阅读说明：本技术 元件安装系统 (Component mounting system ) 是由 水野寿明 下坂贤司 伊部忠胜 于 2018-03-07 设计创作，主要内容包括：一种元件安装系统,具备：保持件,保持元件；移动装置,使保持件移动；检测传感器,检测保持于保持件的元件与基板的接触；及控制装置,选择性地执行第一安装作业和第二安装作业,在第一安装作业中,一边使用检测传感器对在安装预定位置是否有异物执行异物检测一边进行将保持于保持件的元件向基板安装的作业,在第二安装作业中,不进行异物检测而进行将保持于保持件的元件向基板安装的作业,控制装置在每个元件的安装作业中,能够以使第一安装作业所需的时间比第二安装作业所需的时间长的方式控制移动装置的工作而向基板安装元件。(A component mounting system is provided with: a holder holding the element; a moving device for moving the holder; a detection sensor that detects contact between the element held by the holder and the substrate; and a control device which selectively executes a first mounting operation in which the element held by the holder is mounted on the substrate while detecting whether or not foreign matter is present at a predetermined mounting position by using the detection sensor, and a second mounting operation in which the element held by the holder is mounted on the substrate without detecting foreign matter.)

1. A component mounting system is provided with:

a holder holding the element;

a moving device that moves the holder;

a detection sensor that detects contact between the element held by the holder and the substrate; and

and a control device that selectively performs a first mounting operation in which an element held by the holder is mounted on the substrate while performing foreign matter detection using the detection sensor on the presence or absence of foreign matter at a predetermined mounting position, and a second mounting operation in which an element held by the holder is mounted on the substrate without performing the foreign matter detection, wherein the control device is capable of controlling the operation of the moving device so that a time required for the first mounting operation is longer than a time required for the second mounting operation in each mounting operation of the elements to mount the elements on the substrate.

2. The component mounting system according to claim 1,

the component mounting system includes a detection device capable of detecting a height of an arbitrary position of the substrate,

the control device executes the first mounting work using the height of the substrate detected by the detection device.

3. The component mounting system according to claim 1 or 2,

the detection sensor is a non-contact sensor.

4. A component mounting system according to any one of claims 1 to 3,

the control device can change the time required for the mounting work of each component of the holder in the first mounting work.

5. A component mounting system is provided with:

a holder holding the element;

a moving device that moves the holder;

a detection sensor that detects contact between the element held by the holder and the substrate; and

and a control device that selectively performs a first mounting operation in which an element held by the holder is mounted on the substrate while performing foreign matter detection using the detection sensor on the presence or absence of foreign matter at a predetermined mounting position, and a second mounting operation in which an element held by the holder is mounted on the substrate without performing the foreign matter detection, wherein the control device is capable of controlling the operation of the moving device so that the time required for the manufacturing operation of the substrate using the first mounting operation is longer than the time required for the manufacturing operation of the substrate using the second mounting operation, and thereby the same substrate type can be manufactured, in the manufacturing operation of the same substrate type.

Technical Field

The present invention relates to a component mounting system including a holder for holding a component and a moving device for moving the holder.

Background

The component mounting system includes a holder for holding a component and a moving device for moving the holder, and mounts the component held by the holder on a substrate or the like by controlling an operation of the moving device. An example of such a component mounting system is described in the following patent documents.

Disclosure of Invention

Problems to be solved by the invention

The invention provides a component mounting system capable of properly performing component mounting operation.

Means for solving the problems

In order to solve the above problem, the present specification discloses a component mounting system including: a holder holding the element; a moving device for moving the holder; a detection sensor for detecting contact between the element held by the holder and the substrate; and a control device that selectively performs a first mounting operation in which an element held by the holder is mounted on the substrate while performing foreign matter detection using the detection sensor on the presence or absence of foreign matter at a predetermined mounting position, and a second mounting operation in which an element held by the holder is mounted on the substrate without performing the foreign matter detection, wherein the control device is capable of controlling the operation of the moving device so that the time required for the first mounting operation is longer than the time required for the second mounting operation in each mounting operation of the elements, and mounting the elements on the substrate.

In order to solve the above problem, the present specification provides a component mounting system including: a holder holding the element; a moving device for moving the holder; a detection sensor for detecting contact between the element held by the holder and the substrate; and a control device that selectively performs a first mounting operation in which an element held by the holder is mounted on the substrate while performing foreign matter detection using the detection sensor on the presence or absence of foreign matter at a predetermined mounting position, and a second mounting operation in which an element held by the holder is mounted on the substrate without performing the foreign matter detection, wherein the control device is capable of controlling the operation of the moving device so that the time required for the manufacturing operation of the substrate using the first mounting operation is longer than the time required for the manufacturing operation of the substrate using the second mounting operation, and manufacturing the same substrate type, in the manufacturing operation of the same substrate type.

Effects of the invention

According to the present disclosure, a first mounting work for performing a mounting work of a component while performing foreign matter detection and a second mounting work for performing a mounting work of a component without performing foreign matter detection are selectively performed. Also, in the mounting work of each component, the time required for the first mounting work is longer than the time required for the second mounting work. Alternatively, in the manufacturing work of the same substrate type, the time required for the manufacturing work of the substrate using the first mounting work is longer than the time required for the manufacturing work of the substrate using the second mounting work. Thus, it is possible to appropriately determine whether or not foreign matter is present at the predetermined mounting position, and appropriately perform the mounting work of the component.

Drawings

Fig. 1 is a perspective view showing a component mounting machine.

Fig. 2 is a perspective view showing a component mounting apparatus of the component mounting machine.

Fig. 3 is a side view showing a part of the work head.

Fig. 4 is a block diagram showing the control device.

Fig. 5 is a view showing the mounting work for a circuit substrate having no foreign matter.

Fig. 6 is a view showing the mounting work for a circuit substrate having foreign matter.

Fig. 7 is a table showing the relationship between the lowering speed, the lowering acceleration, and the detected height of the work head.

Fig. 8 is a graph showing the relationship between the lowering speed, the lowering acceleration, and the detected height of the work head.

Fig. 9 is a view showing the mounting work for the circuit substrate with warpage.

Fig. 10 is a schematic view showing a position where the height of the circuit substrate is measured.

Detailed Description

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as modes for carrying out the present invention.

(A) Structure of component mounting machine

Fig. 1 shows a component mounting machine 10. The component mounter 10 is an apparatus for performing mounting work of components on a circuit substrate 12. The component mounting apparatus 10 includes: a device main body 20, a substrate transport holding device 22, a component mounting device 24, a marking camera 26, a height sensor 27, a component camera 28, a component feeding device 30, a scattered component feeding device 32, and a control device (see fig. 4) 36. The circuit substrate 12 includes a circuit board, a three-dimensional substrate, and the like, and the circuit board includes a printed wiring board, a printed circuit board, and the like.

The apparatus main body 20 includes a frame portion 40 and a beam portion 42 provided on the frame portion 40. The substrate transport and holding device 22 is disposed at the center of the frame portion 40 in the front-rear direction, and includes a transport device 50 and a clamp device 52. The conveying device 50 is a device for conveying the circuit substrate 12, and the holding device 52 is a device for holding the circuit substrate 12. Thereby, the base material transport holding device 22 transports the circuit base material 12, and fixedly holds the circuit base material 12 at a predetermined position. In the following description, the conveying direction of the circuit substrate 12 is referred to as the X direction, the horizontal direction perpendicular to the X direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. That is, the width direction of the component mounting machine 10 is the X direction, and the front-rear direction is the Y direction.

Component mounting apparatus 24 is disposed on beam portion 42, and includes two work heads 56 and 58 and a work head moving device 62. As shown in fig. 2, the work head moving device 62 is composed of an X-direction moving device 63, a Y-direction moving device 64, and a Z-direction moving device 65. The X-direction moving device 63 and the Y-direction moving device 64 have electromagnetic motors (see fig. 4)66 and 68, respectively, and the two working heads 56 and 58 are integrally moved to arbitrary positions on the frame portion 40 by the operation of the respective electromagnetic motors 66 and 68. The Z-direction moving device 65 includes electromagnetic motors 70 and 72 (see fig. 4), and the sliders 74 and 76 are independently moved in the vertical direction by the operation of the electromagnetic motors 70 and 72. The work heads 56 and 58 are detachably attached to the sliders 74 and 76. Thereby, the work heads 56 and 58 are independently moved in the vertical direction by the Z-direction moving device 65.

Each of the work heads 56 and 58 has a suction nozzle 78 provided on a lower end surface for mounting components on the circuit substrate 12. The suction nozzle 78 is connected to a positive/negative pressure supply device (see fig. 4)80 via a negative pressure air/positive pressure air passage. The suction nozzle 78 holds the electronic component by suction with a negative pressure and releases the held electronic component with a positive pressure. The work heads 56 and 58 have a detection sensor 82 for detecting contact of the component held by the suction nozzle 78 with the circuit substrate 12.

Specifically, as shown in fig. 3, the work heads 56 and 58 include a substantially cylindrical retainer 86, and the retainer 86 is slidably held in the vertical direction by a holding shaft 88 at a lower portion of the work heads 56 and 58. The holder 86 is biased downward with respect to the work head by a compression coil spring (not shown). However, the downward biasing force of the retainer 86 is restricted at a predetermined position by a stopper (not shown). In addition, the suction nozzle 78 is removably held by the holder 86. With this structure, the suction nozzle 78 is held by the lower surfaces of the work heads 56 and 58 so as to be able to be pushed upward.

The detection sensor 82 is a non-contact photoelectric sensor including an irradiation portion 90 and a light receiving portion 92, and light irradiated from the irradiation portion 90 is reflected by a side surface of the holder 86, and the light receiving portion 92 receives the reflected light. A flange portion 96 is formed on an upper portion of a side surface of the holder 86, and the side surface of the holder 86 is a stepped surface. When the holder 86 slides to the lowermost position, the light irradiated from the irradiation portion 90 is irradiated to the flange portion 96 of the holder 86.

Therefore, the detection values by the detection sensor 82 differ between the case where the holder 86 is positioned at the lowest position and the light emitted from the irradiation portion 90 is reflected by the flange portion 96 and the case where the holder 86 slides upward and the light emitted from the irradiation portion 90 is reflected by the side surface below the flange portion 96. That is, when the suction nozzle 78 held by the holder 86 is pushed upward by a predetermined amount from the lowermost portion by the sliding, the portion irradiated from the irradiation portion 90 to the side surface of the holder 86 moves from the flange portion 96 to the lower portion of the flange portion 96, and the value changes based on the detection value of the detection sensor 82. With such a configuration, when the component held by the suction nozzle 78 comes into contact with the circuit substrate 12, the compression coil spring is further compressed, and the detection sensor 82 detects that the suction nozzle 78 is pushed upward by a predetermined amount from the lowermost portion thereof. That is, the detection sensor 82 detects contact of the component held by the suction nozzle 78 with the circuit substrate 12. Therefore, as will be described in detail later, when mounting the components held by the suction nozzles 78 on the circuit substrate 12, the lowering of the working heads 56 and 58, that is, the operation of the electromagnetic motors 70 and 72 of the Z-direction moving device 65 is controlled in consideration of, for example, the operating speed, the operating acceleration, the operating time, and the like.

As shown in fig. 2, the mark camera 26 is attached to the slider 74 in a downward state, and moves in the X direction, the Y direction, and the Z direction together with the work head 56. Thus, the mark camera 26 is moved to an arbitrary position by the operation of the work head moving device 62, and images an arbitrary position on the frame portion 40.

Further, the height sensor 27 is also attached to the slider 74. The height sensor 27 is a laser reflection type length measuring sensor, and detects the height of the circuit substrate 12 using laser light. That is, the height sensor 27 is moved above the circuit substrate 12 held by the clamp device 52 by the operation of the work head moving device 62. The height sensor 27 irradiates the circuit base material 12 with laser light, and receives reflected light reflected by the circuit base material 12. Thus, the distance between the circuit base material 12 and the height sensor 27 is measured, and the height of an arbitrary position of the circuit base material 12 is detected.

As shown in fig. 1, the component camera 28 is disposed between the substrate transport and holding device 22 and the component supply device 30 on the frame portion 40 in an upward state. As a result, the work heads 56 and 58 holding the components are moved upward of the component camera 28 by the operation of the work head moving device 62, and the component camera 28 images the components held by the suction nozzle 78.

The component supply device 30 is disposed at one end of the frame portion 40 in the front-rear direction. The component supplying device 30 has a tray-type component supplying device 100 and a feeder-type component supplying device (refer to fig. 4) 102. The tray-type component feeding apparatus 100 is an apparatus that feeds components in a state of being placed on a tray. The feeder-type component supply device 102 supplies components by using a tape feeder or a bar feeder (not shown).

The scattered component supply device 32 is disposed at the other end portion in the front-rear direction of the frame portion 40. The scattered component supply device 32 is a device that arranges a plurality of components scattered randomly and supplies the components in an aligned state. That is, the present invention is a device for aligning a plurality of elements in an arbitrary posture into a predetermined posture and supplying the elements in the predetermined posture.

As shown in fig. 4, the control device 36 includes a controller 110, a plurality of drive circuits 112, and an image processing device 116. The plurality of drive circuits 112 are connected to the conveying device 50, the holding device 52, the electromagnetic motors 66, 68, 70, 72, the positive/negative pressure supply device 80, the tray-type component supply device 100, the feeder-type component supply device 102, and the scattered component supply device 32. The controller 110 includes a CPU, a ROM, a RAM, and the like, and is mainly a computer and connected to a plurality of drive circuits 112. Thus, the operations of the substrate transport and holding device 22, the component mounting device 24, and the like are controlled by the controller 110. The controller 110 is also connected to the image processing device 116. The image processing device 116 processes the image data obtained by the marking camera 26 and the part camera 28, and the controller 110 acquires various information from the image data. The controller 110 is connected to the detection sensor 82 and the height sensor 27, and acquires and calculates detection values from the detection sensor 82 and the height sensor 27.

(B) Work of component mounting machine

In the component mounter 10, the mounting operation of the electronic component is performed on the circuit substrate 12 held by the substrate transport and holding device 22 by the above-described configuration. Specifically, the circuit base material 12 is conveyed to the working position where it is fixedly held by the clamping device 52. Next, the mark camera 26 moves above the circuit substrate 12 to photograph the circuit substrate 12. The controller 110 calculates an error in the holding position of the circuit base material 12 by the clamping device 52 based on the imaging data.

In addition, the component feeder 30 or the scattered component feeder 32 feeds the electronic components (refer to fig. 5)120 at a predetermined feeding position. Then, one of the work heads 56 and 58 moves upward and downward from the component supply position, and the electronic component 120 is sucked and held by the suction nozzle 78 attached to the work heads 56 and 58.

Subsequently, the work heads 56 and 58 are moved upward of the component camera 28, and the electronic component 120 held by the suction nozzle 78 is imaged by the component camera 28. The controller 110 calculates the posture and the like of the electronic component 120 held by the suction nozzle 78 based on the imaging data. Then, the work heads 56 and 58 holding the electronic component 120 move and descend above the circuit base material 12, and the held component is mounted on the circuit base material 12 while correcting an error in the holding position of the circuit base material 12, an error in the holding posture of the component, and the like.

At this time, in order to mount the electronic component 120 held by the work heads 56 and 58 on the upper surface of the circuit substrate 12, the operation of the electromagnetic motors 70 and 72 of the Z-direction moving device 65, which is the drive source for lowering the work heads 56 and 58, is controlled based on the detection value of the detection sensor 82. Specifically, the electromagnetic motors 70 and 72 are position-controlled in accordance with the detection values of the encoders, and when the electromagnetic motors 70 and 72 are operated, the electronic components 120 held by the work heads 56 and 58 are calculated based on the detection values of the encodersIs the actual height (hereinafter referred to as "actual element height H")_R"). On the other hand, a target mounting height of the electronic component 120 (hereinafter referred to as "target component height H") is set in advance based on a Z-axis coordinate of a mounting position on the upper surface of the circuit substrate 12, a height dimension of the electronic component 120, and the like_M"). In addition, target element height H_MIs set to be located slightly below the Z-axis coordinate of the upper surface of the circuit base material 12.

However, in order to ensure proper mounting of the electronic component 120 on the circuit substrate 12, the detection value of the detection sensor 82 is used. Specifically, the actual element height H may be determined by an error in the size of the electronic element 120 or the like_RDown to the target device height H_MThe electronic component 120 held by the suction nozzle 78 is also in a state of not being in contact with the upper surface of the circuit substrate 12. In addition, if the holding of the electronic component 120 by the suction nozzle 78 is released in such a state, proper mounting of the electronic component 120 on the circuit substrate 12 cannot be ensured.

Therefore, at the actual device height H_RDown to the target device height H_MThereafter, the work heads 56 and 58 are lowered without stopping the operation of the electromagnetic motors 70 and 72. Then, the electronic component 120 held by the suction nozzle 78 is brought into contact with the upper surface of the circuit substrate 12, and the contact of the electronic component 120 with the circuit substrate 12 is detected by the detection sensor 82. Then, the operation of the electromagnetic motors 70 and 72 is stopped at a predetermined timing when the detection sensor 82 detects the contact of the electronic component 120 with the circuit base material 12. That is, to make the actual element height H_RDown to the target device height H_MControls the operation of the electromagnetic motors 70, 72, but at the actual component height H_RNot lowered to the target device height H_MIn the case of (3), the operation of the electromagnetic motors 70 and 72 is not stopped. The operation of the electromagnetic motors 70 and 72 is stopped triggered by the detection sensor 82 detecting the contact of the electronic component 120 with the circuit substrate 12.

After the operation of the electromagnetic motors 70 and 72 is stopped, a slight positive pressure is supplied to the suction nozzle 78, and the suction nozzle 78 separates the electronic component 120. In this way, by controlling the operations of the electromagnetic motors 70 and 72 of the Z-direction moving device 65 based on the detection value of the detection sensor 82, the holding of the suction nozzle 78 is released in a state where the electronic component 120 is in contact with the circuit substrate 12. This ensures appropriate mounting of the electronic component 120 to the circuit substrate 12. In order to shorten the cycle time, the operating speeds of the electromagnetic motors 70 and 72 at the time of mounting the electronic component 120 are set to be approximately 500mm/sec (acceleration in terms of 2G) of the maximum speed, specifically, the moving speed of the holder as the electronic component mounting, which is operated at the maximum output of the electromagnetic motors 70 and 72 or an output close thereto.

In the component mounting machine 10, when the mounting work is performed, the detection sensor 82 can detect foreign matter to determine whether or not foreign matter is present at the predetermined mounting position. Specifically, for example, as shown in fig. 6, if the electronic component 120 is mounted when the foreign object 130 is present at the predetermined mounting position, the electronic component 120 is mounted on the foreign object 130. In this case, the actual element height H is set during the operation control of the electromagnetic motors 70 and 72_RDown to the target device height H_MPreviously, the electronic component 120 held by the suction nozzle 78 was in contact with the foreign substance 130, and due to this contact, the detection sensor 82 detects contact of some members with the electronic component 120. Thus, at the actual element height H_RDown to the target device height H_MIn the case where the previous detection sensor 82 detects contact of some member with the electronic component 120 held by the suction nozzle 78, there is a high possibility that a foreign substance 130 exists or the component is dropped at a predetermined mounting position.

Therefore, in such a case, that is, at the actual element height H_RDown to the target device height H_MIn the case where the contact of some member with the electronic component 120 is detected by the detection sensor 82 before, the electronic component 120 held by the suction nozzle 78 is not detached. That is, the circuit substrate 12 is not mounted. Then, the electronic component 120 held by the suction nozzle 78 is discarded in a discard bin or the like, and the mounting work of the electronic component 120 is skipped. This prevents the electronic component 120 from being mounted on the foreign object 130. In addition, theThe skipping of the mounting work, the presence of the foreign matter 130, and the like are displayed on the panel device, and the operator is notified of the skipping, and the operator performs various actions.

In addition, in the case where the mounting work is performed while the foreign matter detection is performed, the time required for the mounting work becomes longer in the mounting work for each electronic component 120 than in the case where the mounting work is performed without performing the foreign matter detection. That is, when the mounting work is performed while the foreign matter detection is performed, the time required for the manufacturing work of the circuit substrate 12 becomes longer than the case where the mounting work is performed without performing the foreign matter detection. Further, when a plurality of the same substrate types are produced, the time required for producing the substrate produced by performing the mounting operation while performing the foreign matter detection becomes longer than the time required for producing the substrate produced by performing the mounting operation without performing the foreign matter detection. Specifically, when the mounting work is performed while the foreign matter detection is performed, the lowering speed and the lowering acceleration of the work heads 56 and 58 during the mounting work, that is, the operating speed and the operating acceleration of the electromagnetic motors 70 and 72 are limited to be lower than those in the case where the mounting work is performed without the foreign matter detection. This is because the detection accuracy of the detection sensor 82 decreases as the work heads 56 and 58 are lowered at higher speeds.

Specifically, as the electronic component 120 to be mounted, a component having a flat mounting surface and a component size of 42.9mm square is used, and the foreign matter 130 is placed in the center of a predetermined mounting position of the component, incidentally, the size of the foreign matter 130 is 1005c, that is, the electronic component having a width of 1mm × and a height of 0.5mm, and the actual component height H is set so that the component height H is 0_RBecomes the target element height H_MThe operation of the electromagnetic motors 70, 72 is controlled to determine the actual component height H at the timing when the contact of the electronic component 120 with the circuit substrate 12 is detected by the detection sensor 82_R. And, the actual component height H to be determined_RAnd a target element height H_MThe difference is calculated as the detection height of the detection sensor 82. Further, the lowering speed and the lowering acceleration of the work heads 56 and 58 are changed to provide the maximum outputs to the electromagnetic motors 70 and 72The height detection is performed twice in each of six operation modes, i.e., an operation mode at 100% speed and 100% acceleration, an operation mode at 10% output (10% speed and 100% acceleration), an operation mode at 7% speed and 76% acceleration, an operation mode at 50% speed (4% speed and 50% acceleration), an operation mode at 20% acceleration (1% speed and 20% acceleration), and an operation mode at 1% speed and 1% acceleration (0.1% speed and 1% acceleration).

Fig. 7 and 8 show the results of comparison of the detected heights (μm) in the respective six operation modes. As can be seen from the figure, the slower the speed and acceleration are suppressed, that is, the lower the lowering speed and the lowering acceleration of the work heads 56, 58, the higher the detected height (μm) is, and the faster the lowering speed and the lowering acceleration of the work heads 56, 58, the lower the detected height (μm) is. Further, the slower the lowering speed and the lowering acceleration of the work heads 56, 58, the smaller the fluctuation of the detected height (μm), and the faster the lowering speed and the lowering acceleration of the work heads 56, 58, the larger the fluctuation of the detected height (μm). That is, the lower the lowering speed and the lowering acceleration of work heads 56 and 58, the higher the detection accuracy of detection sensor 82, and the higher the lowering speed and the lowering acceleration of work heads 56 and 58, the lower the detection accuracy of detection sensor 82. Specifically, for example, in the operation mode under the output in which the speed is suppressed to 0.1% and the acceleration is suppressed to 1%, the foreign matter 130 having a height of 0.5mm (500 μm) can be detected with an accuracy of about 450 μm. On the other hand, in the operation mode at the maximum output (speed 100%, acceleration 100%), only the foreign matter 130 having a height of 0.5mm (500 μm) may be detected with an accuracy of about 150 μm.

Further, the detection accuracy of the foreign matter 130 is lowered as the foreign matter 130 is placed more at the end of the predetermined mounting position than at the center of the predetermined mounting position. Specifically, for example, in the operation mode in which the speed is suppressed to 0.1% and the acceleration is suppressed to 1% in the case where the foreign object 130 is located at the center of the predetermined mounting position, the foreign object 130 having a height of 0.5mm (500 μm) can be detected with an accuracy of about 450 μm. On the other hand, in the case where the foreign matter 130 is offset by 20mm from the center of the predetermined mounting position, even in the operation mode under the output in which the speed is suppressed to 0.1% and the acceleration is suppressed to 1%, the foreign matter 130 having a height of 0.5mm (500 μm) can be detected in a height with an accuracy of about 350 μm.

Therefore, when the mounting work is performed while the foreign matter detection is performed, the lowering speed and the lowering acceleration of the work heads 56 and 58 during the mounting work need to be limited. However, if the lowering speed and the lowering acceleration of the work heads 56 and 58 during the mounting work are limited, the mounting time and the cycle time cannot be shortened, and therefore the limitation of the lowering speed and the lowering acceleration is preferably small.

Therefore, the operator can arbitrarily set the limit of the lowering speed and the lowering acceleration in accordance with the detection accuracy of the detection sensor 82, that is, the balance between the detection accuracy of the foreign object 130 and the cycle time. That is, when the operator gives priority to shortening the cycle time, the lowering speed and the lowering acceleration of the work heads 56 and 58 are set so that the restrictions on the lowering speed and the lowering acceleration are reduced, and when the operator gives priority to the detection accuracy of the foreign object 130, the lowering speed and the lowering acceleration of the work heads 56 and 58 are set so that the restrictions on the lowering speed and the lowering acceleration are increased. This makes it possible to balance the detection accuracy of the foreign matter 130 with the cycle time according to the conditions and the work content of the mounting work.

That is, in the component mounting machine 10, a mounting job in which foreign matter detection is simultaneously performed (hereinafter, referred to as "first mounting job") and a mounting job in which foreign matter detection is not performed (hereinafter, referred to as "second mounting job") can be selectively performed. In the second mounting operation, the cycle time can be shortened by operating the electromagnetic motors 70 and 72 at the maximum output of the electromagnetic motors 70 and 72 set in advance so as not to affect the mounting operation and the mounting accuracy due to the vibration generated in the mounting operation or at an output close to the maximum output. On the other hand, in the first mounting work, by suppressing the operation output of the electromagnetic motors 70 and 72, the foreign matter 130 can be detected although the cycle time is long. In addition, since the operation outputs of the electromagnetic motors 70 and 72 can be set arbitrarily in the first mounting operation, the detection accuracy of the foreign matter 130 can be balanced with the cycle time. These can be set according to the kind of component to be mounted and the kind of substrate to be produced.

In the first mounting operation, in order to improve the detection accuracy of the foreign matter 130, the foreign matter detection is performed in consideration of the warpage of the circuit base material 12 and the like. Specifically, for example, as shown in fig. 9, when the target device height is set without considering the warpage of the circuit base material 12 even though the circuit base material 12 is warped, the target device height may be set to H even though the circuit base material 12 is warped downward_M1. If the target element height is thus set to H_M1So as to make the actual element height H_RBecomes the target element height H_MThe operation of the electromagnetic motors 70, 72 is controlled in such a way that the actual component height H is reached_RBecomes the target element height H_M1At the timing of (2), the detection value of the detection sensor 82 changes. That is, at the actual element height H_RDown to the target device height H_M1Thereafter, the contact of the electronic component 120 held by the suction nozzle 78 is detected by the detection sensor 82. Therefore, in such a case, as described above, it is determined that the foreign material 130 is not present at the predetermined mounting position, and the electronic component 120 is detached above the foreign material 130.

On the other hand, when the target device height is set in consideration of the warpage of the circuit base material 12, the target device height is set to H_M2(<H_M1). When the target element height is thus set to H_M2At the actual element height H_RDown to the target device height H_M2Previously, the contact of the electronic component 120 held by the suction nozzle 78 is detected by the detection sensor 82. In such a case, as described above, it is determined that the foreign object 130 is present at the predetermined mounting positionWithout detaching the electronic component 120.

Therefore, in the component mounter 10, the target component height H is set in consideration of the warpage of the circuit base material 12_M. Specifically, after the circuit substrate 12 is conveyed to the mounting work position and positioned and held by the clamp device 52, the work heads 56 and 58 are moved upward of the circuit substrate 12. The height of the circuit base material 12 is detected by a height sensor 27 attached to sliders 74 and 76 holding the work heads 56 and 58. At this time, as shown in fig. 10, the positions 150a to i at which the circuit base material 12 is arranged in nine equal parts are measured by the height sensor 27, and the height of the circuit base material 12 at each of the measurement positions 150a to i is detected. Then, for example, the height of the circuit substrate 12 at the planned mounting position 160 is calculated based on the four measurement positions 150d, e, g, and h surrounding the planned mounting position 160. Next, the target device height H is calculated based on the height of the circuit substrate 12 at the predetermined mounting position 160, the height dimension of the electronic device 120, and the like_M. Thus, the target device height H is set in consideration of the warpage of the circuit substrate 12_M. And passing through the substrate so as to make the actual element height H_RThe target element height H to be set_MBy controlling the operation of the electromagnetic motors 70 and 72 in the above manner, even when the circuit base material 12 is warped or the like, the foreign matter 130 can be detected appropriately.

The component mounting apparatus 10 is an example of a component mounting system. The height sensor 27 is an example of a detection device. The control device 36 is an example of a control device. The work head moving device 62 is an example of a moving device. The suction nozzle 78 is an example of a holder. The detection sensor 82 is an example of a detection sensor and a photoelectric sensor.

The present invention is not limited to the above-described embodiments, and can be implemented in various forms by carrying out various modifications and improvements based on knowledge of those skilled in the art. Specifically, for example, in the above-described embodiment, the detection sensor 82 is a reflection-type photosensor having the irradiation portion 90 and the light receiving portion 92, but a radiation-type photosensor, a transmission-type photosensor, a reflector-type photosensor, or the like may be used as long as it is a non-contact-type photosensor. A laser sensor such as a height sensor may be used instead of the photoelectric sensor. Similarly, the contact of the electronic component 120 held by the suction nozzle 78 may be detected by a contact sensor such as a probe, without being limited to a non-contact photoelectric sensor. However, since a contact sensor may have problems in terms of durability, response range, response accuracy, response time, and other responsiveness, a non-contact sensor is preferably used.

In the above-described embodiment, the operating speed and the operating acceleration of the electromagnetic motor 70 are limited when the first mounting work is performed, as compared with when the second mounting work is performed, but only one of the operating speed and the operating acceleration of the electromagnetic motor 70 may be limited. Even when only one of the operating speed and the operating acceleration of the electromagnetic motor 70 is limited in this way, the presence or absence of the foreign object 130 can be appropriately determined.

In addition, in the above-described embodiment, when the same component, that is, the electronic component 120 is mounted, the operation speed and the like of the electromagnetic motor 70 are restricted in the case where the first mounting work is performed as compared with the case where the second mounting work is performed, but the operation speed and the like of the electromagnetic motor 70 may be restricted in the case where the components to be mounted are different in the first mounting work and the second mounting work. That is, the operating speed of the electromagnetic motor and the like when the a component is mounted in the first mounting work may be restricted compared to the operating speed of the electromagnetic motor and the like when the B component is mounted in the second mounting work. However, in the case where the a and B elements are significantly different in size, generally, the larger the element size is, the more restricted the operating speed and the like of the electromagnetic motor is, and therefore, the a and B elements are substantially the same size, that is, the a and B elements are elements of a group of substantially the same size.

The mounting position of the height sensor 27 is not limited to the sliders 74 and 76. Specifically, the movable body such as the working heads 56 and 58 that moves together with the holder 86 may be fixedly attached to a path that is conveyed to the mounting work position of the circuit substrate 12. That is, the circuit board may be mounted in a position where the height of an arbitrary position on the circuit substrate can be detected. For this reason, a plurality of height sensors may be used, and the height sensor may be attached to a member that moves up and down as long as the position at which the sensor is attached can be detected.

The height sensor 27 may detect the predetermined mounting position of the element itself without detecting the position of the circuit substrate 12.

The downward biasing means of the retainer 86 is not limited to a compression spring. Any biasing means may be used as long as it is an air damper, various elastic members, a magnetic damper, or the like. In addition, the output value of the electromagnetic motor may be controlled and managed as the biasing force in the same manner as the operation head that vertically moves the holding shaft by the electromagnetic motor.

In view of the above, the biasing means of the embodiment may not be required. For example, the output value of the electromagnetic motor that vertically moves the work head by the holding shaft may be controlled and managed instead of the biasing force, and may be replaced with a biasing means that replaces the biasing force. That is, in the embodiment, the work head is moved up and down by the electromagnetic motor, but the same idea can be adopted as long as the mechanism moves the suction nozzle up and down by the electromagnetic motor. For example, in a component mounting apparatus having a mechanism that moves up and down by Z-axis sliding, the same concept can be applied to the movement axis of Z-axis sliding.

In the above-described embodiment, the present invention is applied to the mounting work of the electronic component 120 held by the suction nozzle 78, but may be applied to the mounting work of the electronic component 120 held by a plurality of holding claws such as chucks.

Description of the reference numerals

10: component mounting machine (component mounting system) 27: height sensor (detection device) 36: the control device 62: work head moving device (moving device) 78: suction nozzle (holder) 82: a detection sensor (sensor).