JP2023034379A - Appropriateness determination system for component mounting load, method for determining appropriateness for component mounting load, and component mounting device - Google Patents

Abstract

To provide a component mounting load appropriateness determination system, a component mounting load appropriateness determination method, and a component mounting device capable of appropriately determining the appropriateness of a load applied from a nozzle even for a mounting head having a complicated configuration.SOLUTION: In an appropriateness determination method of mounting load for a component by an appropriateness determination system of mounting load for a component including load detecting means that has a mounting head having elevating means for elevating the nozzle, that the nozzle that descends by the lifting means abuts, and detects the load applied from the contacted nozzle, the elevating means lowers the nozzle to contact the load detecting means, and the load applied from the nozzle is measured (ST12), and the measured load is compared with a load threshold according to the type of nozzle or the mode of control, and it is determined whether the load applied from the nozzle is appropriate (ST13).SELECTED DRAWING: Figure 13

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting load appropriateness determination system, a component mounting load appropriateness determination method, and a component mounting apparatus for determining appropriateness of a load applied from a nozzle attached to a mounting head.

A nozzle for picking up a component supplied from a component supply unit and mounting it on the board is attached to the tip of a nozzle holder of a mounting head provided in a component mounting apparatus for mounting the component on the board. In addition, the spring member provided in the nozzle holder (for example, Patent Document 1) and the spring member provided for the nozzle (for example, Patent Document 2) mitigate the impact that the nozzle gives to the component when the component is mounted on the board. , in which the load applied from the nozzle is of an appropriate magnitude.

A component mounting apparatus (electronic circuit component mounting machine) described in Patent Literature 1 includes a load cell that measures a load applied from a nozzle that is brought into contact with the nozzle. By comparing the load measurement result of the load cell with a predetermined threshold value, it is possible to detect the occurrence of defects such as an increase in the sliding resistance of the nozzle holder or nozzle, or deterioration of the spring member to reduce the spring constant. ing.

WO2005/027614 Japanese Unexamined Patent Application Publication No. 2017-11228

However, in the prior art including Patent Document 1, although it is possible to determine the presence or absence of defects such as nozzles from the result of load measurement, nozzles with built-in spring members and nozzles without built-in spring members coexist in one mounted head. In some cases, the nozzles are installed in different positions, or the method of controlling the elevation is different for each nozzle. Therefore, even if the mounting head has a complicated configuration, it is possible to appropriately determine whether or not the load applied from each nozzle is appropriate, so that the user can easily perform maintenance of the nozzles and the mounting head. had room for further improvement.

Accordingly, the present invention provides a component mounting load appropriateness determination system, a component mounting load appropriateness determination method, and a component mounting method capable of appropriately determining the appropriateness of a load applied from a nozzle even in a mounting head having a complicated configuration. The purpose is to provide an apparatus.

A component mounting load suitability determination system according to the present invention includes a nozzle that picks up a component supplied from a component supply unit and mounts it on a substrate, an elevating means that moves the nozzle up and down, and a control unit that controls the elevating means. a load measuring means for measuring a load applied from the abutted nozzle as a mounting load of the part; a determination unit that compares the load applied from the nozzle with a load threshold corresponding to the type of the nozzle or the mode of control, and determines whether or not the load applied from the nozzle is appropriate.

In the method for judging the appropriateness of the mounting load of a component according to the present invention, a mounting head having a nozzle for picking up a component supplied from a component supply unit and mounting it on a substrate, and an elevating means for elevating the nozzle is mounted. Determining whether the mounting load of a part is appropriate by a system for determining whether the mounting load of a part is appropriate, which includes a load detecting means for detecting the load applied from the nozzle that comes into contact with the nozzle that is lowered by the lifting means as the mounting load of the part. a load measuring step of lowering the nozzle by the elevating means and contacting the load detecting means to measure the load applied from the nozzle; the load measured in the load measuring step; or a judgment step of judging whether or not the load applied from the nozzle is appropriate by comparing with a threshold value of the load according to the type of the control.

A component mounting apparatus according to the present invention includes a component supply unit that supplies components, a mounting head, a nozzle mounted on the mounting head for picking up a component supplied from the component supply unit and mounting it on a substrate, and the nozzle. a control unit for controlling the lifting means; a load measuring means for measuring the load applied from the contacting nozzle when the nozzle is lowered by the lifting means; and the load measuring means. a determination unit that compares the measured load with a load threshold according to the type of the nozzle or the mode of control, and determines whether or not the load applied from the nozzle is appropriate. .

According to the present invention, it is possible to appropriately determine whether or not the load applied from the nozzles is appropriate even for a mounting head having a complicated configuration.

1 is a plan view showing a configuration of a main part of a component mounting device included in a component mounting system according to an embodiment of the present invention; FIG. 1 is a side view showing the configuration of a main part of a component mounting apparatus according to one embodiment of the present invention; 1(a) is a plan view and (b) is a front view showing a configuration of a main part of a mounting head provided in a component mounting apparatus according to an embodiment of the present invention. FIG. FIG. 2 is an explanatory diagram showing the configuration of a nozzle holder and nozzles of a mounting head provided in a component mounting apparatus according to an embodiment of the present invention; (a) and (b) are diagrams for explaining a load applied from a rigid nozzle attached to a nozzle holder of a mounting head provided in a component mounting apparatus according to an embodiment of the present invention. (a) and (b) are diagrams for explaining a load applied from a low-load nozzle attached to a nozzle holder of a mounting head provided in a component mounting apparatus according to an embodiment of the present invention. 1 is a block diagram showing the configuration of a control system of a component mounting apparatus according to one embodiment of the present invention; FIG. (a) Explanatory diagram of head type data (b) Explanatory diagram of nozzle type data (c) Explanatory diagram of constant load control type data (d) Pos state data used in the component mounting apparatus of one embodiment of the present invention Illustration of (a) Explanatory drawing of head type reference data (b) Explanatory drawing of nozzle type reference data (c) Explanatory drawing of constant load control type reference data used in the component mounting apparatus of one embodiment of the present invention FIG. 2 is an explanatory diagram of head state data used in the component mounting apparatus according to one embodiment of the present invention; (a) Explanatory diagram of a load measurement result screen with measurement time as the horizontal axis displayed on the touch panel of the component mounting apparatus according to one embodiment of the present invention (b) Load measurement result with the elapsed time from maintenance as the horizontal axis Explanation of the screen Flow diagram of a threshold value determination method according to an embodiment of the present invention FIG. 2 is a flowchart of a method for judging suitability of mounting load of a component according to one embodiment of the present invention;

An embodiment of the present invention will be described in detail below with reference to the drawings. The configuration, shape, etc. described below are examples for explanation, and can be changed as appropriate according to the specifications of the component mounting system, component mounting device, mounting head, nozzle, and load measuring section. In the following, the same reference numerals are given to the corresponding elements in all the drawings, and redundant explanations are omitted. In FIG. 1 and a part described later, two axes orthogonal to each other in the horizontal plane are the X-axis (horizontal direction in FIG. 1) in the substrate transport direction and the Y-axis (vertical direction in FIG. 1) orthogonal to the substrate transport direction. shown. In FIG. 2 and a part to be described later, the Z-axis (vertical direction in FIG. 2) is shown as the height direction orthogonal to the horizontal plane.

First, the configuration of a component mounting system 1 will be described with reference to FIG. A component mounting system 1 includes a component mounting apparatus 2 and has a function of mounting components on boards to produce mounted boards. The component mounting device 2 is connected to a management computer 4 via a communication network 3 . The number of component mounting apparatuses 2 included in the component mounting system 1 is not limited to one, and may be two or more. The management computer 4 has a line management function as well as a function of judging whether the component mounting load is appropriate based on the data acquired by the component mounting apparatus 2 .

Next, the configuration of the component mounting apparatus 2 will be described with reference to FIGS. 1 and 2. FIG. 2 schematically shows part of the component mounting apparatus 2 in FIG. The component mounting apparatus 2 has a function of performing a component mounting operation of mounting a component supplied from a component supply section onto a board. A substrate transport mechanism 6 is arranged along the X-axis in the center of the base 5 . The substrate transport mechanism 6 carries the substrate P transported from upstream to the mounting work position, positions it, and holds it. Further, the substrate transport mechanism 6 carries out downstream the substrate P on which the component mounting work is completed.

Component supply units 7 are arranged on both sides of the board transfer mechanism 6 (in the front-rear direction of the Y-axis). A plurality of tape feeders 8 are arranged along the X-axis in each component supply section 7 . Each tape feeder 8 of the component supply unit 7 pitch-feeds the component tape having a pocket for storing the component D in a direction (tape feeding direction) toward the substrate transport mechanism 6 from the outside of the component supply unit 7. The component D is supplied to the component supply position where the component D is taken out by the mounting head described below.

In FIGS. 1 and 2, a Y-axis table 9 having a linear drive mechanism is arranged along the Y-axis at both ends of the X-axis on the upper surface of the base 5 . A beam 10, also provided with a linear drive mechanism, is coupled to the Y-axis table 9 so as to be movable along the Y-axis. Beam 10 is arranged along the X-axis. A mounting head 11 is attached to the beam 10 via a plate 10a so as to be movable along the X axis. The mounting head 11 is detachable from the plate 10a. The mounting head 11 has a plurality of component mounting sections 12 . A nozzle 13 for sucking and holding a component D is attached to each lower end of the component mounting portion 12 . Each component mounting section 12 includes an elevation motor 12a that raises and lowers the nozzle 13 along the Z axis.

In FIG. 1, the Y-axis table 9 and the beam 10 constitute a head moving mechanism 14 for moving the mounted head 11 along the X-axis and the Y-axis. The head moving mechanism 14 and the mounting head 11 pick up the component D from the tape feeder 8 arranged in the component supply unit 7 by means of the nozzle 13 attached to the component mounting unit 12, and the component D is positioned on the substrate transport mechanism 6. A mounting turn to mount the substrate P at the mounting position is executed. In this manner, the mounting head 11 is equipped with a plurality of nozzles 13 , and each nozzle 13 picks up the component D supplied from the component supply unit 7 and mounts it on the board P. The elevating motor 12 a is elevating means for elevating the nozzle 13 .

1 and 2, a component recognition camera 15 is arranged between the component supply section 7 and the board transfer mechanism 6. As shown in FIG. When the mounting head 11 that has taken out the component D from the component supply unit 7 moves above the component recognition camera 15, the component recognition camera 15 images the component D held by the mounting head 11 and holds the component D. Recognize posture. A head camera 16 is attached to the plate 10a to which the mounted head 11 is attached. The head camera 16 moves integrally with the mounting head 11 .

As the mounting head 11 moves, the head camera 16 moves above the substrate P positioned by the substrate transport mechanism 6, picks up an image of a substrate mark (not shown) provided on the substrate P, and determines the position of the substrate P. recognize. In the component mounting operation on the board P by the mounting head 11, the component D recognition result by the component recognition camera 15 and the board position recognition result by the head camera 16 are taken into account to correct the mounting position.

In FIG. 2, a carriage 17 on which a plurality of tape feeders 8 are mounted in advance is set in the component supply section 7 . The carriage 17 holds a reel 19 that houses a component tape 18 holding the component D in a wound state. The component tape 18 pulled out from the reel 19 is pitch-fed by the tape feeder 8 to the component supply position.

1 and 2, a load measuring unit 20 is installed on the upper surface of the base 5 on the side of the component recognition camera 15 in the X-axis direction. A load cell or the like for measuring a force (load) applied from above is installed on the upper surface of the load measuring unit 20 . The load measuring unit 20 is load measuring means for measuring the load applied from the contacting nozzle 13 when the nozzle 13 lowered by the lifting motor 12a (lifting means) contacts from above. A touch panel 21 operated by a worker is installed at a position in front of the component mounting apparatus 2 where the worker works. The touch panel 21 displays various types of information on its display section, and the operator uses operation buttons displayed on the display section to input data and operate the component mounting apparatus 2 .

Next, an example of the configuration of the mounting head 11 will be described with reference to FIGS. 3(a) and 3(b). The mounting head 11 is a multiple head having 16 component mounting portions 12 . In this example, the mounting head 11 has two rows of eight component mounting portions 12 along the X-axis along the Y-axis. Each component mounting section 12(1) to 9(16) is provided with an elevation motor 12a. By driving the elevating motor 12a, each component mounting section 12(1) to 9(16) raises or lowers the nozzle 13 attached to the lower end thereof (arrow a).

The distance (height position) that the nozzle 13 descends is detected by the encoder of the elevation motor 12a. Each of the component mounting units 12(1) to 9(16) controls the torque of the lifting motor 12a by the lifting control unit 11a (see FIG. 7) provided in the mounting head 11, so that when the component D is mounted on the board P, A constant load control is possible in which the load applied from the nozzle 13 is adjusted to be constant.

Next, referring to FIG. 4, the nozzle holder 23 arranged on the component mounting portion 12 and the configurations of the rigid nozzle 13A and the low load nozzle 13B among the nozzles 13 mounted on the nozzle holder 23 will be described. The nozzle holder 23 is installed so as to slide relatively along the Z-axis with respect to the connecting portion 12 b arranged at the lower end of the component mounting portion 12 . Further, the nozzle holder 23 is biased downward by a holder spring 22 which is a compression spring arranged between the nozzle holder 23 and the connecting portion 12b. The rigid nozzle 13A and the low-load nozzle 13B are formed in the same shape in the upper part held by the nozzle holder 23. As shown in FIG. That is, the upper surface of the rigid nozzle 13A and the upper surface of the low-load nozzle 13B are respectively formed with an insertion hole 13a and an insertion hole 13d into which the projecting portion 23a projecting from the lower end of the nozzle holder 23 is inserted.

The rigid nozzle 13A is held by the nozzle holder 23 by moving the nozzle holder 23 upward (arrow b) and inserting the insertion hole 13a into the projecting portion 23a (see FIG. 5). When the rigid nozzle 13A is held by the nozzle holder 23, the through hole 12c formed in the component mounting portion 12 communicates with the opening 13c at the lower end of the suction tube 13b that protrudes below the rigid nozzle 13A. In this state, the component D is sucked to the lower end of the rigid nozzle 13A by the negative pressure supplied from the through hole 12c. The suction tube 13b of the rigid nozzle 13A is fixed to the main body of the rigid nozzle 13A.

In FIG. 4, similarly, the low-load nozzle 13B is moved upward from below the nozzle holder 23 (arrow c), and is held by the nozzle holder 23 by inserting the insertion hole 13d into the projecting portion 23a ( See Figure 6). When the low-load nozzle 13B is held by the nozzle holder 23, the through hole 12c of the component mounting portion 12 communicates with the opening 13f at the lower end of the suction pipe 13e projecting from the lower portion of the low-load nozzle 13B. The suction pipe 13e of the low-load nozzle 13B is installed so as to slide relatively along the Z-axis with respect to the main body of the low-load nozzle 13B. is energized by A plurality of types of the rigid nozzle 13A and the low-load nozzle 13B are prepared in which the shapes of the suction tubes 13b and 13e are different according to the size of the component D to be held.

Next, the load Fm applied from the rigid nozzle 13A attached to the nozzle holder 23 of the component mounting portion 12 will be described with reference to FIG. FIG. 5A shows a state in which the lifting motor 12a is driven to lower the connecting portion 12b, and the lower surface of the component D held by the rigid nozzle 13A has landed on the upper surface of the substrate P. FIG. FIG. 5(b) shows a state in which the connecting portion 12b is further lowered by a lowering amount H1 from the state of FIG. 5(a).

When the connecting portion 12b is lowered, the holder spring 22 is compressed and an urging force Fa is generated that pushes the connecting portion 12b upward. In this state, a load Fm, which is a force obtained by subtracting the biasing force Fa from the pressing force Ft pushing down the connecting portion 12b, is applied to the component D from the suction tube 13b. When the pressing force Ft increases and the connecting portion 12b further descends, the descent amount H1 increases, and the pushing force Fa of the holder spring 22 increases by the amount corresponding to the increase in the pressing force Ft. Thereby, the load Fm applied to the component D from the rigid nozzle 13A is kept constant.

Next, with reference to FIG. 6, the load Fm applied from the low load nozzle 13B attached to the nozzle holder 23 of the component mounting portion 12 will be described. FIG. 6A shows a state in which the lifting motor 12a is driven to lower the connecting portion 12b, and the lower surface of the component D held by the low-load nozzle 13B has landed on the upper surface of the substrate P. FIG. FIG. 6(b) shows a state in which the connecting portion 12b is further lowered by a lowering amount H2 from the state of FIG. 6(a).

The spring constant of the nozzle spring 13g provided in the low load nozzle 13B is designed to be smaller than the spring constant of the holder spring 22. As shown in FIG. Therefore, even if the connecting portion 12b is lowered, the holder spring 22 is not compressed, and the nozzle spring 13g is compressed. The compression of the nozzle spring 13g generates a biasing force Fb that pushes the low-load nozzle 13B upward. In this state, a load Fm, which is a force obtained by subtracting the biasing force Fb from the pressing force Ft with which the connecting portion 12b pushes down the nozzle holder 23, is applied to the component D from the suction tube 13e.

The load Fm applied to the component D from the low-load nozzle 13B is kept constant by the nozzle spring 13g. Also, since the spring constant of the nozzle spring 13g is smaller than the spring constant of the holder spring 22, the load Fm applied from the low-load nozzle 13B to the component D is smaller than the load Fm applied from the rigid nozzle 13A. A plurality of types of low-load nozzles 13B are prepared, each of which incorporates a nozzle spring 13g having a different spring constant according to the allowable load of the component D.

Next, referring to FIG. 7, the configuration of the control system of the component mounting apparatus 2 is mainly focused on the function of determining whether the load Fm of the nozzle 13 mounted on the mounting head 11 is appropriate or not. to explain. The component mounting device 2 includes a control device 30 , a substrate transport mechanism 6 , a tape feeder 8 , a mounting head 11 , a head moving mechanism 14 , a component recognition camera 15 , a head camera 16 , a load measuring section 20 and a touch panel 21 . The mounting head 11 includes a component mounting section 12 having an elevation control section 11a (control section) and an elevation motor 12a (elevating means).

The control device 30 includes a control storage unit 31 , a mounting control unit 32 , a determination unit 33 , a measurement processing unit 34 , a judgment unit 35 and a result display processing unit 36 . The control storage unit 31 is a storage device, and stores mounting data 37, identification number data 38, reference data 39, head state data 40, measurement result data 41, and the like. The mounting data 37 contains various information such as the type of component D to be mounted on the board P, the coordinates of the mounting position on the board P, the presence or absence of constant load control when mounting the component, and the type of constant load control. are stored for each board type.

In FIG. 7, the mounting control unit 32 lifts and lowers the nozzle 13 mounted on the component mounting unit 12 of the mounting head 11 based on the mounting data 37 to pick up the component D supplied by the tape feeder 8 of the component supply unit 7. Then, the component mounting work for mounting on the mounting position of the board P is executed. When the mounting data 37 specifies constant load control to mount the component D, the mounting control unit 32 transmits a command specifying the type of constant load control to the elevation control unit 11a of the mounting head 11 . Upon receiving the command, the elevation control unit 11a lowers the nozzle 13 by torque-controlling the elevation motor 12a of the component mounting unit 12 so that the load Fm specified by the type is achieved.

Further, when mounting a part D specified in the mounting data 37 as not under constant load control, the mounting control unit 32 transmits a command to the elevation control unit 11a to the effect that it is not under constant load control. Upon receiving the command, the elevation control unit 11a controls the elevation motor 12a according to a predetermined operation pattern to lower the nozzle 13. As shown in FIG.

In FIG. 7, the identification number data 38 includes various types of identification numbers used for inputting the type of the mounting head 11, the type of the nozzle 13, the type of constant load control, and the determination result in the head state data 40 and the like. contains data. Various data included in the identification number data 38 will now be described with reference to FIG. It should be noted that the contents of various data described below are examples, and may be changed as appropriate according to the configuration of the mounting head 11, the type of the nozzles 13, and the like.

FIG. 8A shows an example of head type data. In this example, a 16-nozzle head "16NH", an 8-nozzle head "8NH", and a 4-nozzle head "4NH" are specified as the head types, and the identification numbers are "1", "2", and "3", respectively. ” is stipulated. In addition to the number of nozzles, the type of the mounting head 11 includes a mechanism such as whether it is a multiple head in which a plurality of nozzles 13 are arranged in the horizontal direction, or a rotary head in which the nozzles 13 are arranged concentrically. It is also classified by the method of

FIG. 8B shows an example of nozzle type data. In this example, a rigid nozzle 13A and a low-load nozzle 13B are specified as nozzle types, and "1" and "2" are specified as identification numbers, respectively. That is, the types of nozzles include at least a first nozzle (rigid nozzle 13A) and a second nozzle (low-load nozzle 13B) to which the load Fm applied from the nozzle is smaller than that of the first nozzle. The types of nozzles 13 are classified according to the size, shape, and the like of the nozzles 13 . Moreover, when a plurality of low-load nozzles 13B having different spring constants of the nozzle springs 13g are prepared, they are also classified by the spring constant (load).

FIG. 8(c) shows an example of the constant load control type. In this example, "1N", "0.9N", "0.8N", "0.7N", "0.6N", and "0.5N" are defined as the constant load control types, and the identification number is "1 , 2, 3, 4, 5, and 6 are defined. FIG. 8(d) shows an example of Pos state data. In this example, "normal", "warning", and "abnormal" are defined as Pos states, and "1", "2", and "3" are defined as identification numbers, respectively.

In FIG. 7, the reference data 39 includes reference values and thresholds for determining whether or not the load Fm applied from the nozzle 13 is appropriate in the process of determining whether or not the component mounting load is appropriate. An example of the reference data 39 will now be described with reference to FIG. In this example, the reference data 39 are defined by head type, nozzle type, and constant load control type.

FIG. 9A shows an example of head type reference data. In this example, "16NH", "8NH", and "4NH" are defined as the head types. FIG. 9B shows an example of nozzle type reference data. In this example, the low load nozzle 13B is defined as the nozzle type. When a plurality of low-load nozzles 13B with different loads Fm are used, each nozzle type is specified. FIG. 9(c) shows an example of constant load control type reference data. In this example, "1N", "0.9N", "0.8N", "0.7N", "0.6N", and "0.5N" are defined as constant load control types.

In each reference data, a "reference value", "warning upper limit", "warning lower limit", "upper limit threshold", and "lower limit threshold" of the load Fm are defined for each type. The “reference value” is the reference value of the load Fm applied from the nozzle 13 , and is determined mainly by the spring constant of the holder spring 22 provided in the component mounting portion 12 of the mounting head 11 in the head type reference data. Also, the "reference value" of the nozzle type reference data is mainly determined by the spring constant of the nozzle spring 13g provided in the low load nozzle 13B. Further, the "reference value" of the constant load control type reference data is a target value when the elevation control section 11a (control section) torque-controls the elevation motor 12a (elevating means).

In FIG. 9, the "reference value" of the constant load control type in this example is from 1.0 (N) to 0.5 (N). Also, the "reference value" for the head type is from 1.3 (N) to 1.5 (N), which is greater than the "reference value" for the constant load control type. Also, the "reference value" for the nozzle type is 0.3 (N), which is smaller than the "reference value" for the constant load control type. The "upper limit threshold" and the "lower limit threshold" are the upper and lower thresholds of the range in which the measured load Fm is appropriate. Also, the "warning upper limit" and "warning lower limit" are criteria for issuing a warning that the measured load Fm is appropriate but the load Fm may become inappropriate in the near future. The "warning upper limit" and the "warning lower limit" are set between the "upper threshold" and the "lower threshold".

In this example, the "warning upper limit", the "warning lower limit", the "upper threshold value", and the "lower threshold value" are defined as ratios to the "reference value". That is, the "upper warning limit" is +15% from the "reference value", the "lower warning limit" is -15% from the "reference value", and the "upper threshold" is +20% from the "reference value". The "threshold" is -20% from the "reference value". Note that the "warning upper limit", "warning lower limit", "upper limit threshold", and "lower limit threshold" are not limited to being defined by ratios, and may be defined by specific numerical values of the load Fm.

In FIG. 7, the head state data 40 includes, for each mounting head 11, the type of the mounting head 11, the type of the mounted nozzle 13, the type of constant load control, and the result of judgment on the appropriateness of the component mounting load. Eleven states are defined by identification numbers.

Here, an example of the head state data 40 of the 16-nozzle head "16NH" shown in FIG. 3 will be described with reference to FIG. The head state data 40 includes a "Pos number" 50 that identifies the positions of the component mounting portions 12(1) to 12(16) provided in the mounting head 11, a "head" 51 that identifies the head type, and a nozzle type that identifies the nozzle type. A "nozzle" 52, a "load control" 53 that specifies the type of constant load control, and a "judgment result" 54 that specifies the result of judging whether the mounting load of the component is appropriate are stored in a table format. Identification numbers defined in the identification number data 38 shown in FIG.

In FIG. 10, the identification number is input as the judgment result after the process of judging whether or not the attachment load of the component is appropriate. Before the process of judging whether or not the mounting load of the component is appropriate, the judgment result is blank or the previous judgment result is entered. "-" of "load control" 53 indicates that there is no constant load control. For example, when the "Pos number" 50 is "1" and "2", the "nozzle" 52 is "1" and the "load control" 53 is "-", the rigid nozzle 13A is attached, and constant load control is not performed. is stipulated. Also, when the "Pos number" 50 is "3", the "nozzle" 52 is "2" and the "load control" 53 is "-", the low load nozzle 13B is attached, and constant load control is not performed. It is Further, when the "Pos number" 50 is "4", the "load control" 53 is "1", and the constant load control of "1N" is specified.

In FIG. 7, the determination unit 33 sets the threshold value of the load Fm used for determining the appropriateness of the component mounting load based on the reference data 39 and the head state data 40 to the component mounting unit 12 (Pos. number). The determination of the threshold value of the load Fm may be automatically performed by the determining unit 33, or may be input by the operator from input means such as the touch panel 21. FIG.

Here, a method for determining the threshold value of the load Fm by the determination unit 33 will be described along the flow of the threshold determination method (determination step) shown in FIG. 12 and with reference to FIGS. 8 to 10. FIG. The determination unit 33 sequentially determines the threshold values of the loads Fm for the plurality of component mounting units 12 included in the mounting head 11 . For example, the Pos numbers are determined in ascending order from "1". First, the determination unit 33 determines whether or not the nozzle 13 attached to the component mounting unit 12 with the "Pos number" 50 to be set is the low load nozzle 13B based on the head state data 40 (ST1). Specifically, the determination unit 33 determines whether or not the "nozzle" 52 is the identification number "2" of the low-load nozzle 13B.

If the nozzle 13 is the low-load nozzle 13B (Yes in ST1), the determination unit 33 determines the threshold value used for the suitability determination as the threshold value of the low-load nozzle 13B regardless of the presence or absence of constant load control (ST2). Specifically, the determination unit 33 uses the “warning upper limit”, “warning lower limit”, “upper limit threshold”, and “lower limit threshold” of the low load nozzle 13B of the nozzle type reference data shown in FIG. to decide. In the example of FIG. 10, the component mounting portion 12 with the "Pos number" 50 of "3" has a "nozzle" 52 of "2" and is a low-load nozzle 13B. , is determined as the threshold defined in the nozzle type reference data shown in FIG. 9B as the threshold for the low-load nozzle 13B.

In FIG. 12, if the determination of thresholds has not been completed for all Pos (No in ST3), the process returns to (ST1). If the nozzle 13 is not the low-load nozzle 13B (No in ST1), the determination unit 33 determines whether constant load control is performed for the component mounting unit 12 to be set (ST4). Specifically, when the “load control 53” is one of the identification numbers “1” to “6” of the constant load control type, the determining unit 33 determines that the constant load control is performed. In the case of , it is determined that the constant load control is not performed.

If it is constant load control (Yes in ST4), the threshold used for the suitability determination is determined as the threshold for constant load control (ST5). In the example of FIG. 10, the constant load control of "1N" with the "load control" 53 of "1" is defined for the component mounting portion 12 with the "Pos number" 50 of "4". Therefore, the determination unit 33 determines the “warning upper limit”, “warning lower limit”, “upper limit threshold”, and “lower limit threshold” of “1N” of the constant load control type reference data shown in FIG. do. Next, if determination of threshold values has not been completed for all Pos (No in ST3), the process returns to (ST1).

In FIG. 12, if the nozzle 13 is neither the low load nozzle 13B (No in ST1) nor the constant load control (No in ST4), the threshold used for the suitability determination is determined as the threshold of the mounting head (ST6). In the example of FIG. 10, the component mounting portions 12 with the "Pos number" 50 of "1" and "2" have the "load control" 53 of "-" and are not under constant load control. The "head" 51 is "1" which is the identification number of the mounted head 11 of "16NH". Therefore, the determination unit 33 determines the "warning upper limit", "warning lower limit", "upper limit threshold", and "lower limit threshold" of "16NH" of the head type reference data shown in FIG. Next, if determination of threshold values has not been completed for all Pos (No in ST3), the process returns to (ST1).

Thus, the determining unit 33 determines the threshold value of the load Fm (ST2 , ST5, ST6). Further, the determination unit 33 determines the threshold value of the load Fm in consideration of the type of the mounting head 11 to which the nozzles 13 are attached (ST6). As a result, even with the mounting head 11 having a complicated configuration, it is possible to appropriately determine whether the load Fm applied from the nozzle 13 is appropriate in the component mounting load appropriateness determination processing.

In FIG. 7, the measurement processing unit 34 controls the mounting head 11, the head moving mechanism 14, and the load measuring unit 20 to measure the load Fm applied from the nozzles 13 attached to each component mounting unit 12 of the mounting head 11. Let Specifically, the measurement processing unit 34 controls the head moving mechanism 14 to move the component mounting unit 12, which is the object of measurement of the load Fm, above the load measuring unit 20 (load measuring means).

Next, the measurement processing unit 34 causes the elevation control unit 11a to perform torque control in the case of constant load control based on the identification number of the "load control" 53 of the head state data 40. FIG. The measurement processing unit 34 controls the elevation control unit 11a according to a predetermined pattern when the constant load control is not performed. The elevation control section 11a (control section) drives the elevation motor 12a (elevating means) to lower the nozzle 13 mounted on the component mounting section 12 and bring it into contact with the load measuring section 20 (load measuring means). The load measuring unit 20 measures the load Fm applied from the nozzle 13 in contact. The measurement processing unit 34 stores the measured load Fm in the control storage unit 31 as the measurement result data 41 in association with information specifying the measurement target and the measurement date and time. That is, the control storage unit 31 is a storage unit that stores the load Fm applied from the nozzle 13 .

In FIG. 7, the determination unit 35 determines the load Fm measured by the load measurement unit 20 (load measurement means), the type of the nozzle 13 determined by the determination unit 33, or the threshold value of the load Fm according to the control mode. is compared to determine whether the load Fm applied from the nozzle 13 is appropriate. Specifically, the determination unit 35 determines that the measured load Fm is "normal" when it is between the "warning upper limit" and the "warning lower limit". Then, the determination unit 35 inputs “1” to the “determination result” 54 of the measured “Pos number” 50 of the head state data 40 .

Further, if the measured load Fm is between the "upper limit threshold" and the "warning upper limit", or between the "lower limit threshold" and the "warning lower limit", the determination unit 35 determines "warning" and " "Judgment result" 54 is input with "2". If the measured load Fm is larger than the "upper limit threshold" or smaller than the "lower limit threshold", the judging unit 35 judges that it is "abnormal" and inputs "3" to the "judgment result" 54. .

Next, along the flow of FIG. 13, a method for judging whether or not the component mounting load is appropriate by the component mounting apparatus 2 (component mounting system 1) will be described. First, the determination section 33 determines the threshold of the load of the nozzle 13 of each component mounting section 12 of the mounting head 11 according to the threshold determination method shown in FIG. 12 (ST11: determination step). Next, the loads Fm are sequentially measured for the plurality of component mounting portions 12 provided on the mounting head 11, and the suitability of the loads Fm is determined. That is, the measurement processing section 34 measures the load Fm applied from the nozzle 13 attached to the component mounting section 12 to be measured based on the head state data 40 (ST12: load measurement step).

Next, the determination unit 35 compares the measured load Fm with a threshold value of the load Fm according to the type of the nozzle 13 (“nozzle” 52) or the mode of control (“load control” 53). It is determined whether or not the load Fm applied from is appropriate (ST13: determination step). For example, when the first nozzle (rigid nozzle 13A) is attached to the mounting head 11, the load Fm applied from the first nozzle is appropriate as compared with the threshold value of the load Fm according to the control mode. It is determined whether or not Further, when a second nozzle (low-load nozzle 13B) having a smaller load Fm applied from the nozzle than the first nozzle is attached to the mounting head 11, the load Fm corresponding to the second nozzle It is determined whether or not the load Fm applied from the second nozzle is appropriate by comparing with the threshold.

In FIG. 13, the determination unit 35 then records the determination result in the "determination result" 54 of the head state data 40, and the measurement processing unit 34 stores the measurement result in the measurement result data 41 (ST14: storage step). That is, in the storage step (ST14), the load Fm applied from the nozzle 13 is stored. Next, if the processing for judging whether or not the mounting load of the component is appropriate for all the component mounting portions 12 (all Pos) has not been completed (No in ST15), the load measurement step (ST12) for the next component mounting portion 12 is performed. A step (ST13) and a storage step (ST14) are executed.

When the processing for all the component mounting portions 12 is completed (Yes in ST15), the determination section 35 determines whether or not there is a component mounting portion 12 (Pos number) with an inappropriate load Fm (ST16). Specifically, the judgment unit 35 judges that there is an inappropriate component mounting portion 12 when the “judgment result” 54 of the head state data 40 is “3” (abnormal). When there is a component mounting portion 12 with an inappropriate load Fm (Yes in ST16), that is, when the determination unit 35 determines that the load Fm applied from the nozzle 13 is inappropriate in the determination step (ST13), the determination unit 35 touches the touch panel. 21 to notify that effect (ST17: notification step). In other words, the touch panel 21 is a notification unit that notifies that effect. If there is no component mounting portion 12 with an inappropriate load Fm (No in ST16), all processing ends.

The judgment result by the judging section 35 is input to the "judgment result" 54 of the head state data 40 shown in FIG. In this example, the "judgment result" 54 is "2" when the "Pos number" 50 is "5", "10", and "15", and the judgment result is "warning". Also, the "judgment result" 54 of the "Pos number" 50 of "12" is "3", and the judgment result is "abnormal".

Therefore, the determination unit 35 causes the touch panel 21 to display a message that "the component mounting unit with the Pos number of 12 is abnormal and should be immediately maintained". At that time, the determination unit 35 also displays the defect location estimated from the nozzle type and the constant load type. A rigid nozzle 13A is attached to Pos 12, and a constant load of "0.5N" is controlled. Therefore, the determination unit 35 displays a message to the effect that "the state of the lifting motor or the holder spring should be checked."

Note that the determination unit 35 displays a message to the effect that "the state of the nozzle spring should be checked" when the low-load nozzle 13B is attached. In addition, when the rigid nozzle 13A is attached and the constant load control is not performed, the determination unit 35 displays a message to the effect that "the state of the holder spring should be checked". As a result, even if the mounting head 11 has a complicated structure, the operator can easily know the parts to be maintained. When the judgment result is "warning", the judging section 35 displays on the touch panel 21 a message indicating that "a sign of trouble was found in the component mounting sections with Pos numbers of 5, 10, and 15, so maintenance should be arranged". may be displayed.

In FIG. 7 , the result display processing unit 36 displays the load measurement result on the touch panel 21 (display unit) based on the measurement result data 41 stored in the control storage unit 31 after the processing for judging whether or not the mounting load of the component is appropriate. Display the screen (display step).

Here, an example of the load measurement result screen 60 displayed on the touch panel 21 will be described with reference to FIG. 11 . In FIG. 11( a ), a graph display area 61 , a horizontal axis switching button 62 , and a display switching tag 63 are displayed on the load measurement result screen 60 . In the graph display area 61, a graph is displayed in which the measured load Fm applied from the nozzle 13 is displayed in time series with the horizontal axis. A graph is displayed for each type of nozzle 13 or for each mode of constant load control of the component mounting portion 12 . When the display switching tag 63 is operated, the displayed measurement result is switched. Further, when the horizontal axis switching button 62 is operated, the horizontal axis of the graph displayed in the graph display area 61 is switched between "measurement time" and "elapsed time from maintenance".

FIG. 11A shows a state in which the display switching tag 63 for "constant load control (0.5N)" is selected. That is, in the head state data 40 of FIG. 10, the "nozzle" 52 is "1" of the rigid nozzle 13A, and the "load control" 53 is "6" of "0.5 N", and "Pos number , 50 are displayed as measurement results of the component mounting portion 12 of '10', '11', and '12'.

In the graph, lines indicating "upper limit threshold", "warning upper limit", "warning lower limit", and "lower limit threshold" are displayed in order from the top. At positions where the measured load Fm decreases discontinuously (for example, arrow d), maintenance is being performed on the nozzle 13 or the mounting head 11 . For example, Pos 11, whose sliding resistance gradually increased due to the deterioration of the holder spring 22 and the load Fm increased, is discontinuously restored by performing maintenance at the time indicated by the arrow d and recovering the slidability. The load Fm is decreasing.

Further, the load Fm of the nozzle 13 is measured and the suitability determination is performed at the measurement time of "today" shown on the horizontal axis. Pos10 is determined to be "warning" by the determination unit 35 because the measured load Fm is between the "upper limit threshold" and the "warning upper limit". In addition, Pos11 is determined to be "normal" by the determination unit 35 because the measured load Fm is between the "warning upper limit" and the "warning lower limit". Moreover, since the measured load Fm of Pos12 is larger than the "upper limit threshold value", the determination unit 35 determines "abnormal".

Fig. 11(a) shows the load measurement result screen 60 with "measurement time" on the horizontal axis, and Fig. 11(b) shows the load measurement result screen 60 with "elapsed time from maintenance" on the horizontal axis. For example, in FIG. 11(a), the time indicated by arrow d when Pos11 is maintained is the origin of the horizontal axis in FIG. 11(b). In the load measurement result screen 60, each time the horizontal axis switching button 62 is operated, the horizontal axis changes between "measurement time" (Fig. 11(a)) and "elapsed time from maintenance" (Fig. 11(b)). can be switched between.

In this way, the touch panel 21 (display unit) displays the load Fm applied from the nozzle 13 in chronological order for each type of nozzle 13 (rigid nozzle 13A, low load nozzle 13B) or for each mode of constant load control. Display (display step). Further, in FIG. 11B, the touch panel 21 (display unit) displays the elapsed time from the last maintenance of the nozzle 13 or the mounting head 11 in chronological order. Thus, by displaying the measurement results of the load Fm in chronological order, it is possible to easily grasp the deterioration tendency of the holder spring 22 of the mounting head 11 and the nozzle spring 13g of the low load nozzle 13B.

As described above, the component mounting apparatus 2 of this embodiment includes the component supply unit 7 that supplies the component D, and the nozzle 13 that picks up the component D supplied from the component supply unit 7 and mounts it on the board P. , a mounting head 11 having an elevating means (elevating motor 12a) for elevating the nozzle 13 and a control section (elevating control section 11a) for controlling the elevating means is mounted, and the nozzle 13 lowered by the elevating means abuts, Load measurement means (load measurement unit 20) for measuring the load Fm applied from the contacting nozzle as the mounting load of the component, the load Fm measured by the load measurement means, the type of the nozzle 13, or depending on the mode of control. and a judgment unit 35 for judging whether or not the load Fm applied from the nozzle 13 is appropriate by comparing with the threshold value of the load Fm.

This makes it possible to appropriately determine whether the load Fm applied from the nozzles 13 is appropriate even for the mounting head 11 having a complicated configuration.

In the above description, the component mounting load suitability determination system is configured only by the component mounting apparatus 2, but the component mounting load appropriateness determination system is not limited to this configuration. For example, the component mounting load propriety determination system may be composed of the component mounting system 1 including the component mounting apparatus 2 and the management computer 4 . In this case, the management computer 4 receives the measurement result of the load Fm measured by the load measuring means from the component mounting apparatus 2, and the judging section 35 provided in the management computer 4 judges whether the load Fm is appropriate. again. The component mounting load suitability determination system may be configured by a head maintenance device that performs maintenance on the mounting head 11 removed from the component mounting device 2 .

The system for determining the suitability of the component mounting load, the method for determining the appropriateness of the component mounting load, and the component mounting apparatus of the present invention can appropriately determine the appropriateness of the load applied from the nozzle even for a mounting head having a complicated configuration. It is useful in the field of mounting components on substrates.

1 Parts mounting system (System for judging suitability of parts mounting load)
2 Parts mounting device (System for judging suitability of mounting load for parts)
7 component supply unit 11 mounting head 12a lifting motor (lifting means)
13 nozzle 13A rigid nozzle (first nozzle)
13B low load nozzle (second nozzle)
20 load measuring unit (load measuring means)
21 touch panel (notification unit, display unit)
D Part Fm Load P Board

Claims (20)

a nozzle for picking up a component supplied from a component supply unit and mounting it on a substrate;
Elevating means for elevating the nozzle;
A mounting head having a control unit that controls the lifting means is mounted,
a load measuring means for measuring a load applied from the abutted nozzle as a mounting load of the component;
A determination unit that compares the load measured by the load measuring means with a load threshold according to the type of the nozzle or the mode of control, and determines whether the load applied from the nozzle is appropriate. and, a system for judging suitability of mounting load of parts. 2. The component mounting load propriety determination system according to claim 1, further comprising a determination unit that determines the load threshold based on the type of the nozzle or the mode of control. 3. The component mounting load propriety determination system according to claim 2, wherein said determination unit determines said load threshold in consideration of the type of said mounting head on which said nozzle is mounted. 4. The component according to any one of claims 1 to 3, wherein the types of nozzles include at least a first nozzle and a second nozzle to which a load applied from the nozzle is smaller than that of the first nozzle. Adequacy judgment system for installed load. The determination unit
When the first nozzle is attached to the mounting head, it is determined whether or not the load applied from the first nozzle is appropriate by comparing with the load threshold according to the control mode. ,
When the second nozzle is attached to the mounting head, it is determined whether or not the load applied from the second nozzle is appropriate by comparing with the load threshold corresponding to the second nozzle. 5. The system for judging suitability of mounting load of parts according to claim 4. 6. The system for judging suitability of mounting load for components according to claim 1, further comprising a reporting section that reports to that effect when said determining section determines that the load applied from said nozzle is inappropriate. a storage unit that stores the load applied from the nozzle;
7. The system for judging suitability of a mounting load for a component according to claim 1, further comprising a display section for displaying the load applied from said nozzle in chronological order. 8. The component mounting load propriety determination system according to claim 7, wherein said display unit displays the load applied from said nozzle in chronological order for each type of said nozzle or for each mode of said control. 9. The component mounting load adequacy determination system according to claim 7 or 8, wherein said display unit displays the elapsed time from the last maintenance of said nozzle or said mounting head in chronological order. A mounting head having a nozzle that picks up a component supplied from a component supply unit and mounts it on a substrate, and an elevating means that elevates the nozzle is mounted, and the nozzle that is lowered by the elevating means comes into contact with the substrate. A component mounting load propriety determination method by means of a component mounting load propriety determination system comprising load detection means for detecting a load applied from said nozzle as a mounting load of said component,
a load measuring step of lowering the nozzle by the elevating means and contacting the load detecting means to measure the load applied from the nozzle;
a determining step of comparing the load measured in the load measuring step with a load threshold corresponding to the type of the nozzle or the mode of control to determine whether the load applied from the nozzle is appropriate; A method for judging the propriety of the mounting load of parts, including 11. The method for judging suitability of a mounting load for a component according to claim 10, comprising a determining step of determining the threshold value of the load based on the type of the nozzle or the manner of control. 12. The method for judging suitability of a component mounting load according to claim 11, wherein in said determining step, said load threshold value is determined in consideration of the type of said mounting head on which said nozzle is mounted. In the judgment step,
When the first nozzle is attached to the mounting head, it is determined whether or not the load applied from the first nozzle is appropriate by comparing with the threshold value of the load according to the control mode,
When a second nozzle having a smaller load applied from the nozzle than the first nozzle is attached to the mounting head, the load applied to the second nozzle is compared with a threshold value corresponding to the second nozzle. 13. The method for judging whether or not the load applied from the second nozzle is appropriate or not, according to any one of claims 10 to 12. 14. The determination of suitability of the mounting load of the component according to any one of claims 10 to 13, further comprising a notification step of notifying that the load applied from the nozzle is determined to be inappropriate in the determination step. Method. a storage step of storing the load applied from the nozzle;
15. The method for judging suitability of a mounting load for a component according to claim 10, further comprising a display step of displaying the load applied from said nozzle in chronological order on a display unit. a parts supply unit that supplies parts;
a mounting head;
a nozzle mounted on the mounting head for picking up a component supplied from the component supply unit and mounting the component on a substrate;
Elevating means for elevating the nozzle;
a control unit that controls the lifting means;
a load measuring means for measuring the load applied from the contacting nozzle with which the nozzle lowered by the lifting means contacts;
A determination unit that compares the load measured by the load measuring means with a load threshold according to the type of the nozzle or the mode of control, and determines whether the load applied from the nozzle is appropriate. and a component mounting device. 17. The component mounting apparatus according to claim 16, wherein the types of nozzles include at least a first nozzle and a second nozzle to which a load applied from the nozzle is smaller than that of the first nozzle. The determination unit
When the first nozzle is attached to the mounting head, it is determined whether or not the load applied from the first nozzle is appropriate by comparing with the load threshold according to the control mode. ,
When the second nozzle is attached to the mounting head, it is determined whether or not the load applied from the second nozzle is appropriate by comparing with the load threshold corresponding to the second nozzle. 18. The component mounting apparatus according to claim 17. 19. The component mounting apparatus according to any one of claims 16 to 18, further comprising a notification section that, when said determination section determines that the load applied from said nozzle is inappropriate, notifies that fact. a storage unit that stores the load applied from the nozzle;
20. The component mounting apparatus according to any one of claims 16 to 19, further comprising a display section for displaying the load applied from said nozzle in chronological order.

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