully adsorbed the part BH based on the flow rate of negative pressure air measured by the flow sensor S (first flow sensor Sa, second flow sensor Sb, third flow sensor Sc). Specifically, if the flow rate of negative pressure air flowing through the shaft conduit 22 measured by the flow sensor S is below a predetermined threshold (a pair close to zero) (i.e., there is no or almost no flow of negative pressure air), the determination unit 16c determines that the opening at the lower end of the nozzle N connected to the shaft conduit 22 is closed by the surface of the part BH, and therefore determines that the adsorption of the part BH by the nozzle N has been successful. On the other hand, if the flow rate of negative pressure air flowing through the shaft conduit 22 measured by the flow sensor S exceeds a predetermined threshold (i.e., there is a flow of negative pressure air), the determination unit 16c determines that the opening at the lower end of the nozzle N is not closed by the surface of the part BH (air leakage has occurred), and therefore determines that the adsorption of the part BH by the nozzle N has failed.

[0037] When the component mounting device 10 with the above configuration performs component mounting work, the operation control unit 16a first activates the substrate positioning unit 11 to receive the substrate KB sent from the upstream device of the component mounting device 10 and position it at a predetermined working position. Once the substrate KB is positioned at the working position, the operation control unit 16a activates the head movement mechanism 14 to cause the mounting head 13 to repeatedly perform mounting turns.

[0038] When the operation control unit 16a causes the mounting head 13 to perform a mounting turn, it first executes the suction operation of the component BH in the procedure shown in the flowchart of Figure 10. When executing the suction operation of the component BH, the operation control unit 16a first reads the magnitude of the suction force required to suction the component BH to be suctioned from the corresponding data LD stored in the storage unit 16b (step ST1). After reading the magnitude of the suction force required to suction the component BH to be suctioned, the operation control unit 16a determines whether the magnitude of the suction force read is greater than the normal level (step ST2). Specifically, if the magnitude of the suction force read is "normal level × 1.5" or "normal level × 3", it is determined that the magnitude of the suction force is greater than the normal level.

[0039] In step ST2, if the operation control unit 16a determines that the magnitude of the suction force is greater than the normal level ("Y" in step ST2), it sets the communication passage opening valve RV to the open position, opens the communication passage RL to connect the negative pressure first pipeline NL1 and the negative pressure second pipeline NL2 (step ST3), and controls the control valve V to close the shaft internal pipeline 22 (directly the external pipeline 23) connected to the nozzle N that will become unusable (step ST4).

[0040] Specifically, if the magnitude of the suction force read in step ST1 is "normal level × 1.5", the third control valve Vc closes the third shaft internal conduit 22c connected to the third nozzle Nc, which becomes unusable, based on the valve operation correspondence table TT in Figure 5 (Figure 6). As a result, the first nozzle Na and the second nozzle Nb generate an suction force approximately 1.5 times the normal level, making it possible to adsorb the part BH to be adsorbed by either the first nozzle Na or the second nozzle Nb.

[0041] Furthermore, if the magnitude of the suction force read in step ST1 is "normal level × 3", then, based on the valve operation correspondence table TT in Figure 5, the first shaft internal conduit 22a and the second shaft internal conduit 22b connected to the first nozzle Na and second nozzle Nb, which become unusable, are closed by the first control valve Va and the second control valve Vb (Figure 7). As a result, the third nozzle Nc generates a suction force approximately three times that of the normal level, making it possible for the third nozzle Nc to adsorb the part BH that is to be adsorbed.

[0042] In steps ST3 and ST4, when the operation control unit 16a is ready to pick up part BH with nozzle N using a greater-than-normal suction force, it controls the head movement mechanism 14 to move the nozzle N that is about to pick up part BH (the usable nozzle N) above the part BH supplied by the part supply unit 12 (step ST5). Also, in step ST2, if it is determined that the suction force is not greater than the normal level (it is the same as the normal level suction force) ("N" in step ST2), the process proceeds to step ST5 without positioning the communication passage opening / closing valve RV in the open position, and the usable nozzle N is moved above the part BH supplied by the part supply unit 12.

[0043] The operation control unit 16a positions a usable nozzle N above the part BH to be supplied, then operates the lifting unit 13L to lower the nozzle N, while simultaneously positioning the control valve V corresponding to the nozzle N in the negative pressure air supply position. This generates an attractive force at the lower end of the nozzle N, causing the part BH to be attracted to the nozzle N. Once the part BH is attracted to the nozzle N, the operation control unit 16a operates the lifting unit 13L to raise the nozzle N. As a result, the part BH is pulled up by the nozzle N, and the part BH is in a state of being picked up by the nozzle N (step ST6).

[0044] When the operation control unit 16a picks up (adsorbs) the component BH with the nozzle N in step ST6, based on the flow rate of the negative pressure air detected by the flow rate sensor S connected to the nozzle N, it determines whether the nozzle N has successfully adsorbed the component BH in the manner described above (step ST7). As a result, when the determination unit 16c determines that the nozzle N has successfully adsorbed the component BH (at "Y" in step ST8), the operation control unit 16a ends the adsorption operation of the component BH by the nozzle N.

[0045] On the other hand, in step ST7, when the determination unit 16c determines that the nozzle N has failed to adsorb the component BH (at "N" in step ST8), the operation control unit 16a determines whether the magnitude of the adsorption force of the current nozzle N is at its maximum (step ST9). Specifically, it determines whether the magnitude of the adsorption force of the current nozzle N is "normal level × 3". As a result, when it is determined that the magnitude of the adsorption force of the current nozzle N is at its maximum (is "normal level × 3") (at "Y" in step ST9), since the magnitude of the adsorption force of the nozzle N cannot be increased any further and the component BH cannot be adsorbed (picked up), the operation control unit 16a gives an error notification to the operator through the touch panel 16T (step ST10) and then ends the adsorption operation of the component BH by the nozzle N.

[0046] On the other hand, in step ST9, when it is determined that the magnitude of the adsorption force of the current nozzle N is not at its maximum (is the normal level or normal level × 1.5) (at "N" in step ST9), in order to increase the adsorption force of the nozzle N from the "normal level" to "normal level × 1.5" (or "normal level × 3"), or from "normal level × 1.5" to "normal level × 3", it returns to step ST3, positions the communication path opening / closing valve RV at the open position, and opens the communication path RL. However, if the communication path opening / closing valve RV is already positioned at the open position, at the returned step ST3, the position of the communication path opening / closing valve RV remains unchanged.

[0047] When the operation control unit 16a returns to step ST3, it executes the subsequent steps ST4 to ST8 again. However, in step ST4 to be executed again, the nozzles N that become usable and the nozzles N that become unusable are different from the previous time (therefore, the shaft internal pipelines 22 to be blocked are different from the previous time). Also, the nozzle N that is to be moved above the component BH to be adsorbed in step ST6 is also changed to a newly usable nozzle N. If it is determined in step ST8 again that the nozzle N fails to adsorb the component BH, the process proceeds to step ST9. If it is determined in step ST8 again that the nozzle N successfully adsorbs the component BH, the adsorption operation of the component BH by the nozzle N is terminated.

[0048] As described above, in the control method of the component mounting apparatus 10 in the first embodiment, when adsorbing the component BH to the nozzle N, if necessary, the communication path opening / closing valve RV is operated so that the communication path RL is opened, and the control valve V is operated for valve control so that the negative pressure air is not supplied to one of the first nozzles (the first nozzle Na and the second nozzle Nb) and the second nozzle (the third nozzle Nc) (steps ST3 and ST4). By switching the flow of the negative pressure air so that the negative pressure air concentrates on the other of the first nozzle and the second nozzle, instead of making one of the nozzles N unusable by preventing the negative pressure air supplied from the negative pressure air source NP from being supplied to that one nozzle N, the negative pressure air is concentrated and supplied to the other nozzle N, and by increasing the flow rate of the other nozzle N, the adsorption force is increased more than normal.

[0049] When the operation control unit 16a adsorbs the component BH to the nozzle N as described above, it operates the head movement mechanism 14 to move the mounting head 13 above the substrate KB. Then, the nozzle N is lowered above the substrate KB, the component BH is brought into contact with the substrate KB, and the control valve V corresponding to the nozzle N that has adsorbed the component BH is positioned at the positive pressure supply position. Thereby, a positive pressure (blow pressure) is generated at the lower end of the nozzle N, and the component BH is detached from the nozzle N and mounted on the substrate KB.

[0050] The component mounting device 10 repeatedly performs mounting turns with the mounting head 13 according to the procedure described above, and once the component BH to be mounted on the substrate KB is mounted, it controls the substrate positioning unit 11 to transport the substrate KB downstream. This completes the component mounting work for one substrate KB.

[0051] In this embodiment, the component mounting device 10 (or the control method for the component mounting device 10) opens the communication passage RL and controls a valve to prevent negative pressure air from being supplied to one of the first and second nozzles, thereby switching the flow of negative pressure air so that it concentrates on the other nozzle, and increasing the suction force generated on the other nozzle. As a result, even heavy components BH can be attracted to the nozzle N, and the productivity of the component mounting device 10 can be improved.

[0052] In the component mounting device 10 of Embodiment 1, a storage unit 16b is provided that stores correspondence data LD, which records the correspondence between the component BH to be adsorbed, the magnitude of the adsorption force required to adsorb the component BH, and the state of the communication passage opening / closing valve RV and control valve V (first control valve Va, second control valve Vb, third control valve Vc) necessary to generate that magnitude of adsorption force. The operation control unit 16a is configured to perform valve control in steps ST3 and ST4 when it detects that an increased adsorption force is required to adsorb the component BH to be adsorbed by the nozzle N. Therefore, for component BH whose correspondence relationship is predetermined by the correspondence data LD, the adsorption operation of the component BH can be performed smoothly by referring to the correspondence data LD, thereby improving work efficiency.

[0053] Furthermore, the component mounting device 10 in Embodiment 1 includes a plurality of flow sensors S (first flow sensor Sa, second flow sensor Sb, third flow sensor Sc) that measure the flow rate of negative pressure air flowing through each of the plurality of nozzles N, and a determination unit 16c that determines whether the nozzle N has succeeded in adsorbing the component BH based on the flow rate of negative pressure air measured by these flow sensors S. The operation control unit 16a performs valve control in steps ST3 and ST4 when the determination unit 16c determines that the nozzle N has failed to adsorb the component BH (step ST7 → step ST8 → step ST9 → step ST3 and step ST4). Therefore, when adsorbing a component BH whose correspondence relationship is predetermined by the corresponding data LD, even if air leakage occurs and adsorption of the component BH fails due to poor conditions such as the condition of the lower end of the nozzle N or the surface condition of the component BH (for example, not being flat), the possibility of adsorbing the component BH can be increased by increasing the flow rate and thus increasing the adsorption force.

[0054] (Embodiment 2) Next, Embodiment 2 of the present disclosure will be described. The component mounting device 10 of Embodiment 2 is substantially the same as the component mounting device 10 of Embodiment 1, but unlike Embodiment 1, it does not have correspondence data LD which records the correspondence between the component BH to be adsorbed and the magnitude of the adsorption force required to adsorb the component BH. Instead, it attempts to adsorb the component BH with a small adsorption force first, and then the nozzle N determines whether the adsorption of the component BH has been successful based on the flow rate of negative pressure air measured by the flow rate sensor S. If the nozzle N determines that it has failed to adsorb the component BH as a result of this determination, it increases the flow rate to increase the adsorption force and attempts to adsorb the component BH again.

[0055] Figure 11 is a flowchart showing the flow of the component suction operation of component BH performed by the component mounting device 10 in Embodiment 2. In Embodiment 2, the operation control unit 16a first controls the head moving mechanism 14 to move the nozzle N that is to be used to suction component BH (the usable nozzle N) above the component BH supplied by the component supply unit 12 (step ST11). Once the mounting head 13 is positioned above the component supply unit 12, the operation control unit 16a positions the usable nozzle N above the component BH to be supplied. Then, by operating the lifting unit 13L, the nozzle N that is to be used to suction component BH is lowered, and the control valve V corresponding to that nozzle N is positioned in the negative pressure air supply position, generating a suction force at the lower end of the nozzle N to suction component BH, and then the nozzle N is raised to pick up the component BH (step ST12).

[0056] After picking up the part BH in step ST12, the operation control unit 16a determines whether the nozzle N has successfully picked up the part BH based on the flow rate of negative air detected by the flow sensor S connected to the nozzle N that picked up the part BH (step ST13). If the determination unit 16c determines that the nozzle N has successfully picked up the part BH ("Y" in step ST14), the operation control unit 16a terminates the nozzle N's operation to pick up the part BH.

[0057] On the other hand, in step ST13, if the determination unit 16c determines that the nozzle N has failed to pick up the part BH ("N" in step ST14), the operation control unit 16a determines whether the current suction force of the nozzle N is at its maximum (step ST15). If it determines that the current suction force of the nozzle N is at its maximum ("Y" in step ST15), the part BH cannot be picked up, so the operation control unit 16a notifies the operator of the error via the touch panel 16T (step ST16) and terminates the nozzle N's operation to pick up the part BH.

[0058] On the other hand, if the operation control unit 16a determines in step ST15 that the current suction force of nozzle N is not at its maximum ("N" in step ST15), it sets the communication passage opening valve RV to the open position and opens the communication passage RL, thereby connecting the negative pressure first pipeline NL1 and the negative pressure second pipeline NL2 (step ST17). It also controls the control valve V to close the shaft pipeline 22 connected to the unusable nozzle N, thereby increasing the flow rate of nozzle N and increasing the suction force (step ST18).

[0059] Specifically, to increase the suction force of nozzle N to "normal level × 1.5", the third shaft internal conduit 22c connected to the unusable third nozzle Nc is closed by the third control valve Vc, based on the valve operation correspondence table TT in Figure 5 (Figure 6). As a result, the first nozzle Na and the second nozzle Nb generate an suction force approximately 1.5 times greater than the normal level, making it possible to adsorb the part BH to be adsorbed by either the first nozzle Na or the second nozzle Nb.

[0060] Furthermore, when increasing the suction force of nozzle N to "normal level x 3", the first shaft internal conduit 22a and the second shaft internal conduit 22b, which are connected to the first nozzle Na and the second nozzle Nb and become unusable, are closed by the first control valve Va and the second control valve Vb, respectively, based on the valve operation correspondence table TT in Figure 5 (Figure 7). As a result, the third nozzle Nc generates an suction force due to a flow rate increase of approximately three times the normal level, making it possible for the third nozzle Nc to adsorb the part BH that is to be adsorbed.

[0061] In step ST18, the operation control unit 16a controls the control valve V to block the shaft conduit 22 connected to the nozzle N that has become unusable, then returns to step ST12 and repeats the processes from step ST12 to step ST14. However, in the repeated step ST12, the nozzle N that is moved above the part BH to be picked up is changed to the newly available nozzle N. If it is determined that the nozzle N has failed to pick up the part BH in the repeated step ST14, the process proceeds to step ST15. If it is determined that the nozzle N has successfully picked up the part BH in the repeated step ST14, the nozzle N's picking up operation of the part BH is terminated.

[0062] Thus, in Embodiment 2, as in Embodiment 1, a negative pressure first pipeline NL1, a first nozzle (first nozzle Na and second nozzle Nb), a negative pressure second pipeline NL2, a second nozzle (third nozzle Nc), a control valve V (first control valve Va, second control valve Vb, third control valve Vc), a communication passage RL, and a communication passage opening / closing valve RV are provided. When the component BH is attracted to the nozzle N, the communication passage opening / closing valve RV is operated as needed to open the communication passage RL, and negative pressure air is directed to the first nozzle. By performing valve control (steps ST17 and ST18) to activate the control valve V so that it is not supplied to one of the two nozzles (first nozzle Na and second nozzle Nb) and the second nozzle (third nozzle Nc), the flow of negative pressure air is switched so that the negative pressure air is concentrated in the other of the two nozzles, thereby increasing the adsorption force due to the increased flow rate generated in the other nozzle N. Thus, the same effects as the component mounting device 10 (and component mounting method) in Embodiment 1 can be obtained.

[0063] The embodiments of this disclosure are described above, and include the following technologies (component mounting devices and component suction mechanisms).

[0064] (Item 1) A negative pressure first pipeline (negative pressure first pipeline NL1) supplied with negative pressure air from a negative pressure air source (negative pressure air source NP), a first nozzle (first nozzle Na and second nozzle Nb) supplied with negative pressure air through the negative pressure first pipeline, a negative pressure second pipeline (negative pressure second pipeline NL2) supplied with negative pressure air from the negative pressure air source, a second nozzle (third nozzle Nc) supplied with negative pressure air through the negative pressure second pipeline, a control valve (control valve V) that controls the flow of negative pressure air supplied to the first nozzle and the second nozzle, a communication passage (communication passage RL) connecting the negative pressure first pipeline and the negative pressure second pipeline, and opening the communication passage A component adsorption device (component mounting device 10) comprises a connecting passage opening / closing valve (connecting passage opening / closing valve RV) that closes the connecting passage, and a control unit (operation control unit 16a) that controls the control valve and the connecting passage opening / closing valve, wherein the control unit operates the connecting passage opening / closing valve so that the connecting passage is opened and operates the control valve so that negative pressure air is not supplied to one of the first nozzle and the second nozzle, thereby switching the flow of negative pressure air so that the negative pressure air is concentrated on the other of the first nozzle and the second nozzle, and increasing the adsorption force generated on the other nozzle.

[0065] In the technology described in item 1, instead of rendering some nozzles unusable by preventing them from receiving negative pressure air from the negative pressure air source, the negative pressure air is concentrated on other nozzles, increasing the suction force of those nozzles beyond the normal level. In other words, instead of rendering some nozzles unusable by preventing them from receiving negative pressure air from the negative pressure air source, the negative pressure air is concentrated on other nozzles, increasing the suction force of those nozzles by increasing their flow rate. As a result, even heavy parts can be attracted to the nozzles, improving the productivity of the parts mounting device.

[0066] (Item 2) The component mounting device according to Item 1, comprising a storage unit (storage unit 16b) that stores correspondence data (corresponding data LD) which records the correspondence between the component to be adsorbed, the magnitude of the adsorption force required to adsorb that component, and the state of the communication passage opening / closing valve and the control valve necessary to generate that magnitude of adsorption force, wherein the control unit performs valve control when it detects that an increased adsorption force is required to adsorb the component to be adsorbed by the nozzle.

[0067] According to the technology described in item 2, for parts whose correspondence relationships are predetermined by corresponding data, the suction operation of the parts can be performed smoothly by referring to that corresponding data, thereby improving work efficiency.

[0068] (Item 3) A component mounting device according to Item 1 or 2, comprising: a plurality of flow sensors (flow sensors S) for measuring the flow rate of negative pressure air flowing through each of the plurality of nozzles; and a determination unit (determination unit 16c) for determining whether the nozzles have succeeded in adsorbing a component based on the flow rate of negative pressure air measured by the flow sensors, wherein the control unit performs valve control when the determination unit determines that the nozzles have failed to adsorb a component.

[0069] According to the technology in item 3, even for parts whose correspondence relationship is predetermined by corresponding data, if air leakage occurs due to the condition of the lower end of the nozzle or the surface condition of the part, resulting in failure to adsorb part BH, it becomes possible to adsorb the part by increasing the flow rate and thus increasing the adsorption force.

[0070] (Item 4) A control method for a component mounting device comprising: a first negative pressure pipeline supplied with negative pressure air from a negative pressure air source; a first nozzle supplied with negative pressure air through the first negative pressure pipeline; a second negative pressure pipeline supplied with negative pressure air from the negative pressure air source; a second nozzle supplied with negative pressure air through the second negative pressure pipeline; a control valve for controlling the flow of negative pressure air supplied to the first nozzle and the second nozzle; a connecting passage connecting the first negative pressure pipeline and the second negative pressure pipeline; and a connecting passage opening / closing valve for opening and closing the connecting passage, wherein the control method involves operating the connecting passage opening / closing valve to open the connecting passage and operating the control valve to prevent negative pressure air from being supplied to one of the first nozzle and the second nozzle, thereby switching the flow of negative pressure air so that the negative pressure air is concentrated on the other of the first nozzle and the second nozzle, and increasing the adsorption force generated at the other nozzle.

[0071] According to the technology in item 4, similar to the component mounting device in item 1, instead of rendering some nozzles unusable by preventing the negative pressure air supplied from the negative pressure air source from reaching them, the negative pressure air is concentrated on other nozzles, increasing the suction force of those nozzles beyond the normal level. As a result, even heavy components or components with distorted suction surfaces that cause air leaks can be attracted to the nozzles, thereby improving the productivity of the component mounting device.

[0072] While embodiments of the present disclosure have been described above, the technology of the present disclosure is not limited to those described above, and various modifications are possible. For example, in the above-described embodiment, there were three nozzles N, but it is sufficient to have a first nozzle to which negative pressure air is supplied through a negative pressure first pipeline and a second nozzle to which negative pressure air is supplied through a negative pressure second pipeline, and the number of nozzles N can be as few as two.

[0073] In the above-described embodiment, there were two negative pressure pipelines extending from the negative pressure air source (a first negative pressure pipeline NL1 and a second negative pressure pipeline NL2), with one connecting passage RL between them. However, any configuration having these two negative pressure pipelines and one connecting passage RL between them is included in the scope of this disclosure.

[0074] This application is based on Japanese Patent Application No. 2025-010797 filed on January 24, 2025, and its contents are incorporated herein by reference.

[0075] The present invention provides a component mounting device and a control method for the component mounting device that can increase the suction force by increasing the flow rate generated at the nozzle without increasing the size of the negative pressure air source.

[0076] 10 Component mounting device 11 Substrate positioning unit 12 Component supply unit 13 Mounting head 14 Head movement mechanism 15 Pneumatic circuit 16 Control device 16a Operation control unit (control unit) 16b Memory unit 16c Judgment unit 21 Lifting shaft 21a First lifting shaft 21b Second lifting shaft 21c Third lifting shaft 22 Shaft internal conduit 22a First shaft internal conduit 22b Second shaft internal conduit 22c Third shaft internal conduit 23 External conduit 23a First external conduit 23b Second external conduit 23c Third external conduit NP Negative pressure air source PP Positive pressure air source NL1 Negative pressure first conduit NL11 Negative pressure first branch conduit NL12 Negative pressure second branch conduit NL2 Negative pressure second conduit PL1 Positive pressure 1st pipeline PL11 Positive pressure 1st branch pipeline PL12 Positive pressure 2nd branch pipeline PL2 Positive pressure 2nd pipeline N Nozzle NT Nozzle internal pipeline Na 1st nozzle (1st nozzle) Nb 2nd nozzle (1st nozzle) Nc 3rd nozzle (2nd nozzle) V Control valve Va 1st control valve Vb 2nd control valve Vc 3rd control valve RV Connecting passage opening / closing valve S Flow sensor Sa 1st flow sensor Sb 2nd flow sensor Sc 3rd flow sensor TT Valve operation correspondence table LD Corresponding data

Claims

1. A component mounting device comprising: a first negative pressure pipeline supplied with negative pressure air from a negative pressure air source; a first nozzle supplied with negative pressure air through the first negative pressure pipeline; a second negative pressure pipeline supplied with negative pressure air from the negative pressure air source; a second nozzle supplied with negative pressure air through the second negative pressure pipeline; a control valve for controlling the flow of negative pressure air supplied to the first nozzle and the second nozzle; a connecting passage connecting the first negative pressure pipeline and the second negative pressure pipeline; a connecting passage opening / closing valve for opening and closing the connecting passage; and a control unit for controlling the control valve and the connecting passage opening / closing valve, wherein the control unit operates the connecting passage opening / closing valve to open the connecting passage and operates the control valve to prevent negative pressure air from being supplied to one of the first nozzle and the second nozzle, thereby switching the flow of negative pressure air so that it concentrates on the other of the first nozzle and the second nozzle, and increasing the adsorption force generated at the other nozzle.

2. The component mounting device according to claim 1, comprising a storage unit that stores correspondence data recording the relationship between a component to be adsorbed, the magnitude of the adsorption force required to adsorb that component, and the state of the communication passage opening / closing valve and the control valve necessary to generate that magnitude of adsorption force, wherein the control unit performs valve control when it detects that an increased adsorption force is required to adsorb the component to be adsorbed by the nozzle.

3. The component mounting device according to claim 1 or 2, further comprising: a plurality of flow sensors for measuring the flow rate of negative pressure air flowing through each of the plurality of nozzles; and a determination unit for determining whether the nozzles have succeeded in adsorbing a component based on the flow rate of negative pressure air measured by the flow sensors, wherein the control unit performs valve control when the determination unit determines that the nozzles have failed to adsorb a component.

4. A control method for a component mounting device comprising: a first negative pressure pipeline supplied with negative pressure air from a negative pressure air source; a first nozzle supplied with negative pressure air through the first negative pressure pipeline; a second negative pressure pipeline supplied with negative pressure air from the negative pressure air source; a second nozzle supplied with negative pressure air through the second negative pressure pipeline; a control valve for controlling the flow of negative pressure air supplied to the first nozzle and the second nozzle; a connecting passage connecting the first negative pressure pipeline and the second negative pressure pipeline; and a connecting passage opening / closing valve for opening and closing the connecting passage, wherein the control method involves operating the connecting passage opening / closing valve to open the connecting passage and operating the control valve to prevent negative pressure air from being supplied to one of the first nozzle and the second nozzle, thereby switching the flow of negative pressure air so that it concentrates on the other of the first nozzle and the second nozzle, and increasing the adsorption force generated at the other nozzle.

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