JP2003283196A - Mounting system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mounting system in which the degree of freedom is enhanced in the arrangement of a board backup mechanism and the board can be supported at a plurality of close points on the lower surface. <P>SOLUTION: The board backup mechanism 130 of the mounting system disposed on a pushup plate 122 in order to support a printed board P from below comprises a pushup pin 133 for supporting the printed board P from below, a block 131 provided with a plurality of holes 134 in the surface and the pushup pin 133 is inserted into at least one of the plurality of holes 134, and a magnet 132 disposed on the bottom part of the block 131 in order to secure the block 131 at an arbitrary position on the surface of the pushup plate 122 by magnetic force. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mounting machine for mounting components on a board.

[0002]

2. Description of the Related Art In recent years, chip parts (resistors, capacitors, coils, etc.) and ICs (In
Various mounting machines for mounting and mounting integrated circuits) have been developed.

Further, in recent years, a board on which a component is mounted by a mounting machine is miniaturized, and moreover, a mounting density of the component is increased, so that a board guide of a carrier rail of a mounting machine on which both ends of the board are mounted is mounted. There is a need to reduce the width of parts (belts, pulleys, etc.) as much as possible, or to increase the degree of freedom in the mounting position of the substrate support mechanism that supports the substrate from below with respect to the substrate support base.

For example, as a conventional substrate supporting mechanism in which the degree of freedom of a mounting position with respect to a substrate supporting base is improved, Japanese Patent Laid-Open No. 11-1999 has been proposed.
No. 195899 (FIG. 4), a longitudinal support plate, a bolt as a fixing member for fixing to a substrate support table provided at one end of the support plate, and the other end of the support plate,
It is disclosed that a substrate support pin is provided which is rotatable about the bolt in the length of the support plate in the longitudinal direction.

In this substrate support mechanism, the substrate support position can be changed by changing the position of the substrate support pin within the rotation range of the support plate around the bolt.

[0006]

However, in the case of such a conventional substrate supporting mechanism, although it has a high degree of freedom as one mechanism, it is not suitable for a small substrate because the mechanism itself is large. There is a problem that it cannot be used when it is desired to support a plurality of positions on the lower surface of the substrate at positions close to each other.

The present invention has been made to solve such a problem, and an object of the present invention is to provide a mounting machine which has a high degree of freedom in arranging a substrate supporting mechanism and can support a plurality of positions on the lower surface of a substrate which are close to each other. To do.

[0008]

In order to solve the above problems, a mounting machine according to the present invention is a mounting machine for mounting a component by supporting a substrate from below by a substrate supporting mechanism arranged on a metal plate, The substrate support mechanism, a support member for supporting the substrate from below, a plurality of holes on the surface, a block member in which the support member is inserted into at least one of the plurality of holes, A position fixing member that is disposed at the bottom of the block member and that fixes the block member by magnetic force at an arbitrary position on the surface of the metal plate is provided.

A mounting machine according to the present invention is a mounting machine which supports a substrate from below and mounts components on the substrate with the upper surface of the substrate as a reference, and a stopper arranged above a surface on which the substrate is placed. A supporting portion that supports the substrate from below, a plate blocking portion that is located below the supporting portion and that can move up and down together with the supporting portion, and a metal plate that is vertically movable below the plate blocking portion, Elevating means for raising the metal plate until the substrate supported by the supporting portion contacts the stopper, and magnetically fixed at an arbitrary position on the surface of the metal plate immediately below the substrate and elevated by the elevating means. And a substrate support mechanism provided at a height at which the metal plate comes into contact with the lower surface of the substrate at a position where the metal plate comes into contact with the plate blocking portion.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 1 to 4 are configuration diagrams schematically showing a mounting machine according to an embodiment of the present invention.
Is a perspective view of the mounting machine of this embodiment, FIG. 2 is a plan view thereof,
3 is a side view of the mounting machine viewed from the X direction, and FIG. 4 is a side view of the mounting machine viewed from the Y direction.

As shown in FIGS. 1 to 4, this mounting machine includes a base 11, X-direction guide rails 12a and 12b,
Substrate conveyor 13 which is a belt conveyor, its belt 1
3a, 13b, X direction engaging member 14, X direction servo motor 15, X direction encoder 16, X direction feed screw 17,
X-direction feed screw receiver 18, fixed camera lighting device 19,
Fixed camera 20, feeder bank 21, tape feeder 22, head unit 23, suction head 24, Y-direction frame 25, Y-direction guide rails 26a, 26b, Y
Direction servo motor 27, Y direction encoder 28, Y direction feed screw 29, Y direction feed screw receiver 30, moving camera 3
1, a nozzle housing 32 for replacement, a timing belt 8 for varying the conveyor width, a variable stroke conveyor unit 10 having pulleys 9a, 9b, etc. are provided.

The X direction means a first direction in which the printed circuit board P is conveyed, and the Y direction means a second direction intersecting with the X direction. In the case of this example, the first direction and the second direction are orthogonal to each other, but they do not necessarily intersect at 90 °, and may be, for example, 80 °. If the first direction and the second direction intersect, the component can be mounted. Each tape feeder 22 has a component suction point 22a.

The base 11 is provided with a recess 11a. The recessed portion 11a is connected to the other machine having the same shape as that of the machine in a facing and / or the same direction, and when the belts 13a, 13 of the respective substrate conveyors 13 are arranged so as to be in a straight line, This is to prevent the tape feeder 22 set (mounted) in the feeder bank 21 of the machine from coming into contact with other machines even if it protrudes from the base portion of the machine itself.

On the base 11, a variable stroke conveyor unit 10 as a substrate transfer unit for holding the printed circuit board P in a horizontal posture and moving it in the X direction, and a moving mechanism therefor are provided. ing.

As shown in FIG. 4, the variable stroke conveyor unit 10 includes a replacement nozzle housing 32 (see FIG.
3), a lifting mechanism 120, a clamp mechanism 110, a substrate backup mechanism 130, a belt driving mechanism for the substrate conveyor 13, a conveyor width varying mechanism, and the like.
Variable stroke conveyor unit 1 including these mechanisms
The entire 0 is movable in the X direction with respect to the base 11. The description of each mechanism will be given later with reference to FIG.

As the moving range of the variable stroke conveyor unit 10 on the base 11, on the loading side in the X direction,
Belt 13 on variable stroke conveyor unit 10
The ends of a and 13b can be moved to a position where they project from the end of the base 11 by about 50 mm (in the direction of the dashed line arrow Xi). Further, on the unloading side in the X direction, the ends of the belts 13a and 13b on the variable stroke conveyor unit 10 can be moved to a position where they project from the end of the base 11 by about 250 mm (in the direction of the two-dot chain line arrow Xo). .

The variable stroke conveyor unit 10 is
For example, it is engaged with the X-direction feed screw 17 via the X-direction engagement member 14 formed of a nut member. The X-direction engaging member 14 is fixed to the variable stroke conveyor unit 10. The X-direction feed screw 17 is the X-direction servomotor 1
5 and the X-direction feed screw receiver 18 are installed, and X
The direction servomotor 15 rotates a predetermined amount, whereby the variable stroke conveyor unit 10 connected to the X direction engaging member 14 is moved in the X direction. The X-direction encoder 16 constitutes an X-axis servo device together with the X-direction servomotor 15, and functions as a sensor and an actuator as a servo device, respectively.

The variable stroke conveyor unit 1
0 means that the load is supported and the movement is smooth,
It moves in the X-direction on a pair of X-direction guide rails 12a and 12b provided in parallel with each other in the X-direction.
Further, the variable stroke conveyor unit 10 has a pair of belts 13a, 13a of the substrate conveyor 13 on the upper portion thereof.
b are provided so as to extend in the X direction and rotate in parallel with each other. The board conveyer 13 is for carrying out the printed board P1 on which components are mounted and for loading the printed board P2 on which new components are to be mounted. The printed board P is moved by the belts 13a and 13b which move in the X direction. It is conveyed in the X direction on the unit 10.

The printed circuit board P whose conveyance is stopped on the circuit board conveyor 13 is the variable stroke conveyor unit 1
With the lower surface supported by the substrate backup mechanism 130 provided at 0, it is raised by the elevating mechanism 120 and fixed to the variable stroke conveyor unit 10 itself by the clamp mechanism 110 at a predetermined position. Then, after the component is mounted on the surface of the printed circuit board P by the suction head 24, it is lowered to the original position by the elevating mechanism 120 and the clamp for mounting by moving the variable stroke conveyor unit 10 and driving the substrate conveyor 13. It is carried out from the position and sent to the next process. The variable stroke conveyor unit 10 may be moved together with the lowering operation of the elevating mechanism 120. The board conveyors 13a and 13b
In the X direction, it is integrated with the variable stroke conveyor 10, and by moving the substrate moving table 10 in the X direction, the end position for loading or unloading the printed circuit board P can be changed. . The maximum allowable movement width of the board conveyors 13a and 13b in the X direction is within a range where there is no interference with the surroundings of the mounting machine on which the mounting machine is installed, and
It is determined by the length of the direction guide rails 12a and 12b in the X direction. If the printed circuit board P has a length in the X direction that is slightly larger than the maximum allowable movement width and is equal to or less than the maximum allowable length, mounting is possible.

The base 11 is provided with a conveyor width adjusting mechanism capable of moving the widths of the belts 13a and 13b of the board conveyor 13 in the Y direction in accordance with the width of the printed board P.

That is, one belt of the substrate conveyor 13, for example, the support portion of the belt 13a is connected to the conveyor width changing timing belt 8 spanning in the Y direction between the pulleys 9a and 9b at both ends in the Y direction. . Then, the timing belt 8 is rotated and moved by a motor (not shown) so that the belt 13a and the belt 13a
The distance from the belt 13b opposed to is variable (the illustrated state is the case where the maximum width is set).

In the conveyor width changing mechanism of this example, one belt 13a side of the board conveyor 13 is moved, but in addition to this, both board conveyors 13a and 13b may be moved. In this embodiment, in order to reduce the takt time by setting the distance between the tape feeder 22 as the component supply unit and the printed circuit board P as short as possible, the substrate conveyor 1 on the opposite side of the tape feeder 22 is set.
The belt 13a side of No. 3 is moved.

Further, as shown in the figure, the variable stroke conveyor unit 10 (the belt 13 of the substrate conveyor 13)
a, 13b) A head unit moving mechanism including the Y-direction frame 25 is present so as to cross (span) above and extend this direction downward in the Y direction of FIG. This Y-direction frame 25 of the head unit moving mechanism
Is supported by the base 11, and the tape feeder 22
A head unit 23 for mounting the components picked up from on the printed circuit board P is mounted movably in the Y direction.

A pair of Y-direction guide rails 26a and 26b are provided on the upper portion of the Y-direction frame 25 in parallel with each other.
The movements in the Y direction are guided by a and 26b. Further, the head unit 23 is engaged with a Y-direction feed screw 29, which is arranged in the Y-direction frame in the Y-direction frame, by an engaging member (not shown), and the feed screw 29 is rotated by a required amount. Thus, it moves in the Y direction by a predetermined amount via the engaging member.

The Y-direction feed screw 29 is installed between the Y-direction servomotor 27 provided on the side closer to the variable stroke conveyor unit 10 and the Y-direction feed screw receiver 30 provided on the opposite side. ing. Further, the Y-direction encoder 28 constitutes a Y-axis servo device 44 together with the Y-direction servo motor 27, and functions as a sensor and an actuator as a servo device, respectively.

The Y-direction servomotor 27 can be provided at the end of the Y-direction feed screw 29 on the side closer to the tape feeder 22. In this embodiment, in consideration of the actual operating state, for example, in order to replace the tape feeder 22, in the X direction, the front side of the X direction encoder 16 in FIG. 1 and FIG. 1, the side where the Y-direction feed screw receiver 30 is located is the working space for the operator. Therefore, in order to improve the workability of the operator by avoiding the projecting shape of the device on these sides, the above arrangement is provided. I have to. As a result, a compact outer shape is realized in the X direction and the Y direction as a whole.

The head unit 23 includes the Y-direction frame 2
The suction head 24 is guided and moved as described above by the mechanism on the fifth side, and the suction head 24 directly moves in the vertical direction (Z direction) between the component suction point 22a of the tape feeder 22 serving as the component supply unit and the printed circuit board P. 2 and 4, the suction head 24 has a shape protruding from the head unit 23 to the left so as to be able to go back and forth. Such an overhanging shape makes it easy to secure a space around the suction head 23 when the head unit 23, particularly the suction head 24 thereof, is maintained in the working space described above, and the head unit 23 should be removed from the machine body. Instead, only the individual suction heads 23 are easily attached and detached.

In this embodiment, four (at least one) suction heads 24 are arranged in a line in the Y direction on the head unit 23, and one suction head 24 is detachably attached to each suction head 24. The lower ends of the four suction heads 24 can be independently moved up and down by an elevating mechanism composed of a motor (not shown) and a gear structure of a rack and pinion. Further, each of the four suction heads 24 is individually equipped with a motor for driving the R-axis, and the rotational force is transmitted to the straight spline shaft of each suction head 24 by a pulley and a belt to rotate the shaft (R Direction). Further, at the time of component suction, negative pressure (suction force) is supplied from a negative pressure supply means (not shown) to suction nozzles that are detachably attached to the lower ends of the suction heads 24. This suction force allows the suction nozzle to suck the component.
A moving camera 31 is attached to the head unit 23. This moving camera 31 is mounted on the printed circuit board P from above.
This is for recognizing the presence and accurate position of the printed circuit board P by capturing an image of (especially the fiducial mark printed there). Further, it is possible to recognize the storage state of the suction nozzle in the replacement nozzle storage portion 32, which will be described later.

The X-direction coordinates of each of the component suction points 22a of the tape feeder 22 are made to coincide with the X-direction coordinates of the suction head 24. As a result, when the head unit 23 exists on the side of the tape feeder 22 that is the component supply unit on the Y-direction frame 25 (the state shown in the drawing), the head unit 23 moves in the Y-direction so that it is below the predetermined suction head 24. The component suction point 22a can be located. In this state, the individual suction heads 24 are moved up and down to pick up and pick up predetermined parts.

A plurality of suction nozzles to be attached to the tip of the suction head 24 are stored in the holes arranged in a line in the replacement nozzle storage portion 32 attached to the variable stroke conveyor unit 10.

The operation of exchanging the suction nozzle between the suction head 24 and the replacement nozzle housing 32 will be described below. When exchanging the suction nozzle between the suction head 24 and the replacement nozzle housing 32, first, each suction head 2
Among the four nozzles, the one for which the nozzle is to be replaced is aligned with the vacant seat position of the replacement nozzle housing 32 in which the suction nozzle is to be housed.

To this end, the variable stroke conveyor unit 10 is moved to a predetermined position in the X direction together with the replacement nozzle housing 32, and the head unit 23 is moved in the Y direction.
Is moved to a predetermined position.

Next, the suction head 24 whose nozzle is to be replaced is lowered and the suction nozzle is thrust into the empty seat position of the replacement nozzle housing 32. Here, the shutter (not shown) of the replacement nozzle housing 32 is moved in the horizontal direction to engage with the suction nozzle. In this state, the suction head 24 is lifted to release the engagement between the suction head 24 and the suction nozzle by a notch mechanism (not shown), and the suction nozzle is removed from the suction head 24 while being held in the replacement nozzle housing 32. be able to. When the suction head 24 is raised, the shutter is moved to the original position, so that the suction nozzles can be taken in and out at all the nozzle storage positions of the replacement nozzle storage portion 32 without interfering with the shutter.

Next, the suction head 24 is aligned with the replacement nozzle storage portion 32 in which the suction nozzle to be newly mounted is stored. For this purpose, the variable stroke conveyor unit 10 is moved to a predetermined position in the X direction together with the replacement nozzle housing 32. Since the current position can be applied as it is to the Y direction, it does not need to be newly moved.

Then, the suction head 24 from which the suction nozzle has been removed is lowered to the position of the suction nozzle to be mounted in the replacement nozzle housing 32. As a result, a notch mechanism (not shown) is engaged between the suction head 24 and the suction nozzle.

When the notch mechanism is engaged, the suction head 24 is raised. With this, the suction head 2
In No. 4, the suction nozzle is mounted, and a new empty seat is created in the replacement nozzle housing 32. As described above, the suction nozzle 24a can be replaced.

The fixed camera 20 has its image pickup direction directed from the lower side to the upper side, and the X-direction coordinate of the optical axis thereof substantially coincides with the X-direction coordinate of the suction head 24. Thereby, when the position (Y direction) of the head unit 23 is at the position 23a in FIGS. 2 and 3, the fixed camera 20 images the component sucked from below.
This imaging operation is for recognizing the detailed position / orientation of the sucked component, and the position correction amount when the component is mounted on the printed circuit board P can be calculated from the image data captured by the fixed camera 20. Calculate and realize highly accurate implementation. In addition, the mounting history of the suction nozzles on the suction head 24 is managed by the control device 50, which will be described later, based on the imaged data. An illumination device 19 for the fixed camera is provided above the fixed camera 20 to improve the illumination condition of the component sucked by the suction head 24.

As described above, in this embodiment, the optical axis of the fixed camera 20 exists substantially on the extension of the arrangement of the component suction points 22a (see FIG. 1).
Line L). As a result, the head unit 23
By moving in the Y direction, it is possible to smoothly pick up and image parts. Further, if the fixed camera 20 is a line camera and the line disposing direction is the X direction, it is possible to image the adsorbed parts by passing the fixed camera 20 without stopping the movement of the head unit 23 in the Y direction. Therefore, the takt time is further shortened. The fixed camera 20 has a line sensor in which the arrangement lines of photoelectric conversion elements are aligned in the left-right direction, and when the picked-up parts pass across this arrangement line, the passing movement is stopped. Images and recognizes the parts.

The head unit 23, which has picked up and picked up the components as described above, extends the movement of the head unit 23 so as to extend on the printed circuit board P (for example, 2 in the figure).
3b). The Y direction is positioned by a servo device such as the Y direction servo motor 27, and the X direction is positioned by a servo device such as the X direction servo motor 15. Then, in this state, each suction head 24 can be moved up and down to mount a predetermined component on a predetermined position on the printed board P.

As described above, the Y-direction frame 25
A variable stroke conveyor unit 10 that is movable in the X direction is provided below, and a fixed camera 2 that captures an image from above to below.
0, the component suction points 22a are arranged in the Y direction.
Arranged in the direction. With such an arrangement, the movement of the head unit 23 can be performed efficiently and an efficient operation can be obtained.

Details of each mechanism of the variable stroke conveyor unit 10 will be described with reference to FIGS. 5 to 8. 5 is a configuration diagram of the variable stroke conveyor unit 10, FIG. 6 is a diagram showing a push-up pin of a substrate backup mechanism in the variable stroke conveyor unit 10, and FIG. 7A is a plan view of a block into which the push-up pin is inserted. 7B is a side view of the block into which the push-up pin is inserted, and FIG. 8 is an enlarged view showing the clamp mechanism 110 in the variable stroke conveyor unit 10 in detail. Of the two printed boards P1 and P2 shown in FIG. 5, the printed board P1 is assumed to be the board at the board fixing position, and the printed board P2 is the board to be carried in and out before and after component mounting. And Further, since FIG. 6 is a diagram of only the right side when viewed from the X direction, the belt 13b is visible and the belt 13a is hidden, so the belt 13b (13a) is used in the description.

The variable stroke conveyor unit 10 movably mounted on the base 11 is, as shown in FIG. 5, an elevating mechanism 120, a clamping mechanism 110, a substrate backup mechanism 130, a driving mechanism for the substrate conveyor 13, and a conveyor. Each mechanism such as a variable width mechanism is provided.

The elevating mechanism 120 includes an elevating cylinder 121 as elevating means, a push-up plate 122 as a metal plate, a support shaft 123, a lever member 125,
It is a mechanism that has a link mechanism including a rotation shaft 124 and the like, and raises and lowers the printed circuit board P1 while holding its horizontal posture before and after mounting components. The lifting cylinder 121 is an air-type lifting device that moves the push-up plate 122 up and down.

The rotating shaft 124 is the push-up plate 1
It supports the bottoms on both sides of 22. The push-up plate 122 is supported by an elevating cylinder 121 at a substantially central portion of its bottom, and is pushed up and pulled down as the elevating cylinder 121 moves up and down.

The link mechanism is the push-up plate 1
Two mechanisms are abutted on the lower surface of 22 so as to move in the same manner, and as the lifting cylinder 121 moves up and down, the rotation shaft 124 rotates about the support shaft 123 in the direction of arrow C. The push-up plate 122 operates so as to keep horizontal during the ascent and descent.

The drive mechanism of the board conveyor 13 includes pulleys 52 and 53 and narrow belts 13b (13a) that are wound around pulleys 52 and 53 and pulleys 54 and 55, which are provided at both ends of the variable stroke conveyor unit 10 in the X direction. Motor 56
And have. The belt 13b is attached to the pulleys 54 and 55.
(13a) is hung in an S shape. The pulley 55 is
It is rotationally driven by the motor 56. When the motor 56 is driven to rotate, the belts 13a and 13b of the substrate conveyor 13
Moves along the path formed by the pulley group, and the printed circuit board P mounted on the belts 13a and 13b is moved.

The conveyor width changing mechanism is composed of pulleys 57, 5
8, a belt 59, a motor 60, etc., and the pulley 58 is driven by the motor 60 and the pulley 57 together with the belt 59.
Is rotated. That is, the driving force for varying the width of the substrate conveyor 13 according to the width of the printed circuit board P is transmitted through the motor 60, the pulley 58, the belt 59, the pulley 57, and then the pulleys 9a and 9b and the conveyor width variable. The conveyor width is varied by the timing belt 8 for use.

The substrate backup mechanism 130 is arranged on the upper surface of the push-up plate 122 of the elevating mechanism 120 and functions as a substrate supporting mechanism for supporting the printed circuit board P1 which is elevated and lowered by the elevating mechanism 120.

The board backup mechanism 130, as shown in FIGS. 6, 7A and 7B, is a printed board P1.
A push-up pin 133 as at least one exchangeable support member for supporting the push-up plate 122 from the lower surface, and a push-up pin 133 having a plurality of holes 134 on the surface and inserting the push-up pin 133 into a desired hole. 131 as a fixing member fixed by a magnetic force at the position (immediately below the area where the printed circuit board P1 needs to be supported).
And a magnet 132 (magnetic material) as a position fixing member for fixing the block 131 to an arbitrary position on the surface of the push-up plate 122 by magnetic force, which is fixed so as to be housed in a recess provided at the bottom of the block 131. ) And.

The push-up pin 133 is provided with a columnar main body 141 and an axially upper side of the main body 141 protruding smaller than the diameter of the main body 141, and the tip end 142a having a rounded substrate support 142. And the size of the block 13 is smaller than the diameter of the main body 141 on the axially lower side of the main body 141.
It has a block insertion part 143 which can be fitted into the first hole 134. A tip portion 143a of the block insertion portion 143 is tapered so that it can be easily inserted into the hole 134.

The surface of the block 131 has a plurality of holes 134.
Are arranged in a matrix. The hole 134 has a diameter of, for example, 5 mm, and the block insertion portion 142 has a thickness (diameter) of, for example, 4 mm. When the block insertion portion 143 of the push-up pin 133 is inserted into the hole 134 of the block 131, the entire push-up pin 133 does not wobble and the insertion is not tight. The distance between adjacent holes is, for example, about 10 mm in accordance with the board to be mounted.

The thickness (outer shape) of the block insertion portion 143 of the push-up pin 133 and the interval between the holes 134 of the block 131, etc. shown in this embodiment are merely examples, and the blocks may be arranged according to the board to be mounted. Insertion part 142
The width of the holes and the intervals of the holes 134 of the block 131 may be further narrowed or widened.

Since the block 131 of the substrate backup mechanism 130 is only fixed to the surface of the push-up plate 122 by the magnetic force of the magnet 132, it can be moved to a desired position on the surface of the push-up plate 122. .

The clamp mechanism 110 includes a guide plate 111 having a hook-shaped cross section which is fixed to the variable stroke conveyor unit 10 itself, belts 13a and 13b on which the printed circuit board P1 is placed, and the guide plate 1 of the elevating mechanism 120.
11, the substrate backup mechanism 130 and the like are implemented in cooperation.

More specifically, the clamp mechanism 11 will be described.
As shown in FIG. 8, 0 is a set of belts 13b (13a) for supporting and conveying both side edges of the printed circuit board P from below,
Guide plate 1 as a stopper (blocking member) arranged above the substrate mounting surface of each belt 13b (13a)
11 and a support portion 112 for supporting the lower surface of the belt 13b (13a), which hangs downward from the outside of the support portion 112 and protrudes inward below the support portion 112 and a plate mounting portion 113, respectively. A push-up plate 115 as a vertically movable frame body having a return hook 114 that is a placing portion, a push-up plate 122 movably placed on the return hook 114 of the push-up plate 115, and the push-up plate Plate 12
The board backup mechanism 130, which is arranged at an arbitrary position on the front surface of the second board 2 and supports the printed board P on its lower surface, and the push-up plate 122 is lifted until the upper surface of the printed board P contacts the guide plate 111. And a cylinder 121 for raising and lowering as a raising and lowering means for lowering to the original position of the return hook 114 after mounting the component. The plate blocking portion 113 is provided with a screw hole penetrating from the upper side to the lower side, and an adjusting bolt which is an adjusting member for adjusting the vertical movement interval (sandwiching stroke S) of the push-up plate 115 is provided in the screw hole. 116 is tightened. In this embodiment, the support portion 112 and the belt 13b
Although the printed circuit board P is supported by (13a), the belt 13b (13a) is not always necessary in the present application, and a member other than the belt may be interposed.

The thickness of the printed circuit board P is adjusted by rotating the adjusting bolt 116 once to adjust the distance T from the lower end of the adjusting bolt 116 to the substrate carrying height to match the height of the substrate backup mechanism 130. It is not necessary to change the height of the substrate backup mechanism 130 in accordance with the above. In this example, changing the height of the substrate backup mechanism 130 means reinserting backup pins of different heights into the block.

However, if there is a part or hole on the lower surface of the printed circuit board P directly above the push-up pin 133 of the board backup mechanism 130, the push-up pin 133 is provided in another hole of the block 131 so as to avoid it. 134
The substrate backup mechanism 130.
It is necessary to move itself on the surface of the push-up plate 122 and finely adjust the fixing position.

That is, the clamp mechanism 110 is configured so that the push-up plate 122 is moved by the lifting cylinder 121.
While being raised, after coming into contact with the lower end portion of the adjustment bolt 116 attached to the plate blocking portion 113 of the push-up plate 115, the push-up plate 115 as a whole is also belt 13.
The printed circuit board P1 is raised together with b (13a) by the sandwiching stroke S to sandwich and fix the printed circuit board P1 between the belt 13b (13a) and the guide plate 111 fixed to the variable stroke conveyor unit 10. The lifting cylinder 121 also serves as a clamping cylinder.

As a result, in the mounting machine that mounts components with the upper surface of the printed circuit board P as a reference position, it is not necessary to change the height of the substrate backup mechanism 130 according to the thickness of the printed circuit board P to be input, and it is possible to change the setting. The working time can be reduced and the operability of the mounting machine can be improved.

Next, the control system of the mounting machine will be described with reference to FIG. FIG. 9 is a block diagram showing the configuration of the control system of the mounting machine which is an embodiment of the present invention. In the figure, the same components as those already described are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 9, the control system of this mounting machine includes a fixed camera 20, a moving camera 31, an X-axis servo device 43, a Y-axis servo device 44, a head unit servo device 40, a control device 50, and the like. It is configured. The head unit servo device 40 includes a Z-axis servo device 41,
.., an R-axis servo device 42 and the like.

The control device 50 includes a central control unit 54, a storage unit 55 for that purpose, an image processing unit 52, and a storage unit 5 for that purpose.
3. It has an interface 51 with a servo device such as an X-axis servo device. The moving camera 31 is connected to the image processing unit 52 of the control device 50 as shown. The fixed camera 20 is also connected to the image processing section 52 of the control device 50 as shown in the figure. Interface 51
Is an X-axis servo device 43, a Y-axis servo device 44, a Z-axis servo device 41 of the head unit servo device 40, ...
The electric connection is made with the R-axis servo devices 42, .... The interface 51 outputs a servo control signal generated by processing by the integrated control unit 54 to the X-axis servo device 43, the Y-axis servo device 44, the head unit servo device 40, and the like, and also outputs these servo signals. An interface for inputting sensor outputs from the devices 43, 44, 40.

The X-axis servo device 43 includes an X-direction servo motor 15 that reciprocates the variable stroke conveyor unit 10 in the X direction. The Y-axis servo device 44 includes a Y-direction servo motor 27 that reciprocates the head unit 23 in the Y direction. The Z-axis servo device 41 includes a Z-direction servo motor 45 that vertically moves each suction head 24 of the head unit 23. The R-axis servo device 42 includes an R-direction servo motor 46 that rotates the shaft of the suction head 24. When the R-axis rotates, the direction of the component sucked by the suction nozzle attached to the tip of the suction head 24 is changed.

The integrated control section 54 includes an X-axis servo device 43,
Y-axis servo device 44, head unit servo device 4
0, the Z-axis servo device 41, the R-axis servo device 42, and the like, and the operation of the substrate transfer mechanism such as the variable stroke conveyor unit 10 including the substrate conveyor 13 are collectively controlled. Actually, it is composed of hardware such as a microprocessor and software such as a control program.

The storage unit 55 stores information necessary for the processing performed by the central control unit 54. Information is taken in and out from the central control unit 54 as needed. Image processing unit 5
2 processes the imaged data obtained by the mobile camera 31 and the fixed camera 20, recognizes the information contained in the imaged data, and supplies the information to the central control unit 35. The information to be recognized will be described later. The image processing unit 52
Also, in reality, it may be configured by hardware such as a microprocessor and software such as a control program. The storage unit 53 stores information necessary for the processing performed by the image processing unit 52. Information is taken in and out from the image processing unit 52 as needed.

Here, the operation of the mounting machine of this embodiment will be described. Situations for loading the printed circuit board P into the mounting machine include the case where the printed circuit board P is carried in from the mounting machine in the previous process of the mounting machine, the case where the printed circuit board P is carried in from the stocker, or the operator carries the printed circuit board P into the board conveyor 13. It may be placed on top of.

In this case, the overall control unit 54 of the control device 50
Is provided in the variable stroke conveyor unit 10 by controlling the X-axis servo device 43 to move the variable stroke conveyor unit 10 movably mounted on the base 11 in the X direction to the end on the substrate loading side in FIG. The printed circuit board P in an initial state is carried into the base 11 by driving the printed circuit board conveyor 13 that operates.

Subsequently, the integrated control unit 54 moves the printed circuit board P carried in on the base 11 side through the variable stroke conveyor unit 10 and / or drives the belt 13b (13a) of the circuit board conveyor 13 to mount the components. The substrate is moved to a position (substrate transfer position) immediately below.

Subsequently, the printed circuit board P moved to this position is raised by the elevating mechanism 120 provided in the variable stroke conveyor unit 10, and the printed circuit board P is further raised while being supported by the substrate backup mechanism 130 from below. Then, it is clamped by the clamp mechanism 110 and fixed at the reference position (height) for component mounting.

Then, while moving the head unit 23 in the Y direction, the variable stroke conveyor unit 10 is moved in the X direction to mount the component at a predetermined position on the surface of the printed circuit board P.

The printed board P on which the components are mounted is lowered to the original position of the belt surface of the board conveyor 13 (board transfer position) by the elevating mechanism 120.

When the printed circuit board P is lowered to this position,
The overall control unit 54 controls the X-axis servo device 43 to move the printed circuit board P to the variable stroke conveyor unit 10.
At least one of the substrate conveyor 13 and the substrate conveyor 13 is moved so that the substrate 11 can be brought into contact with the end of the base 11 on the substrate unloading side or the conveyor of the mounting machine in the next step, the entrance of the stocker, or an operator. Carry out to a position where you can take it.

As described above, according to the mounting machine of this embodiment, the substrate backup mechanism 130 of the variable stroke conveyor unit 10 is inserted into the hole 134 provided on the surface of the block 131, and the push-up pin 133 is inserted to the bottom portion of the block 131. The structure in which the block 131 is fixed to the push-up plate 122 by the magnetic force of the magnet 132 fixed to the substrate increases the degree of freedom for disposing the substrate backup mechanism 130.

Further, since a plurality of holes 134 are provided on the surface of the block 131 at predetermined intervals in a matrix,
By inserting the push-up pins 133 at the intervals of the holes 134, it is possible to support a plurality of close positions on the lower surface of the printed circuit board P.

Further, when the push-up plate 122 is raised and the printed circuit board P is clamped, the push-up plate 122 is restrained from rising by the plate blocking portion 113 of the push-up plate 115, and thereafter the entire push-up plate 115 is raised. Since the structure is adopted, the distance (stroke) from the push-up plate 122 to the printed circuit board P with respect to the rise of the push-up plate 122
Is constant, there is no need to change the height of the board backup mechanism 130 according to the thickness of the printed board P when changing the type of board, the work time for changing settings can be reduced, and the operability of the mounting machine can be reduced. Can be improved.

Further, by providing the plate blocking portion 113 with the adjuster bolt 116 for adjusting the sandwiching stroke S, the sandwiching stroke S can be finely adjusted with respect to the height of the substrate backup mechanism 130, and the substrate backup mechanism 130 can be individually adjusted. Differences and the like can be absorbed, the work time for setting change can be reduced, and the operability of the mounting machine can be improved.

The present invention is not limited to the above embodiment. In the above embodiment, the block 131
The outer shape of the is a substantially rectangular parallelepiped shape with chamfered corners, but may be a cylindrical shape or an elliptical shape. Further, the main body 141 of the push-up pin 133 may have a shape other than a cylindrical shape, such as a rectangular parallelepiped, an ellipse, or a rectangle. In the above embodiment, the magnet 132 is assumed to be a permanent magnet, but other than this, for example, a device whose magnetic force can be changed may be provided in the block 131. A plurality of holes may be provided in the push-up plate 122 at intervals equal to those of the block 131, and the block 131 may be attached and fixed to any one of these holes with a mounting bolt or the like. The holes of the push-up plate 122 and the holes of the block 131 may be used together, and push-up pins 133, which are higher than the height of the block 131, may be inserted into the push-up plate 122 to support a plurality of lower surfaces of the printed circuit board P. . In the mounting machines of all the above-described embodiments, a cover member (not shown) that covers each device on the base 11 is provided above the base 11 so as to be openable and closable, and each part can be serviced and inspected in the open state. At the same time, each part is protected from dust in the closed state. The variable stroke conveyor unit 10 is entirely covered with the cover member regardless of the position within the movable range.

[0078]

As described above, according to the present invention, the structure of the substrate supporting mechanism is fixed to the metal plate for raising and lowering the substrate by magnetic force by inserting the substrate supporting member into a block having a plurality of holes on the surface. By adopting the structure, it is possible to provide a mounting machine which has a high degree of freedom in arranging the board supporting mechanism and can support a plurality of positions on the lower surface of the board which are close to each other.

[Brief description of drawings]

FIG. 1 is an external perspective view of a mounting machine according to an embodiment of the present invention.

FIG. 2 is a plan view schematically showing the configuration of a mounting machine according to an embodiment of the present invention.

FIG. 3 is a side view in the X direction schematically showing the configuration of the mounting machine according to the embodiment of the present invention.

FIG. 4 is a side view in the Y direction schematically showing the configuration of the mounting machine according to the embodiment of the present invention.

FIG. 5 is a diagram showing a configuration of a variable stroke conveyor unit of this mounting machine.

FIG. 6 is a diagram showing a push-up pin of a substrate backup mechanism in the variable stroke conveyor unit.

FIG. 7A is a plan view of a block into which a push-up pin is inserted. (B) A side view of a block into which a push-up pin is inserted.

FIG. 8 is an enlarged view showing details of a clamp mechanism in the variable stroke conveyor unit.

FIG. 9 is a block diagram showing a configuration of a control system of this mounting machine.

[Explanation of symbols]

10 ... Variable stroke conveyor unit 11 ... Base
12a, 12b ... X-direction guide rail 13 ... Substrate conveyor 13a, 13b ... Belt 23 ... Head unit
24 ... Suction head 32 ... Replacement nozzle housing 110
... Clamping mechanism 111 ... Guide plate 112 ... Supporting part 113 ... Plate blocking part 114 ... Return hook 115 ... Push-up plate 116 ... Adjust bolt
120 ... Lifting mechanism 121 ... Lifting cylinder 122 ...
Push-up plate 130 ... Substrate backup mechanism 131 ... Block 132 ... Magnet 133 ...
Backup pin 141 ... Main body part 142 ... Block insertion part 143 ... Substrate support part

Continued front page    (72) Inventor Keika Muramatsu             Yamaha Motor, 2500 Shinkai, Iwata, Shizuoka Prefecture             Within the corporation (72) Inventor Mitsugu Akiyama             Yamaha Motor, 2500 Shinkai, Iwata, Shizuoka Prefecture             Within the corporation F term (reference) 5E313 AA01 AA11 CC01 DD12 DD13                       FF11

Claims (2)

[Claims] 1. A mounting machine for mounting a component by supporting a substrate from below by a substrate supporting mechanism arranged on a metal plate, wherein the substrate supporting mechanism includes a supporting member for supporting the substrate from below, and a surface. A block member having a plurality of holes formed therein, and the support member inserted in at least one of the plurality of holes; and a block member disposed at the bottom of the block member and arranged at an arbitrary position on the surface of the metal plate. A mounting machine comprising: a position fixing member for fixing the block member by magnetic force. 2. A mounting machine that supports a substrate from below and mounts components on the substrate with the upper surface of the substrate as a reference, and a stopper disposed above the surface on which the substrate is mounted, and the substrate from below. A supporting portion that supports, a plate blocking portion that is located below the supporting portion and can move up and down together with the supporting portion, a metal plate that is vertically movable below the plate blocking portion, and is supported by the supporting portion. Further, the elevating means for elevating the metal plate until the substrate comes into contact with the stopper, and the metal plate fixed by magnetic force at an arbitrary position immediately below the substrate on the surface of the metal plate, and the metal plate elevated by the elevating means is And a board supporting mechanism provided at a height where it abuts on the lower surface of the board at a position where it abuts on the plate blocking portion.