Patent Description:
A substrate work machine normally includes a conveyance device configured to convey a board and position it in a predetermined position and a shifting device configured to shift a holding head to any position above the board positioned by the conveyance device, mounting a component held by the holding head on the board. <CIT> describes an example of such a substrate work machine.

Further related background art is disclosed in <CIT>.

With a substrate work machine described in the Patent Literature described above, although mounting work can be performed favorably, it is desirable to perform component mounting work of various types of components on a board as well as various types of work different from component mounting work. The invention has been made in view of this situation, and an object of the invention is to provide a substrate work machine capable of dealing with various types of work.

With a view to solving the problem, the present invention provides a substrate work machine according to claim <NUM>.

The substrate work machine according to the invention comprises the multiple types of work units provided below the conveyance height of the board and configured to perform work on the board from below; and the mounting section where each of the multiple types of work units is mounted in an exchangeable manner. With the substrate work machine configured as described above, the board can be worked on from above and below, hence making it possible to deal with various types of work. In addition, by exchanging the work units mounted in the mounting section, further types of work can be dealt with.

Hereinafter, referring to drawings, an embodiment of the invention will be described in detail as a best mode for carrying out the invention.

<FIG> is a perspective view showing a configuration of component mounting device <NUM>. Component mounting device <NUM> is a device configured to mount a component on circuit substrate <NUM>. Component mounting device <NUM> comprises device main body <NUM>, substrate conveying-and-holding device <NUM>, component mounting device <NUM>, mark camera <NUM>, component camera <NUM>, component supply device <NUM>, bulk component supply device <NUM>, first cut-and-clinch unit (refer to <FIG>) <NUM>, unit moving device (refer to <FIG>) <NUM>, second cut-and-clinch unit (refer to <FIG>) <NUM>, screw tightening unit (refer to <FIG>) <NUM> and control device (refer to <FIG>) <NUM>. A circuit board, a board of a three-dimensional structure, and the like can be used as circuit substrate <NUM>, and a printed wiring board, a printed circuit board, and the like can be used as a circuit board.

Device main body <NUM> is made up of frame section <NUM> and beam section <NUM> provided to extend over frame section <NUM>. Substrate conveying-and-holding device <NUM> is provided at the center of frame section <NUM> in the front-and-rear direction thereof and has conveyance device <NUM> and clamping device <NUM>. Conveyance device <NUM> constitutes a device configured to convey circuit substrate <NUM>, and clamping device <NUM> constitutes a device configured to hold circuit substrate <NUM>. With this configuration, substrate conveying-and-holding device <NUM> conveys circuit substrate <NUM> and holds circuit substrate <NUM> fixedly in a predetermined position. In the following description, the conveying direction of circuit substrate <NUM> is referred to as the X direction, the direction perpendicular to the X direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. That is, the width direction of component mounting device <NUM> is the X direction, and the front-and-rear direction of component mounting device <NUM> is the Y direction.

Component mounting device <NUM> is provided at beam section <NUM> and has two work heads <NUM>, <NUM> and work head moving device <NUM>. As shown in <FIG>, suction nozzle <NUM> is provided on a lower end face of each one of work heads <NUM>, <NUM>, and a component is picked up by suction nozzle <NUM> through suction. Work head moving device <NUM> has X direction shifting device <NUM>, Y direction shifting device <NUM>, and Z direction shifting device <NUM>. Then, two work heads <NUM>, <NUM> are shifted together to any position on frame section <NUM> by X direction shifting device <NUM> and Y direction shifting device <NUM>. Two work heads <NUM>, <NUM> are mounted detachably on sliders <NUM>, <NUM>, respectively, and Z direction shifting device <NUM> shifts sliders <NUM>, <NUM> in the up-and-down direction separately. That is, work heads <NUM>, <NUM> are shifted separately in the up-and-down direction by Z direction shifting device <NUM>.

Mark camera <NUM> is attached to slider <NUM> while facing downwards as shown in <FIG>, and is shifted in the X direction, the Y direction, and the Z direction together with work head <NUM>. This allows mark camera <NUM> to capture an image of any position on frame section <NUM>. As shown in <FIG>, component camera <NUM> is provided between substrate conveying-and-holding device <NUM> and component supply device <NUM> on frame section <NUM> while facing upwards. This allows component camera <NUM> to capture images of components held onto suction nozzles <NUM> on work heads <NUM>, <NUM>.

Component supply device <NUM> is provided at a first end portion of frame section <NUM> in the front-and-rear direction. Component supply device <NUM> has tray-type component supply device <NUM> and feeder-type component supply device (refer to <FIG>) <NUM>. Tray-type component supply device <NUM> constitutes a device configured to supply components placed on a tray. Feeder-type component supply device <NUM> constitutes a device configured to supply components using a tape feeder or a stick feeder (not shown).

Bulk component supply device <NUM> is provided at a second end portion of frame section <NUM> in the front-and-rear direction. Bulk component supply device <NUM> constitutes a device configured to align multiple components loosely scattered into a line and supply the components while keeping the components aligned. That is, bulk component supply device <NUM> constitutes a device configured to align multiple components in any orientation into a predetermined orientation and supply the components in the predetermined orientation.

Electronic circuit components, solar cell constituent components, power module constituent components, and the like can be used as components to be supplied by component supply device <NUM> and bulk component supply device <NUM>. The electronic circuit components include components having a lead, components having no lead, and the like.

First cut-and-clinch unit <NUM>, second cut-and-clinch unit36 and screw tightening unit <NUM> are mounted on unit moving device <NUM> in an exchangeable manner and are provided below a conveyance height of circuit substrate <NUM> by conveyance device <NUM>. Firstly, referring to <FIG> and <FIG>, first cut-and-clinch unit <NUM> will be described. <FIG> is a perspective view showing first cut-and-clinch unit <NUM>, and <FIG> is a perspective view showing first cut-and-clinch unit <NUM> with housing <NUM> removed.

First cut-and-clinch unit <NUM> constitutes a device configured to cut and bend leads (refer to <FIG>) <NUM> of a lead component (refer to <FIG>) <NUM> inserted into through holes (refer to <FIG>) <NUM> formed in circuit substrate <NUM>. First cut-and-clinch unit <NUM> includes unit main body <NUM>, pair of slide bodies <NUM>, and pitch change mechanism <NUM>, as shown in <FIG>. Slide rail <NUM> is provided at an upper end of unit main body <NUM> so as to extend in the X direction. Pair of slide bodies <NUM> are supported slidably by slide rail <NUM>. This allows slide bodies <NUM> to move toward and away from each other in the X direction. Pitch change mechanism <NUM> has solenoid motor <NUM> and changes controllably the distance between pair of slide bodies <NUM> by the action of solenoid motor <NUM>.

As shown in <FIG>, each of pair of slide bodies <NUM> includes fixed section <NUM>, movable section <NUM>, and slide device <NUM>, and is fixed slidably by slide rail <NUM> at fixed section <NUM>. Two slide rails <NUM> are fixed to a rear surface side of fixed section <NUM> so as to extend in the X direction, and movable section <NUM> is slidably held by two slide rails <NUM>. This allows movable section <NUM> to slide relative to fixing section <NUM> in the X direction. Slide device <NUM> has solenoid motor (refer to <FIG>) <NUM>, and movable section <NUM> slides controllably by the action of solenoid motor <NUM>.

The upper end portion of fixed section <NUM> is tapered, and first insertion hole <NUM> is formed so as to pass through the upper end portion in the up-and-down direction. First insertion hole <NUM> opens at an upper end face of fixing section <NUM> at an upper end thereof, and an opening edge to the upper end face is made into fixed blade (refer to <FIG>) <NUM>. First insertion hole <NUM> opens to a side surface of fixed section <NUM> at a lower end thereof, and discard box <NUM> is provided below an opening to the side surface.

As shown in <FIG>, an upper end portion of movable section <NUM> is also tapered, and bent portion <NUM>, which is bent into an L-shape, is formed at the upper end portion. Bent portion <NUM> extends over the upper end face of fixed section <NUM>, and bent portion <NUM> faces an upper end of fixed section <NUM> with a slight clearance provided therebetween. First insertion hole <NUM> opening at the upper end face of fixed section <NUM> is covered by bent portion <NUM>, but second insertion hole <NUM> is formed in bent portion <NUM> so as to face first insertion hole <NUM>.

Second insertion hole <NUM> constitutes a through hole that passes through bent portion <NUM> in the up-and-down direction, and an inner circumferential surface of second insertion hole <NUM> is tapered to gradually reduce the inside diameter of second insertion hole <NUM> as it extends downwards. Further, an opening edge of second insertion hole <NUM> to a lower end face of bent portion <NUM> is made into movable blade (refer to <FIG>) <NUM>. Guide groove <NUM> is formed on an upper end face of bent portion <NUM> so as to extend in the X direction, that is, in the sliding direction of movable section <NUM>. Guide groove <NUM> is formed so as to straddle the opening of second insertion hole <NUM>, and guide groove <NUM> and second insertion hole <NUM> connect to each other. Then, guide groove <NUM> opens to both side surfaces of bent portion <NUM>. Further, pair of marks <NUM> are provided on the upper end face of bent portion <NUM>. Pair of marks <NUM> are provided symmetrically with respect to the center of the opening of second insertion hole <NUM> as the center. That is, the central point between pair of marks <NUM> constitutes the center of the opening of second insertion hole <NUM>.

Unit moving device <NUM> has X-direction shifting device <NUM>, Y-direction shifting device <NUM>, Z-direction shifting device <NUM>, and turn device <NUM>, as shown in <FIG>. X-direction shifting device <NUM> includes slide rail <NUM> and X slider162. Slide rail <NUM> is provided so as to extend in the X direction, and X slider <NUM> is held slidably on slide rail <NUM>. Then, X slider <NUM> shift in the X direction by being driven by solenoid motor (refer to <FIG>) <NUM>. Y-direction shifting device <NUM> includes slide rail <NUM> and Y slider <NUM>. Slide rail <NUM> is provided on X slider <NUM> so as to extend in the Y direction, and Y slider <NUM> is held slidably on slide rail <NUM>. Then, Y slider <NUM> shifts in the Y direction by being driven by solenoid motor (refer to <FIG>) <NUM>. Z-direction shifting device <NUM> includes slide rail <NUM> and Z slider <NUM>. Slide rail <NUM> is provided on Y slider <NUM> so as to extend in the Z direction, and Z slider <NUM> is held slidably on slide rail <NUM>. Then, Z slider <NUM> shifts in the Z direction by being driven by solenoid motor (refer to <FIG>) <NUM>.

Turn device <NUM> has rotary table <NUM> having a substantially circular disc shape. Rotary table <NUM> is supported by Z slider <NUM> so as to turn about its axial center and turns by being driven by solenoid motor (refer to <FIG>) <NUM>. Then, first cut-and-clinch unit <NUM> is detachably mounted on an upper surface of rotary table <NUM>.

Specifically, as shown in <FIG>, mounting section190 is provided on the upper surface of rotary table <NUM> to mount detachably first cut-and-clinch unit <NUM>. Mounting section <NUM> has placing table <NUM> having a substantially rectangular shape, and placing table <NUM> is fixed to the upper surface of rotary table <NUM>. Pair of bolt holes <NUM> and erected pin <NUM> erected between pair of bolt holes <NUM> are provided at both longitudinal end portions of placing table <NUM>.

On the other hand, as shown in <FIG>, pair of leg sections <NUM> are provided on a lower surface of first cut-and-clinch unit <NUM>. Pair of bolts <NUM> are provided on each leg section <NUM> so as to be fastened in place in pair of bolt holes <NUM> formed in mounting section <NUM>. Further, as shown in <FIG>, fitting hole <NUM> is formed between pair of bolts <NUM> on each leg section <NUM> so that erected pin <NUM> formed on mounting section <NUM> can fit in. Then, first cut-and-clinch unit <NUM> is placed on the upper surface of rotary table <NUM> so that erected pins <NUM> of mounting section <NUM> fit in fitting holes <NUM> of leg sections <NUM> of first cut-and-clinch unit <NUM>, and bolts <NUM> are fastened in place in bolt holes <NUM>, whereby first cut-and-clinch unit <NUM> is fixed to the upper surface of rotary table <NUM>. By doing so, first cut-and-clinch unit <NUM> shifts to any position below circuit substrate <NUM> held by clamping device <NUM> by the operation of unit moving device <NUM> and turns to any angle. Then, in first cut-and-clinch unit <NUM>, the fastening of bolts <NUM> in bolt holes <NUM> is released, and erected pins <NUM> are removed from fitting holes <NUM>, whereby first cut-and-clinch unit <NUM> is removed from rotary table <NUM>. By adopting this configuration, first cut-and-clinch unit <NUM> can be attached detachably to unit moving device <NUM>.

As shown in <FIG>, 2D code <NUM> is provided on an upper surface of housing <NUM> of first cut-and-clinch unit <NUM>. A specific code of first cut-and-clinch unit <NUM> is written on 2D code <NUM>, a unit mounted on unit moving device <NUM> is identified as first cut-and-clinch unit <NUM> by reading 2D code <NUM>.

As shown in <FIG>, second cut-and-clinch unit <NUM> has pair of slide bodies <NUM>. Since slide bodies <NUM> of second cut-and-clinch unit <NUM> have substantially the same structure as that of slide bodies <NUM> of first cut-and-clinch unit <NUM>, only different configurations from slide bodies <NUM> will be described.

As with slide main bodies <NUM> of first cut-and-clinch unit <NUM>, slide bodies <NUM> of second cut-and-clinch unit <NUM> are each made up of fixing section <NUM> and movable section <NUM>. Fixed section <NUM> and movable section <NUM> of second cut-and-clinch unit <NUM> are configured in the same manner as fixed section <NUM> and movable section <NUM> of first cut-and-clinch unit <NUM>, and hence, movable section <NUM> can slide relative to fixed section <NUM>. In first cut-and-clinch unit <NUM>, however, movable section <NUM> slides in the X direction, but in second cut-and-clinch unit <NUM>, movable section <NUM> slides in a direction that is inclined about <NUM> degrees from the X direction towards the Y direction.

Pair of slide bodies <NUM> of second cut-and-clinch unit <NUM> slides in the Y direction in such a manner as to move towards and away from each other in the same way as pair of slide bodies <NUM> of first cut-and-clinch unit <NUM>. That is, in first cut-and-clinch unit <NUM>, the sliding direction of pair of slide bodies <NUM> coincides with the sliding direction of movable section <NUM> relative to fixing section <NUM>, but in second cut-and-clinch unit <NUM>, the sliding direction of pair of slide bodies <NUM> deviates <NUM> degrees with respect to the sliding direction of movable section <NUM> relative to fixing section <NUM> on an XY-plane. Only in this respect, first cut-and-clinch unit <NUM> differs from second cut-and-clinch unit <NUM>.

Pair of leg sections <NUM>, having the same structure as that of pair of leg sections <NUM> of first cut-and-clinch unit <NUM>, are provided on a lower surface of second cut-and-clinch unit <NUM>. Due to this, first cut-and-clinch unit <NUM> is removed from rotary table <NUM>, and second cut-and-clinch unit <NUM> can be mounted on rotary table <NUM> in place of first cut-and-clinch unit <NUM>.

As with first cut-and-clinch unit <NUM>, 2D code <NUM> is also provided on an upper surface of housing <NUM> of second cut-and-clinch unit <NUM>. A code specific to second cut-and-clinch unit <NUM> is written on 2D code <NUM>, whereby a unit mounted on rotary table <NUM>, that is, unit moving device <NUM> is identified as second cut-and-clinch unit <NUM> by reading 2D code <NUM>.

As shown in <FIG>, screw tightening unit <NUM> has screw tightening device <NUM> and unit main body <NUM>. Screw tightening device <NUM> is made up of driver shaft <NUM>, holding mechanism <NUM>, and solenoid motor <NUM>. Driver shaft <NUM> is held by holding mechanism <NUM> so as to turn on its own axial center and turns controllably by being driven by solenoid motor <NUM>. Screw tightening device <NUM> is held fixedly by unit main body <NUM> so that driver shaft <NUM> extends in the up-and-down direction, and driver shaft <NUM> extends upwards from an upper surface of unit main body <NUM>. Pair of marks <NUM> are provided on the upper unit main body <NUM> from which driver shaft <NUM> extends upwards. Pair of marks <NUM> are provided symmetrically with respect to the center axis of driver shaft <NUM> as the center.

Unit main body <NUM> has pair of leg sections <NUM>, and pair of leg sections <NUM> have substantially the same structure as those of pair of leg sections <NUM> of first cut-and-clinch unit <NUM> and pair of leg sections <NUM> of second cut-and-clinch unit <NUM>. In <FIG>, on each leg section <NUM>, bolts configured to be fastened in bolt hole <NUM> on rotary table <NUM> is omitted, and through holes <NUM> are shown through which the bolts are passed. By adopting this configuration, first cut-and-clinch unit <NUM> or second cut-and-clinch unit <NUM> is removed from rotary table <NUM>, and screw tightening unit <NUM> can be mounted on rotary table <NUM> in place of first cut-and-clinch unit <NUM> or second cut-and-clinch unit <NUM>.

As with first cut-and-clinch unit <NUM> and second cut-and-clinch unit <NUM>, 2D code <NUM> is also provided on an upper surface of unit main body <NUM> of screw tightening unit <NUM>. A code specific to screw tightening unit <NUM> is written on 2D code <NUM>, and a unit mounted on rotary table <NUM>, that is, unit moving device <NUM> is identified as screw tightening unit <NUM> by reading 2D code <NUM>.

As shown in <FIG>, control device <NUM> includes controller <NUM>, multiple drive circuits <NUM>, and image processing device <NUM>. Multiple drive circuits <NUM> are connected to conveyance device <NUM>, clamp device <NUM>, work heads <NUM>, <NUM>, work head moving device <NUM>, tray-type component supply device <NUM>, feeder-type component supply device <NUM>, bulk component supply device <NUM>, and solenoid motors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. Controller <NUM> includes a CPU, ROM, RAM and the like, and is made up mainly of a computer, connecting to multiple drive circuits <NUM>. As a result, substrate conveying-and-holding device <NUM>, component mounting device <NUM> and the like are controlled by controller <NUM>. Controller <NUM> also connects to image processing device <NUM>. Image processing device <NUM> processes image data obtained by mark camera <NUM> and component camera <NUM>, and controller <NUM> acquires various types of information from the image data.

In component mounting device <NUM>, with the configuration that has been described heretofore, various types of work are performed on circuit substrate <NUM> held by substrate conveying-and-holding device <NUM>. Specifically, for example, with first cut-and-clinch unit <NUM> mounted on rotary table <NUM>, leads <NUM> of lead component <NUM> are inserted into through holes <NUM> formed in circuit substrate <NUM> to be clinched in a direction in which leads <NUM> move toward each other or in a direction in which leads <NUM> move away from each other, whereby lead component <NUM> is mounted on circuit substrate <NUM>. Hereinafter, mounting work of lead component <NUM> by use of first cut-and-clinch unit <NUM> will be described.

Firstly, first cut-and-clinch unit <NUM> is mounted on rotary table <NUM> of unit moving device <NUM>. Then, circuit substrate <NUM> is conveyed to a working position by substrate conveying-and-holding device <NUM> and is then held fixedly in the working position. Next, mark camera <NUM> shifts to a position lying above circuit substrate <NUM> and captures an image of circuit substrate <NUM>. Then, information on a holding position of circuit substrate <NUM> and the like is calculated based on the data of the captured image. Component supply device <NUM> or bulk component supply device <NUM> supplies lead component <NUM> in a predetermined supply position. Then, either of work heads <NUM>, <NUM> shifts to a position lying above the component supply position and picks up and holds a component main body section (refer to <FIG>) <NUM> of lead component <NUM> by suction nozzle <NUM> through suction.

Subsequently, work heads <NUM>, <NUM> holding lead component <NUM> shift above component camera <NUM>, so that an image of lead component <NUM> held by suction nozzle <NUM> is captured by component camera <NUM>. Then, information on the holding position of the component and the like is calculated based on the data on the captured image. Next, when component camera <NUM> completes capturing the image of lead component <NUM>, work heads <NUM>, <NUM> holding lead component <NUM> shift above circuit substrate <NUM> and correct the error of the holding position of circuit substrate <NUM> and the error of the holding position of the component. Then, leads <NUM> of lead component <NUM> held suction nozzle <NUM> are inserted into through holes <NUM> formed in circuit substrate <NUM>. As this occurs, first cut-and-clinch unit <NUM> is shifted below circuit substrate <NUM>.

Specifically, a distance between pair of slide bodies <NUM> is controlled by pitch change mechanism <NUM> so that the distance between second insertion holes <NUM> of movable sections <NUM> of pair of slide bodies <NUM> becomes equal to the distance between two through holes <NUM> formed in circuit substrate <NUM> in first circuit substrate <NUM>. Then, X-direction shifting device <NUM> and Y-direction shifting device <NUM> operate to shift first cut-and-clinch unit <NUM> in such a way that X and Y coordinates of second insertion holes <NUM> in slide bodies <NUM> coincide with X and Y coordinates of through holes <NUM> in circuit substrate <NUM>. That is, when first cut-and-clinch unit <NUM> is shifted along the X and Y directions, second through holes <NUM> of slide bodies <NUM> are placed below through holes <NUM> of circuit substrate <NUM> so that they coincide with each other in the up-and-down direction.

Next, Z-direction shifting device <NUM> operates to raise first cut-and-clinch unit <NUM> in such a way that upper surfaces of movable sections <NUM> come into contact with a lower surface of circuit substrate <NUM> or are positioned slightly below the lower surface of circuit substrate <NUM>. In this way, first cut-and-clinch unit <NUM> is disposed below circuit substrate <NUM> with through holes <NUM> of circuit substrate <NUM> superposed on second insertion holes <NUM> of slide bodies <NUM> by controlling the operations of X-direction shifting device <NUM>, Y-direction shifting device <NUM>, and Z-direction shifting device <NUM>.

Then, when leads <NUM> of lead component <NUM> held by suction nozzle <NUM> are inserted into through holes <NUM> of circuit substrate <NUM>, distal end portions of leads <NUM> are inserted into first insertion holes <NUM> of fixed sections <NUM> via second insertion holes <NUM> of movable sections <NUM> of first cut-and-clinch unit <NUM>, as shown in <FIG>. Following this, when leads <NUM> are inserted into first insertion holes <NUM> via second insertion holes <NUM>, movable sections <NUM> of pair of slide bodies <NUM> slide in directions in which they move away from each other. As a result, as shown in <FIG>, leads <NUM> are cut by fixed blades <NUM> of first insertion holes <NUM> and movable blades <NUM> of second insertion holes <NUM>. Then, the distal end portions of leads <NUM> that are cut as a result of leads <NUM> being cut fall in interiors of first insertion holes <NUM> for disposal into discard box <NUM>.

In addition, pair of movable sections <NUM> continue to slide in the directions in which they move away from each other even after leads <NUM> have been cut. Due to this, new distal end portions of leads <NUM> that result from the previous cutting of the distal end portions are bent along the tapered inner circumferential surfaces of second insertion holes <NUM> as movable sections <NUM> slide, and as movable sections <NUM> slide further, the distal end portions of leads <NUM> are bent along guide grooves <NUM>. Movable sections <NUM> slide along the direction in which pair of leads <NUM> are aligned. As a result, lead component <NUM> is mounted on circuit substrate <NUM> with pair of leads <NUM> bent so as to move away from each other in the direction in which pair leads <NUM> are aligned (hereinafter, referred to as an "outwardly bent state" from time to time), whereby leads <NUM> are prevented from being dislocated from through holes <NUM>.

In addition, by using first cut-and-clinch unit <NUM>, lead component <NUM> can be mounted on circuit substrate <NUM> not in the outwardly bent state but in such a state that pair of leads <NUM> are bent so as to move towards each other in the direction in which pair of leads <NUM> are aligned (hereinafter, referred to as an "inwardly bent state" from time to time). To be specific, movable sections <NUM> of pair of slide bodies <NUM> are caused to slide in directions in which they move towards each other after leads <NUM> are inserted into first insertion holes <NUM> via second insertion holes <NUM>. By doing so, as shown in <FIG>, leads <NUM> are cut by fixed blades <NUM> of first insertion holes <NUM> and movable blades <NUM> of second insertion holes <NUM>. Then, pair of leads <NUM> are bent in the directions in which they move towards each other by causing pair of movable sections <NUM> to slide further in the directions in which they move towards each other. As a result, lead component <NUM> is mounted on circuit substrate <NUM> in the inwardly bent state. In this way, lead component <NUM> is mounted on circuit substrate <NUM> in the outwardly bent state or the inwardly bent state by mounting first cut-and-clinch unit <NUM> on rotary table <NUM>.

In component mounting device <NUM>, by mounting second cut-and-clinch unit <NUM> on rotary table <NUM> in place of first cut-and-clinch unit <NUM>, lead component <NUM> is mounted on circuit substrate <NUM> in such a state that pair of leads <NUM> are bent in a generally N-shape (hereinafter, referred to as an "N-shaped bent state").

To be specific, firstly, second cut-and-clinch unit <NUM> is mounted on rotary table <NUM> of unit moving device <NUM>. Then, in second cut-and-clinch unit <NUM>, too, as with first cut-and-clinch unit <NUM>, second insertion holes <NUM> of slide bodies <NUM> are placed below through holes <NUM> of circuit substrate <NUM> so that they coincide with each other in the up-down direction by controlling the operation of unit moving device <NUM>. Subsequently, leads <NUM> of lead component <NUM> held by suction nozzle <NUM> are inserted into first insertion holes <NUM> of fixed portions <NUM> through second insertion holes <NUM> of movable sections <NUM> by inserting the leads <NUM> into through holes <NUM>. Then, movable sections <NUM> of pair of slide bodies <NUM> are caused to slide in directions in which they move away from each other. As this occurs, as described above the direction in which movable sections <NUM> slide coincides with the direction in which pair of slide bodies <NUM> slide, that is, movable sections <NUM> slides in the direction that deviates <NUM> degrees with the direction in which pair of through holes <NUM> are aligned on the XY plane. Due to this, pair of leads <NUM> are bent in the direction that deviates <NUM> degrees with respect to the direction in which pair of through holes <NUM> are aligned on the XY plane. As a result, pair of leads <NUM> are bent generally int the N-shape, whereby lead component <NUM> is mounted on circuit substrate <NUM> in the N-shaped bent state. As a result of lead component <NUM> being mounted on circuit substrate <NUM> with pair of leads <NUM> staying in the N-shaped bent state, a tensile force is generated in a different direction from the direction in which lead component <NUM> is aligned, whereby loosening of lead component <NUM> is prevented.

In addition, in component mounting device <NUM>, a relatively large component such as a case can be fixed to circuit substrate <NUM> through screwing by mounting screw tightening unit <NUM> on rotary table <NUM> in place of first cut-and-clinch unit <NUM> and second cut-and-clinch unit <NUM>.

To be specific, firstly, screw tightening unit <NUM> is mounted on rotary table <NUM> of unit moving device <NUM>. The operator temporarily fixes a component such as a case in a predetermined position on circuit substrate <NUM> outside component mounting device <NUM> through temporary screwing. Then, circuit substrate <NUM> is conveyed into an interior of component mounting device <NUM> with a surface of circuit substrate <NUM> on which the component is temporarily fixed facing downwards, and circuit substrate <NUM> is held in a predetermined position by clam device <NUM>. Subsequently, X-direction shifting device <NUM> and Y-direction shifting device <NUM> are controlled to operate so that a distal end position of driver shaft <NUM> of screw tightening unit <NUM> coincides with a screwing position where the component is temporarily fixed in the up-and-down direction. Next, Z-direction shifting device <NUM> is controlled to operate so that a distal end of driver shaft <NUM> fits in a cross groove or the like formed on a head of a screw, and screw tightening unit <NUM> is raised. Then, solenoid motor <NUM> operates to turn driver shat <NUM> on its own axis, whereby the screw is tightened properly so that the component is fixed to circuit substrate <NUM>.

In this way, in component mounting device <NUM>, lead component <NUM> can be mounted on circuit substrate <NUM> in the inwardly bent state or the outwardly bent state by mounting first cut-and-clinch unit <NUM> on rotary table <NUM>, lead component <NUM> can be mounted on circuit substrate <NUM> in the N-shaped bent state by mounting second cut-and-clinch unit <NUM> on rotary table <NUM>, and a relatively large component can be screwed to circuit substrate <NUM> by mounting screw tightening unit <NUM> on rotary table <NUM>. This makes it possible to perform various types of work in component mounting device <NUM>.

Further, for example, more various types of work can be performed by preparing various types of units that can be mounted on rotary table <NUM>. Specifically, units for various types of work can be adopted which include, for example, a unit configured to apply point flow soldering to leads of a lead component, a unit configured to hold any object, and a unit configured to inspect a board. As a point flow soldering unit, a unit can be adopted in which a small amount of molten solder is constantly jetted to the outside from a nozzle port having a small diameter of a point flow jet nozzle, and molten solder jetted from a discharge port disposed on the periphery of the jet nozzle is recovered. As a board inspection, for example, a unit can be adopted in which an image of a board is captured, and the board is inspected based on the data of captured image, or a unit can be adopted in which a board is inspected based on a detection value of a sensor or the like.

When first cut-and-clinch unit <NUM> or second cut-and-clinch unit <NUM> is mounted on rotary table <NUM>, leads <NUM> of lead component <NUM> are inserted into smaller second insertion holes <NUM>. When screw tightening unit <NUM> is mounted on rotary table <NUM>, the distal end of driver shaft <NUM> is fitted in a groove such as a cross groove formed in the head of a screw. Due to this, when these units are mounted on rotary table <NUM>, the positions of second insertion holes <NUM>, the position of the distal end of driver shaft <NUM> and the like need to be recognized as required. Due to this, when those units are mounted on rotary table <NUM>, erected pins <NUM> of mounting section190 are fitted in fitting holes <NUM> formed in leg sections <NUM> or the like of the units, whereby the units can be positioned properly, this allowing the units to be mounted on rotary table <NUM> with good repeatability. However, due to loosening of erected pins <NUM> in interiors of fitting holes <NUM> or the like, there is a risk of the mounting position of the units on to rotary table <NUM> deviating slightly from the preset position. In view of such a risk, the marks are provided on each unit, and when an exchange of one of the units mounted on rotary table <NUM> with another of the units outside rotary table <NUM> is detected, images of the marks on the unit now mounted on rotary table <NUM> are captured, and a calibration is carried out based on the data of captured images.

To be specific, when an exchange of one of the units mounted on rotary table <NUM> with another of the units outside rotary table <NUM> is detected, an image of the unit now mounted on rotary table <NUM> is captured by mark camera <NUM>. For example, when first cut-and-clinch unit <NUM> is mounted on rotary table <NUM>, pair of marks <NUM> are recognized based on the data of captured images. Pair of marks <NUM> are provided symmetrically with respect to the center of the opening of second insertion hole <NUM> as the center. That is, the central point between pair of marks <NUM> constitutes the center of the opening of second insertion hole <NUM>. Therefore, a center point of pair of marks <NUM> is calculated by recognizing the positions of pair of marks <NUM> based on the data of captured images, and the position of the calculated center point is recognized as an opening position of second insertion hole <NUM>. The mounting position of first cut-and-clinch unit <NUM> is calibrated based on the opening position of second insertion hole <NUM>.

When first cut-and-clinch unit <NUM> is mounted on rotary table <NUM>, leads <NUM> of lead component <NUM> held by work head <NUM>, <NUM> are inserted into second insertion holes <NUM>. That is, the work is carried out in corporation of work head <NUM>, <NUM> with first cut-and-clinch unit <NUM>. Due to this, the mounting position of first cut-and-clinch unit <NUM> is calibrated, and a relative position of work head <NUM>, <NUM> to first cut-and-clinch unit <NUM> is calculated. This enables leads <NUM> of lead component <NUM> to be inserted into through holes <NUM> as required with first cut-and-clinch unit <NUM> mounted on rotary table <NUM>.

For example, with screw tightening unit <NUM> mounted on rotary table <NUM>, pair of marks <NUM> are recognized based on the data of captured images. Pair of marks <NUM> are provided symmetrically with respect to the center axis of driver shaft <NUM> as the center. That is, a central point between pair of marks <NUM> constitutes a center axis of driver shaft <NUM>. Due to this, the center point of pair of marks <NUM> is calculated by recognizing the positions of pair of marks <NUM> based on the data of captured images, and the center point so calculated is recognized as the center axis of driver shaft <NUM>. Then, the mounting position of screw tightening unit <NUM> is calibrated based on the position of the center axis of driver shaft <NUM>. By doing so, with screw tightening unit <NUM> mounted on rotary table <NUM>, the distal end of driver shaft <NUM> can be fitted in the groove such as the cross groove formed on the head of a screw as required.

An exchange of one of the units mounted on rotary table <NUM> with another of the units outside rotary table <NUM> is detected based the 2D codes provided on these units. To be specific, an image of the unit now mounted on rotary table <NUM> is captured by mark camera <NUM> before work is performed by use of the unit mounted on rotary table <NUM>. For example, when first cut-and-clinch unit <NUM> is mounted on rotary table <NUM>, 2D code <NUM> is recognized based on the data of captured image. Since 2D code <NUM> is made as a code specific to first cut-and-clinch unit <NUM>, the unit mounted on rotary table <NUM> is identified as first cut-and-clinch unit <NUM> based on recognized 2D code <NUM>. Then, the designation of the identified unit is stored in control device <NUM>. In this way, the unit mounted on rotary table <NUM> is identified every time work is performed by use of the unit mounted on rotary table <NUM>, and the designation of the identified unit is stored. As this occurs, in the case where the unit identified based on the 2D code differs from the unit whose designation is stored in control device <NUM>, it is detected that the exchanged unit is now mounted on rotary table <NUM>.

As shown in <FIG>, controller <NUM> of control device <NUM> has first image capture section <NUM>, calculate section <NUM>, and detect section <NUM>. First image capture section <NUM> constitutes a function section configured to capture images of the marks provided on the unit mounted on rotary table <NUM>. Calculate section <NUM> constitutes a function section configured to calculate a relative position between work heads <NUM>, <NUM> and the unit mounted on rotary table <NUM> based on the data of captured images of the marks. Detection section <NUM> constitutes a function section configured to detect whether the unit now mounted on turn able <NUM> is the one that has just been exchanged. In addition, detection section <NUM> has second image capture section <NUM> and determine section <NUM>. Second image capture section <NUM> constitutes a function section configured to capture an image of the 2D code on the unit mounted on rotary table <NUM>. Determining section <NUM> constitutes a function section configured to determine whether the unit now mounted on rotary table <NUM> is the one that has just been exchanged based on the data of captured image of the 2D code.

Component mounting device <NUM> constitutes an example of a substrate work machine. Substrate conveying-and-holding device <NUM> constitutes an example of a conveyance device. Mark camera <NUM> constitutes an example of an image capture device. Component supply device <NUM> and bulk component supply device <NUM> constitute an example of a supply device. First cut-and-clinch unit <NUM> constitutes an example of a work unit. Unit moving device <NUM> constitutes an example of a downward shifting device. Second cut-and-clinch unit <NUM> constitutes an example of a work unit. Screw tightening unit <NUM> constitutes an example of a work unit. Control device <NUM> constitutes an example of a control device. Work heads <NUM>, <NUM> constitute an example of a holding head. Work head moving device <NUM> constitutes an example of an upward shifting device. Mark <NUM> constitutes an example of a characteristic section. 2D code <NUM> constitutes an example of an identifier. Mounting section <NUM> constitutes an example of a mounting section. Placing table <NUM> constitutes an example of a placing table. Erected pin <NUM> constitutes an example of a positioning pin. Fitting hole <NUM> constitutes an example of a hole portion. 2D code <NUM> constitutes an example of an identifier. Mark <NUM> constitutes an example of a characteristic section. 2D code <NUM> constitutes an example of an identifier. First image capture section <NUM> constitutes an example of first image capture section. Calculate section <NUM> constitutes an example of a calculate section. Detection section <NUM> constitutes an example of a detect section. Second image capture section <NUM> constitutes an example of second image capture section. Determining section <NUM> constitutes an example of a determine section.

The invention is not limited to the embodiment that has been described heretofore and hence can be carried out in various forms resulting from modifying or improving the embodiment variously within the scope of the appended claims. Specifically, for example, in the embodiment described above, in detecting the exchange of one of the units mounted on rotary table <NUM> with another of the units outside rotary table <NUM>, the image of the 2D code is captured, and the data of captured image is made use of; however, the exchange of the units may be detected by other methods. Specifically, for example, each unit stores in a storage section thereof identification information for identifying the type of each unit. Then, when one of the units is mounted on rotary table <NUM>, the unit is connected electrically with control device <NUM>, and the identification information stored in the storage section is transmitted from the storage section to control device <NUM>. As this occurs, control unit <NUM> that receives the identification information may be configured to identify the type of the unit mounted on rotary table <NUM> based on the received identification information to detect an exchange of the units. The function section that acquires the identification information from the unit constitutes an example of an acquire section, and the function section that detects an exchange of the units by identifying the type of the unit mounted on rotary table <NUM> constitutes an example of the discrimination section. The discrimination section can discriminate at least one of discriminations of discrimination on the type of the unit mounted on rotary table <NUM> or discrimination on the exchange of the units.

In the embodiment, marks <NUM>, <NUM> function as characteristic sections; however, 2D codes, signs and the like can be adopted as characteristic sections. In the embodiment, 2D code <NUM> functions as an identifier; however, a mark, sign and the like can be adopted as an identifier. <FIG> shows an example where marks <NUM> are used as identifiers. Positional patterns of marks <NUM> differ from unit to unit, and a unit can be identified as a result of second image capture section <NUM> identifying the specific positional pattern of marks <NUM> to the unit.

Claim 1:
A substrate work machine (<NUM>) for performing work on a board while the board is conveyed in, positioned in place and discharged from the interior of the machine, the substrate work machine (<NUM>) comprising:
multiple types of work units (<NUM>, <NUM>, <NUM>), being provided below a conveyance height of the board and configured to perform work on the board from below thereof; and
a mounting section (<NUM>) where each of the multiple types of work units (<NUM>, <NUM>, <NUM>) is mounted in an exchangeable manner, characterized in that
each of the work units (<NUM>, <NUM>, <NUM>) has a storage section configured to store identification information for identifying a type of each work unit (<NUM>, <NUM>, <NUM>), and wherein
the substrate work machine (<NUM>) further comprising a control device (<NUM>), the control device (<NUM>) having:
an acquire section configured to acquire the identification information from the storage section of the work unit (<NUM>, <NUM>, <NUM>) mounted on the mounting section (<NUM>); and
a discrimination section configured to perform at least one of discrimination on exchange of one of the work units (<NUM>, <NUM>, <NUM>) mounted on the mounting section (<NUM>) with another of the work units (<NUM>, <NUM>, <NUM>) outside the mounting section (<NUM>) and discrimination on a type of the work unit (<NUM>, <NUM>, <NUM>) mounted on the mounting section (<NUM>) based on the identification information acquired by the acquire section.