JP6589137B2 - Component mounting apparatus and board conveying method - Google Patents

Description

  The present invention relates to a component mounting apparatus including a conveyor that travels a pair of transport belts that support both sides of a substrate and transports the substrate, and a substrate transport method using the conveyor.

  2. Description of the Related Art Conventionally, a component mounting apparatus that performs component mounting-related operations such as screen printing and component mounting includes a substrate transport path for carrying in a substrate to be operated, positioning to a work position, and carrying it out. The substrate conveyance path is composed of a plurality of conveyors, and each conveyor conveys a substrate by running a pair of conveyance belts supporting both ends of the substrate from below in the forward direction. The conveyor includes a pair of rails arranged to face each other, and the pair of transport belts are provided on the surfaces (inner wall surfaces) of the rails facing each other. The conveyor can change the space | interval of conveyance belts by moving the movable rail of the other side with respect to the fixed rail of one side, and can convey the various board | substrate from which size differs by this. At a plurality of locations along the rail, a plurality of optical sensors that detect the positions of the front and rear ends of the substrate conveyed by the conveyor are provided.

  In the conveyor having the above configuration, the substrate is tilted (swinged) with respect to the traveling direction when the substrate is being transported, and one end portion on the front end side of the substrate is caught by the inner wall surface of the rail, and cannot be transported. There are cases where abnormalities in the conveyance of the substrate occur. The occurrence of such a substrate conveyance abnormality can be detected based on the detection timing of the leading edge or the trailing edge of the substrate by the optical sensor. After the pair of conveying belts are temporarily stopped, the reverse direction (when the substrate is conveyed) By traveling in the opposite direction) by a predetermined interval, the posture of the substrate can be corrected and restored to a normal transport state (for example, Patent Document 1 below).

Japanese Patent Laid-Open No. 2015-95613

  However, as described above, in the method in which the pair of transport belts travel in the reverse direction at a predetermined interval, the substrate may simply move backward without changing the posture, and the posture of the substrate cannot be reliably corrected. . For this reason, there are many cases where the operator is forced to correct the posture of the substrate manually, and there has been a problem that production of the substrate is stagnant during that time.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a component mounting apparatus and a board transfer method that can reliably eliminate board transfer abnormalities that have occurred on a conveyor and can improve board productivity.

  The component mounting apparatus according to the present invention includes a conveyor that conveys the substrate by traveling a pair of conveying belts that support both ends of the substrate from below in a forward direction, and the substrate while the substrate is being conveyed by the conveyor. An abnormality occurrence detection means for detecting that a conveyance abnormality has occurred, an attitude recognition means for recognizing the attitude of the substrate on the conveyor, and an abnormality occurrence detection means have detected that an abnormality in the conveyance of the substrate has occurred. In this case, the conveyance of the substrate by the conveyor is stopped, and one of the pair of conveyance belts selected based on the posture of the substrate recognized by the posture recognition means is caused to travel in the reverse direction. And a controller that resumes the conveyance of the substrate by the conveyor.

  The substrate transport method of the present invention is a substrate transport method by a conveyor that transports the substrate by running a pair of transport belts that support both ends of the substrate from below in the forward direction, and transports the substrate by the conveyor. When the substrate conveyance abnormality occurs, a conveyance stop step for stopping conveyance of the substrate by the conveyor, and a posture recognition for recognizing the posture of the substrate on the conveyor stopped in operation by the conveyance stop step A posture correcting step for correcting the posture of the substrate by running one of the pair of transport belts selected based on the posture of the substrate recognized in the posture recognition step in the reverse direction, and the posture correction. After the step, a transfer restarting step for restarting transfer of the substrate by the conveyor is included.

  According to the present invention, it is possible to reliably eliminate the substrate conveyance abnormality occurring on the conveyor and improve the productivity of the substrate.

The perspective view of the component mounting apparatus in one embodiment of this invention The side view of the component mounting apparatus in one embodiment of this invention (A) Perspective view of a work conveyor that constitutes a board transport path provided in a component mounting apparatus according to an embodiment of the present invention (b) Perspective view of a carry-in conveyor (carry-out conveyor) The block diagram which shows the control system of the component mounting apparatus in one embodiment of this invention (A) (b) (c) Operation | movement explanatory drawing of the board | substrate conveyance path with which the component mounting apparatus in one embodiment of this invention is provided The top view of the work conveyor which comprises the board | substrate conveyance path with which the component mounting apparatus in one embodiment of this invention is equipped The flowchart of the board | substrate conveyance operation | movement which the component mounting apparatus in one embodiment of this invention performs by a work conveyor (A) (b) Operation | movement explanatory drawing of the work conveyor with which the component mounting apparatus in one embodiment of this invention is provided (A) (b) Operation | movement explanatory drawing of the work conveyor with which the component mounting apparatus in one embodiment of this invention is provided (A) (b) Operation | movement explanatory drawing of the board | substrate conveyance path with which the component mounting apparatus in one embodiment of this invention is provided

  Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 show a component mounting apparatus 1 as an example of a component mounting apparatus to which the present invention is applied. The component mounting apparatus 1 is an apparatus that mounts a component 3 on a substrate 2 to produce a component mounting substrate, and includes a substrate transport path 12, a component supply unit 13, and a component mounting unit 14 on a base 11. Here, for convenience of explanation, the direction in which the substrate transport path 12 transports the substrate 2 (arrow A shown in FIG. 1) is the X-axis direction (left-right direction as viewed from the operator OP), and the horizontal plane perpendicular to the X-axis direction is used. The direction (front-rear direction as viewed from the operator OP) is the Y-axis direction. Also, the vertical direction is the Z-axis direction.

  In FIG. 1, the board | substrate conveyance path 12 is provided with the three conveyor mechanisms 20 provided in series in the X-axis direction. Of these three conveyor mechanisms 20, the conveyor mechanism 20 located at the center of the base 11 is referred to as a work conveyor 20a (FIG. 3A), and the conveyor mechanism 20 located on the upstream process side of the work conveyor 20a is loaded. It is called a conveyor 20b (FIG. 3B). Moreover, the conveyor mechanism 20 located in the downstream process side of the work conveyor 20a is called unloading conveyor 20c (FIG.3 (b)).

  3 (a) and 3 (b), each conveyor mechanism 20 has a pair of rails 21 extending in the X-axis direction and arranged opposite to each other in the Y-axis direction, and surfaces (inner wall surfaces) of these rails 21 facing each other. A pair of conveyor belts 22 are provided. Each conveyor belt 22 is stretched over a driving pulley 23a and a driven pulley 23b attached to front and rear ends of the inner wall surface of the rail 21. The drive pulley 23a is connected to a belt drive motor 24 attached to the rail 21. When the drive pulley 23a is driven by the belt drive motor 24, the transport belt 22 runs. When the pair of transport belts 22 with both side portions (both side portions opposed to the Y-axis direction) of the substrate 2 supported from below are run together (simultaneously) in the forward direction, the substrate 2 moves from the upstream process side to the downstream process side. It is transported in the direction it heads.

  3A and 3B, the pair of rails 21 includes a fixed rail 21a and a movable rail 21b. The fixed rail 21a is fixed to the base 11, and the movable rail 21b is provided to be movable in the Y-axis direction. A ball screw 25 and a guide rod 26 extending in parallel to the Y-axis direction pass through the pair of rails 21, and the ball screw 25 is screwed into a screw hole (not shown) provided in the movable rail 21b. An interval changing motor 27 is connected to the ball screw 25. When the ball screw 25 is driven by the interval changing motor 27, the movable rail 21b guided by the ball screw 25 and the guide rod 26 moves in the Y-axis direction (FIG. 3 (b) shown in (a) and (b). Thereby, the space | interval between the fixed rail 21a and the movable rail 21b changes, and the space | interval (belt space | interval) of the Y-axis direction of a pair of conveyance belt 22 is changed.

  In FIG. 1, the component supply unit 13 has a configuration in which a plurality of tape feeders 13 a are arranged in the X-axis direction. Each tape feeder 13a feeds out a tape (not shown) containing the component 3 by the rotational operation of the sprocket 13S, and supplies the component 3 to the component supply port 13p provided at the end near the substrate transport path 12. . The component supply unit 13 may be a parts feeder other than the tape feeder 13a, such as a tray feeder or a bulk feeder.

  1 and 2, the component mounting unit 14 includes a head moving mechanism 31 and a mounting head 32. The head moving mechanism 31 includes a Y-axis table 31a that is fixed to the base 11 and extends above the base 11 in the Y-axis direction, and an X-axis slider 31b that extends in the X-axis direction and slides on the Y-axis table 31a. The slide plate 31c slides on the X-axis slider 31b. The mounting head 32 is attached to a slide plate 31 c of the head moving mechanism 31. The mounting head 32 moves in the horizontal plane by movement of the X-axis slider 31b in the Y-axis direction relative to the Y-axis table 31a and movement of the slide plate 31c in the X-axis direction relative to the X-axis slider 31b.

  1 and 2, the mounting head 32 includes a plurality of suction nozzles 32a extending downward. The mounting head 32 has a nozzle drive mechanism 33 and a suction control mechanism 34. The nozzle drive mechanism 33 individually moves (lifts) each suction nozzle 32a in the Z direction and rotates it around the Z axis. The suction control mechanism 34 includes a control valve interposed in a vacuum supply pipe (not shown), and controls the suction operation of the component 3 by each suction nozzle 32a.

  In FIG. 2, the mounting head 32 is provided with a substrate camera 41, and a component camera 42 is provided in a region between the work conveyor 20 a and the component supply unit 13 on the base 11. The board camera 41 faces the imaging field of view downward, and the component camera 42 faces the imaging field of view upward.

  3A and 3B, each conveyor mechanism 20 includes optical sensors 50 at each of an end portion on the entrance side of the substrate 2 and an end portion on the exit side of the substrate 2. The work conveyor 20a is provided with the optical sensor 50 at an intermediate position between the end portion on the entrance side and the end portion on the exit side of the substrate 2 (FIG. 3A). Hereinafter, the optical sensor 50 provided at the end on the entrance side of each conveyor mechanism 20 is referred to as an entrance sensor 51, and the optical sensor 50 provided at the end on the exit side of each conveyor mechanism 20 is referred to as an exit sensor 52. The optical sensor 50 provided at an intermediate position between the entrance sensor 51 and the exit sensor 52 of the work conveyor 20a is referred to as a work position sensor 53.

  Each optical sensor 50 includes a light projector provided on one side of the fixed rail 21a and the movable rail 21b, and a light receiver provided on the other side. The projector projects the inspection light L in the Y-axis direction toward the light receiver, and the light receiver outputs a light reception signal when receiving the inspection light L. The inspection light travels in the Y-axis direction slightly above the upper surface of the pair of conveyor belts 22. When the substrate 2 is on the optical path, the inspection light is blocked by the side surface of the substrate 2, and the light receiver outputs a light reception signal. do not do. Each of the pair of rails 21 is provided with a groove portion 21M extending in the X-axis direction, and the light projecting and receiving light of the inspection light L is performed through these groove portions 21M.

  In FIG. 1, the mounting head 32 is provided with a substrate sensor 54 (substrate detection means). The substrate sensor 54 projects the inspection light in the vertical direction (Z-axis direction) and receives the inspection light reflected from the measurement object. The substrate sensor 54 moves above the substrate 2 positioned and held on the work conveyor 20a, projects inspection light, measures the time required from light projection to light reception, and detects the distance to the measurement object. The surface of the substrate 2 is detected.

  In FIG. 4, the control unit 60 provided in the component mounting apparatus 1 controls the operation of the belt drive motor 24 of the carry-in conveyor 20b to carry (carry in) the board 2 by the carry-in conveyor 20b, and the belt drive motor of the work conveyor 20a. 24 is controlled to transport the substrate 2 by the work conveyor 20a (including positioning to the work position), and the belt drive motor 24 of the carry-out conveyor 20c is controlled to carry the substrate 2 by the carry-out conveyor 20c ( Carry out). The control unit 60 individually controls the two belt drive motors 24 included in each conveyor mechanism 20, so that each of the pair of transport belts 22 can run independently in the forward and reverse arbitrary directions. Further, the control unit 60 controls the operation of the interval changing motor 27 of each conveyor mechanism 20 to change the interval between the pair of transport belts 22 of each conveyor mechanism 20.

  In FIG. 4, the control unit 60 controls the operation of the sprocket 13S included in each tape feeder 13a to continuously supply the component 3 to the component supply port 13p of the tape feeder 13a. The control unit 60 controls the operation of the head moving mechanism 31 to move the mounting head 32, and controls the operation of the nozzle driving mechanism 33 to move each suction nozzle 32 a up and down and rotate with respect to the mounting head 32. Further, the control unit 60 controls the operation of the suction control mechanism 34 to cause each suction nozzle 32 a to suck the component 3.

  In FIG. 4, the control unit 60 controls the imaging operations of the board camera 41 and the component camera 42. The image data obtained by the imaging by the substrate camera 41 and the image data obtained by the imaging by the component camera 42 are respectively input to the control unit 60.

  In FIG. 4, the light reception signal output from each optical sensor 50 is input to the control unit 60. The control unit 60 grasps on which conveyor mechanism 20 the substrate 2 is currently located based on the output timing of the light reception signal output from each of the plurality of optical sensors 50 provided in each conveyor mechanism 20. When the optical sensor 50 that has output the light reception signal until then stops outputting the light reception signal, the control unit 60 detects that the front end of the substrate 2 when the substrate 2 is transported in the forward direction is the optical sensor 50. Is determined to have crossed the inspection light L. Further, when the optical sensor 50 that has not output the light reception signal until now outputs the light reception signal, the rear end of the substrate 2 when the substrate 2 is transported in the forward direction is the optical sensor. It is determined that 50 inspection lights L have been crossed.

  FIG. 5A shows a state immediately after the front end of the substrate 2 conveyed to the right side of the paper crosses the inspection light L of the entrance sensor 51 in the work conveyor 20a, and FIG. The state immediately after the front end of the substrate 2 conveyed to the right side of the paper crosses the inspection light L of the work position sensor 53 is shown. FIG. 5C shows a state immediately after the rear end of the substrate 2 transported to the right side of the paper crosses the inspection light L of the exit sensor 52 in the work conveyor 20a. The control unit 60 grasps the current position of the substrate 2 in this way, and for the conveyor mechanism 20 in which the front end of the substrate 2 is detected by the entrance sensor 51, the pair of conveyor belts 22 provided in the conveyor mechanism 20 are caused to travel in the forward direction. Then, the substrate 2 is transferred. On the other hand, when the rear end of the substrate 2 is detected by the outlet sensor 52 or when the front end of the substrate 2 is detected by the outlet sensor 52, the control unit 60 is another conveyor mechanism that is located immediately on the downstream process side. When the board | substrate 2 is located on 20, the driving | running | working of a pair of conveyance belt 22 with which the conveyor mechanism 20 is provided is stopped.

  In FIG. 4, the control unit 60 moves the mounting head 32 so that the substrate sensor 54 projects and receives inspection light while moving in the X-axis direction. The detection result of the surface of the substrate 2 by the substrate sensor 54 is input to the control unit 60, and the control unit 60 detects the substrate 2 based on the detection information of the surface of the substrate 2 that the substrate sensor 54 detects while moving in the X-axis direction. The positions of both ends in the transport direction are detected.

  In FIG. 4, the component mounting apparatus 1 includes a touch panel 61 as an input / output device. The touch panel 61 is connected to the control unit 60, and the operator OP makes a necessary input to the control unit 60 through the input screen of the touch panel 61. Further, the operator OP can obtain various information from the control unit 60 through the display screen of the touch panel 61.

  When performing the mounting operation of the component 3 on the board 2, the control unit 60 operates the carry-in conveyor 20b when the leading edge of the board 2 sent from the upstream process side is detected by the inlet sensor 51 of the carry-in conveyor 20b, and the board. 2 is carried in. When the front end portion of the substrate 2 is detected by the entrance sensor 51 of the work conveyor 20a, the work conveyor 20a is operated and the substrate 2 is conveyed by the work conveyor 20a. When the front end of the substrate 2 conveyed by the work conveyor 20a is detected by the work position sensor 53, the operation of the work conveyor 20a is stopped and the substrate 2 is positioned at the work position.

  When the substrate 2 is positioned at the work position, the controller 60 moves the mounting head 32 so that the substrate sensor 54 moves in the horizontal direction above the substrate 2 and inspects the warpage of the substrate 2. As a result, the control unit 60 corrects the component mounting height based on the warped state of the board 2.

  The control unit 60 operates the head moving mechanism 31 to move the mounting head 32, and positions the substrate camera 41 above the substrate 2. Then, two substrate marks 2m (FIGS. 1 and 3A, 3B) provided on the front end side and the rear end side of the substrate 2 are imaged by the substrate camera 41 to obtain image data of the substrate mark 2m. The control unit 60 performs image recognition based on the image data of the substrate mark 2m acquired by the imaging of the substrate camera 41, recognizes the posture of the substrate 2 from the position of the substrate mark 2m, and determines from the normal position of the substrate 2 Calculate the displacement.

  When the positional deviation of the substrate 2 is calculated, the control unit 60 moves the mounting head 32 above the component supply unit 13 to position the suction nozzle 32a above the component supply port 13p of the component supply unit 13, and at the same time, the tape feeder 13a. The component 3 is supplied to the component supply port 13p. Then, suction force is generated in the suction nozzle 32a while lowering the suction nozzle 32a with respect to the mounting head 32, and the component 3 is sucked (pick-up) to the lower end of the suction nozzle 32a.

  After the component 3 is sucked by the suction nozzle 32a, the control unit 60 moves the mounting head 32 so that the component 3 sucked by the suction nozzle 32a passes above the component camera 42. Then, when the component 3 passes above the component camera 42, the component camera 42 is caused to image the component 3, and image data of the lower surface of the component 3 is acquired. The control unit 60 performs image recognition based on the image data of the lower surface of the component 3 acquired by the imaging of the component camera 42, and calculates a positional shift (suction shift) of the component 3 sucked by the suction nozzle 32a with respect to the suction nozzle 32a.

  After calculating the suction deviation of the component 3, the control unit 60 positions the mounting head 32 above the substrate 2. Then, the suction nozzle 32 a is lowered, the suction of the component 3 is released, and the component 3 is mounted on the substrate 2. When the component 3 is mounted, the controller 60 corrects the position of the suction nozzle 32a with respect to the substrate 2 so that the calculated positional deviation of the substrate 2 and the suction deviation of the component 3 are corrected.

  The control unit 60 repeatedly executes the mounting operation of the component 3 according to the above procedure. When all the components 3 to be mounted are mounted on the board 2, the work conveyor 20a is operated to transport the board 2. When the front end of the board 2 is detected by the inlet sensor 51 of the carry-out conveyor 20c, the control unit 60 operates the carry-out conveyor 20c to carry the board 2 out of the component mounting apparatus 1.

  In the conveyance of the substrate 2 by the substrate conveyance path 12, the abnormality occurrence detection unit 60a (FIG. 4) of the control unit 60 is based on the output timing of the light reception signals output from the plurality of optical sensors 50 provided in each conveyor mechanism 20. It is determined whether each conveyor mechanism 20 is normally transporting the substrate 2. Specifically, for the carry-in conveyor 20b and the carry-out conveyor 20c, the outlet sensor 52 does not detect the rear end of the substrate 2 within a predetermined reference time after the inlet sensor 51 detects the front end of the substrate 2. If it has been detected, it is determined that the conveyance abnormality of the substrate 2 has occurred in the conveyor mechanism 20.

  Regarding the work conveyor 20a, after the entrance sensor 51 detects the front end of the substrate 2, if the work position sensor 53 does not detect the front end of the substrate 2 within a predetermined reference time, It is determined that the conveyance abnormality of the substrate 2 has occurred. Also, after the mounting of the component 3 and the conveyance of the board 2 from the work position is started, the work is also performed when the exit sensor 52 does not detect the rear end of the board 2 within a predetermined reference time. It is determined that the conveyance abnormality of the substrate 2 has occurred on the conveyor 20a. As described above, in the present embodiment, the plurality of optical sensors 50 included in the work conveyor 20a and the abnormality occurrence detection unit 60a of the control unit 60 detect the occurrence of abnormality to detect that the conveyance abnormality of the substrate 2 has occurred in the work conveyor 20a. It is a means.

  For example, as illustrated in FIG. 6, the substrate 2 is not transported correctly because the substrate 2 transported by the pair of transport belts 22 is tilted (swinged) with respect to the traveling direction for some reason (see FIG. 6). 6 (arrow R1 shown in FIG. 6), one end of the substrate 2 (here, the left end G1 on the movable rail 21b side) is caught by the inner wall surface of one of the pair of rails 21 (movable rail 21b in FIG. 6). There are cases where it becomes impossible. When such a board 2 conveyance abnormality occurs, in the component mounting apparatus 1 in the present embodiment, with respect to the work conveyor 20a, the posture of the board 2 is corrected and restored to a normal conveyance state. The procedure will be described below with reference to the flowchart of FIG.

  The controller 60 determines whether or not the work conveyor 20a is normally transporting the substrate 2 during the transport of the substrate 2 by the substrate transport path 12 (step ST1 in FIG. 7). When the conveyance abnormality of the board | substrate 2 generate | occur | produces in the conveyor 20a and this abnormality generation | occurrence | production detection means detects, the control part 60 first stops conveyance of the board | substrate 2 by the work conveyor 20a (conveyance stop process of step ST2). . Then, the mounting head 32 is moved so that the substrate sensor 54 moves above the substrate 2, and the substrate 2 is placed on the transport belt 22 of the work conveyor 20 a in the manner of detecting both ends in the transport direction of the substrate 2 described above. Whether or not there is present (detection of presence or absence of the substrate 2) is performed (step ST3, substrate detection step). As a result, when it is detected that there is no substrate 2 on the conveyor belt 22 (the substrate 2 cannot be detected), it is assumed that the substrate 2 is falling from the work conveyor 20a, and that is indicated on the touch panel 61. It displays on a screen and alert | reports to operator OP (step ST4. Alerting | reporting process).

  On the other hand, when the substrate sensor 54 detects that the substrate 2 is on the conveyance belt 22 of the work conveyor 20a in step ST3, the control unit 60 eliminates the substrate 2 conveyance abnormality that has occurred. Correct posture. The correction of the posture of the substrate 2 (that is, the elimination of the conveyance abnormality) is performed by operating the work conveyor 20a according to a predetermined operation procedure (correction pattern). In the present embodiment, correction pattern data is stored in advance in the storage unit 60b (FIG. 4) of the control unit 60. When the control unit 60 corrects the posture of the substrate 2, it is stored in the storage unit 60b. The correction pattern data is read from the storage unit 60b.

  When the controller 60 corrects the posture of the substrate 2, first, the interval changing motor 27 is operated to widen the interval between the pair of rails 21 (of the conveyor belt 22) (step ST5, shown in FIG. 8A). Arrow B1). In step ST3, the position of the front end or the rear end of the substrate 2 is detected based on the data when it is determined whether or not the substrate 2 is on the transport belt 22, and is stored in advance in the storage unit 60b. The position of the two substrate marks 2m is specified by referring to the data of the dimension of the substrate 2 in the X-axis direction. When the position of the board mark 2m is specified, the control unit 60 moves the board camera 41 to image the board mark 2m, and recognizes the attitude of the board 2 in plan view based on the imaging result (the attitude of step ST6). Recognition process). It should be noted that the substrate mark 41 is imaged by the substrate camera 41 after the position of the substrate 2 is specified. The imaging field of view of the substrate camera 41 is extremely small, and the substrate camera 41 is moved to search for the substrate 2. This is because it takes a long time to recognize the posture of the substrate 2.

  When the controller 60 recognizes the posture of the substrate 2, the controller 60 selects one of the pair of transport belts 22 as a travel target belt (belt selection step of step ST7). The selection of the travel target belt is based on the recognized posture of the substrate 2 and determines whether the posture of the substrate 2 is corrected when one of the pair of transport belts provided in the work conveyor 20a is caused to travel in the reverse direction. Do it. For example, as shown in FIG. 6, one end (right end G2) on the fixed rail 21a side protrudes toward the traveling direction side (right side of the paper) of the fixed rail 21a rather than one end (left end G1) on the movable rail 21b side of the substrate 2. When the board 2 is swung (arrow R1 shown in FIG. 6), the control unit 60 selects the conveyor belt 22 on the fixed rail 21a side as the travel target belt.

  In addition, the control unit 60 calculates an amount (travel amount) for causing the travel target belt to travel in the reverse direction. This travel amount is calculated as a travel amount necessary and sufficient for correcting the posture of the substrate 2. As the travel amount, a travel amount determined in advance by experiment or the like, a travel amount according to the size or shape of the board 2, or a travel quantity according to the recognized posture of the board 2 (running when the swing of the board 2 is large) The amount is calculated by applying (for example, making the amount larger than a predetermined amount). After calculating the travel amount, the control unit 60 causes the selected travel target belt to travel in the opposite direction by the calculated travel amount (arrow C shown in FIG. 8B) and swings the board 2 in the posture recovery direction. By doing so (arrow R2 shown in FIG. 8B), the posture of the substrate 2 is corrected (posture correction step of step ST8). Further, while the posture of the substrate 2 is being corrected, the posture of the substrate 2 may be imaged by the substrate camera 41 to determine whether the substrate 2 is running. Whether the substrate 2 is traveling may be determined by the control unit 60, or may be displayed on the touch panel 61 and determined by the operator OP.

  When the posture correction process is completed, the control unit 60 operates the interval changing motor 27 to restore the interval between the pair of transport belts 22 (step ST9, arrow B2 shown in FIG. 9A). And after resuming conveyance of the board | substrate 2 to the work conveyor 20a (The conveyance resumption process of step ST10. Arrow A shown in FIG.9 (b)), whether the work conveyor 20a is conveying the board | substrate 2 normally. This determination is continued (step ST1).

  As described above, in the present embodiment, the control unit 60 has detected that a substrate 2 conveyance abnormality has occurred due to the abnormality occurrence detection means (the plurality of optical sensors 50 provided in the work conveyor 20a and the abnormality occurrence detection unit 60a of the control unit 60). One of the pair of transport belts 22 selected based on the posture of the substrate 2 recognized by the substrate camera 41 as the posture recognition means. After the transport belt 22 is run in the opposite direction to correct the posture of the substrate 2, the transport of the substrate 2 by the conveyor is resumed.

  Regarding the carry-in conveyor 20b and the carry-out conveyor 20c, the movable range of the substrate sensor 54 and the substrate camera 41 is limited to the vicinity of the installation range of the work conveyor 20a, and therefore, it is a case where an abnormal conveyance of the substrate 2 is detected. However, the detection of the position of the substrate 2 and the recognition of the posture of the substrate 2 cannot be executed. For this reason, when the conveyance abnormality of the board | substrate 2 is detected about the carrying-in conveyor 20b or the carrying-out conveyor 20c, the control part 60 also considers the possibility that the board | substrate 2 has fallen, and the board | substrate 2 by the conveyor mechanism 20 is carried out. After stopping the conveyance, a message indicating that a conveyance abnormality has occurred in the conveyor mechanism 20 is displayed on the display screen of the touch panel 61 to notify the operator OP.

  Further, when the conveyance abnormality of the substrate 2 is detected in the work conveyor 20a, another conveyor mechanism 20 (the carry-in conveyor 20b or the carry-out conveyor) adjacent to the work conveyor 20a from the detected position of the substrate 2 is detected. 20c), the same operation as that of the work conveyor 20a is performed in synchronism with the work conveyor 20a for the other conveyor mechanism 20 that is also straddled. For example, as illustrated in FIG. 10A, when the conveyance abnormality of the substrate 2 is detected in a state where the substrate 2 straddles the work conveyor 20 a and the carry-out conveyor 20 c, the control unit 60 determines the posture of the substrate 2. The operation of widening the distance between the pair of conveyor belts 22 before correcting the movement is performed synchronously for both the work conveyor 20a and the carry-out conveyor 20c (arrow B1 shown in FIG. 10B), and the reverse of the belt to be traveled Traveling in the direction is also performed in synchronization with both the work conveyor 20a and the carry-out conveyor 20c (arrow C shown in FIG. 10B). And the operation | movement which returns the space | interval of a pair of conveyance belt 22 after driving | running | working a driving | running | working belt in the reverse direction and correct | amending the attitude | position of the board | substrate 2 is performed synchronously about both the work conveyor 20a and the unloading conveyor 20c. Thus, even when the substrate 2 in which the conveyance abnormality is detected straddles the work conveyor 20a and another conveyor mechanism 20 adjacent thereto, the posture of the substrate 2 can be corrected reliably.

  As described above, in the component mounting apparatus 1 according to the present embodiment, when a conveyance abnormality of the substrate 2 occurs during the conveyance of the substrate 2 by the conveyor (working conveyor 20a), the conveyance of the substrate 2 by the conveyor is stopped, After the posture of the substrate 2 on the conveyor is recognized and the posture of the substrate 2 is corrected by running in the opposite direction among the pair of transport belts 22 selected based on the recognized posture of the substrate 2, the substrate by the conveyor 2 is resumed. For this reason, the conveyance abnormality of the board | substrate 2 which arose on the conveyor can be eliminated reliably, and the improvement of the productivity of the board | substrate 2 can be aimed at.

  Although the embodiment of the present invention has been described so far, the present invention is not limited to the above. For example, after the interval changing motor 27 is operated to restore the interval between the pair of rails 21 (step ST9), the presence or absence of the substrate 2 may be detected and the posture of the substrate 2 may be recognized. After the interval changing motor 27 is operated and the interval between the pair of rails 21 is restored, that is, after the posture of the substrate 2 is corrected, the controller 60 recognizes the presence / absence of the substrate 2 and the posture of the substrate 2. It can be determined whether or not the posture of the substrate 2 is corrected. When determining that the posture of the substrate 2 is corrected, the control unit 60 executes Step ST10 and repeats the flow from Step ST1 again. In addition, when the control unit 60 determines that the posture of the substrate 2 is not corrected, the control unit 60 repeats the flow from step ST5 again. Further, when the control unit 60 determines that the substrate 2 is not present, the control unit 60 executes step ST4.

  In addition, in the above-described embodiment, the notification means for performing notification when the posture of the substrate 2 cannot be recognized in the above-described step ST6 is the touch panel 61, but this is only an example. Other means such as a display device or a buzzer may be used. In step ST6, when the posture of the substrate 2 is recognized, the substrate mark 2m provided on the substrate 2 is imaged in the above-described embodiment, but the substrate mark 2m is not necessarily captured. Of the four corners of the substrate 2, a pair of corners located on one diagonal line, the inclination of the straight line of the end surface of the substrate 2, or the like may be captured.

  In the above-described embodiment, the interval between the pair of transport belts 22 is widened before the posture of the substrate 2 is corrected, and the interval between the pair of transport belts 22 is restored after the posture of the substrate 2 is corrected. However, these steps are not essential. However, it is preferable to have these steps because the possibility that the posture of the substrate 2 is smoothly corrected when the belt to be traveled is caused to travel in the reverse direction becomes high. Moreover, in the above-mentioned actual form, the board | substrate conveyance path 12 was the structure which has only one work conveyor 20a which has the function to position the board | substrate 2 in a work position, However, the board | substrate conveyance path 12 has two or more work conveyors 20a. The present invention can also be applied to cases where the In addition, as an object to which the present invention is applied, the component mounting apparatus 1 is shown in the above-described embodiment, but the present invention is conveyed with a conveyor that can operate a pair of conveying belts in both forward and reverse directions. Any equipment provided with a unit capable of recognizing the posture of an object can be applied to work by other production equipment, such as screen printing and component mounting.

  Provided are a component mounting apparatus and a board transport method capable of reliably eliminating board transport errors generated on a conveyor and improving board productivity.

1. Component mounting device (component mounting device)
2 Substrate 2m Substrate mark 20a Work conveyor (conveyor)
22 Conveying belt 41 Substrate camera (posture recognition means)
50 Optical sensor (abnormality detection means)
54 Substrate sensor (Substrate detection means)
60 Control part 60a Abnormality generation detection part (abnormality generation detection means)
61 Touch panel (notification means)

Claims (8)

A conveyor for transporting the substrate by traveling in a forward direction a pair of transport belts supporting both ends of the substrate from below;
An abnormality occurrence detection means for detecting that an abnormality in conveyance of the substrate has occurred during conveyance of the substrate by the conveyor;
Posture recognition means for recognizing the posture of the substrate on the conveyor;
The pair of substrates selected based on the postures of the substrates recognized by the posture recognition unit by stopping the conveyance of the substrates by the conveyor when the abnormality occurrence detection unit detects that the substrate conveyance abnormality has occurred. And a controller for resuming the conveyance of the substrate by the conveyor after correcting one of the conveyance belts in the reverse direction to correct the posture of the substrate. apparatus.   The controller widens the distance between the pair of transport belts before traveling the selected one transport belt in the reverse direction, and after traveling the selected transport belt in the reverse direction, the pair of transport belts The component mounting apparatus according to claim 1, wherein the interval is restored.   The component mounting apparatus according to claim 1, wherein the posture recognition unit recognizes the posture of the board by imaging a board mark provided on the board.   The board | substrate detection means which detects the presence or absence of the said board | substrate, and an alerting | reporting means, The said alerting | reporting means alert | reports that when the said board | substrate detection means cannot detect the said board | substrate. 4. The component mounting apparatus according to any one of 3 above. A substrate transport method by a conveyor that transports the substrate by traveling in a forward direction a pair of transport belts that support both ends of the substrate from below,
A transport stop step of stopping the transport of the substrate by the conveyor when a transport abnormality of the substrate occurs during the transport of the substrate by the conveyor;
A posture recognition step of recognizing the posture of the substrate on the conveyor whose operation has been stopped by the transport stop step;
A posture correction step of correcting one of the pair of transport belts selected based on the posture of the substrate recognized in the posture recognition step to correct the posture of the substrate by running in the opposite direction;
A substrate transfer method comprising: a transfer resumption step of restarting transfer of the substrate by the conveyor after the posture correction step.   In the posture correction step, the distance between the pair of transport belts is increased before the selected one transport belt travels in the reverse direction, and the pair of transport belts after the selected one transport belt travels in the reverse direction. 6. The substrate transfer method according to claim 5, wherein the belt interval is restored.   7. The substrate transfer method according to claim 5, wherein the posture of the substrate is recognized by recognizing a substrate mark provided on the substrate.   8. The method according to claim 5, further comprising: a substrate detection step for detecting presence / absence of the substrate; and a notification step for notifying the fact when the substrate cannot be detected in the substrate detection step. The board | substrate conveyance method of description.

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