JP6870067B2 - 3D mounting related equipment - Google Patents

Description

The present disclosure, which is the invention disclosed in the present specification, relates to a three-dimensional mounting related device.

Conventionally, as a three-dimensional mounting device, for example, the dispenser is directed in a direction along the normal of the tangent plane at the target point of the work, and the dispenser is moved toward the target point along the normal to apply the conductive paste. Then, a work has been proposed in which the work is rotated around a vertical axis so that the target point faces the suction nozzle, the suction nozzle is moved along the normal line, and the chip component is mounted on the target point (for example, Patent Document). 1). According to this device, chip components can be mounted three-dimensionally on workpieces of various shapes.

Japanese Unexamined Patent Publication No. 2016-127187

In the three-dimensional mounting device described in Patent Document 1, a parallel link robot having a suction nozzle and a dispenser and having 6 degrees of freedom is arranged above, and a stage that can move in the left-right direction and an arrangement on the stage. A transport device equipped with a rotatable table is arranged below, and a three-dimensional work is fixed to the table for mounting processing. Although this device can perform mounting processing on a three-dimensional work, it is necessary to provide a mechanism for dealing with the three-dimensional object in the parallel link robot and a mechanism for dealing with the three-dimensional object in the transport device. However, there is a problem that the size of the device becomes large. In the three-dimensional mounting apparatus, there has been a demand for a new apparatus for applying a viscous liquid to a three-dimensional object to be processed and arranging members so as to solve such a problem.

The present disclosure has been made in view of such a problem, and an object of the present disclosure is to provide a novel three-dimensional mounting-related device for applying a viscous liquid to a three-dimensional object to be processed and arranging members.

The present disclosure has taken the following steps to achieve the above-mentioned main objectives.

The three-dimensional mounting related devices disclosed in this specification are
A three-dimensional mounting-related device that applies a viscous liquid and / or arranges members to a three-dimensional object to be processed having a plurality of mounting surfaces.
An XY robot provided with a processing head for applying a viscous liquid to a three-dimensional object to be processed and / or arranging members, and a moving portion for moving the processing head in a predetermined plane direction.
An articulated robot that holds the posture of the processing object in a changeable manner with respect to the processing head and moves the processing object between an introduction position, a processing position, and a discharge position.
A control unit that controls the XY robot and the articulated robot,
It is equipped with.

In this device, a viscous fluid can be applied and members can be arranged by an XY robot equipped with a processing head, and the posture of the object to be processed can be three-dimensionally changed and held at a predetermined position by an articulated robot. Can be moved to and fixed in place. Therefore, this apparatus can provide a novel three-dimensional mounting-related apparatus for applying a viscous liquid to a three-dimensional object to be processed and arranging members. Here, examples of the "viscous fluid" include solder paste, conductive paste, adhesive for fixing parts, grease, and the like. Further, examples of the member include electronic components arranged on a circuit board.

Schematic diagram of the mounting system 10. Explanatory drawing which shows the structure of the robot side mounting part 27 and the transfer pallet 40. The block diagram which shows the outline of the structure of the 3D mounting apparatus 11. Explanatory drawing which shows an example of the three-dimensional substrate 50 as a processing object. Explanatory drawing which shows an example of the three-dimensional substrate 55 as a processing object. The explanatory view of the 3D data 19 of the processing object stored in the storage unit 17. The flowchart which shows an example of the coating mounting processing routine. The explanatory view of the support transport part 20 which mounts the transport pallet 40 at the introduction position. The explanatory view of the support transport part 20 which fixes the transport pallet 40 at a processing position. The explanatory view which corrects and corrects the posture (inclination) of a three-dimensional board 50 and mounts a component P. Explanatory drawing of the support transport part 20 which dismounts and dismounts the transport pallet 40 at a discharge position.

This embodiment will be described below with reference to the drawings. FIG. 1 is a schematic explanatory view of a mounting system 10 which is an example of the present disclosure. FIG. 2 is an explanatory diagram showing the configuration of the robot-side mounting portion 27 and the transport pallet 40 of the articulated robot 24. FIG. 3 is a block diagram showing an outline of the configuration of the three-dimensional mounting device 11. 4 and 5 are explanatory views showing three-dimensional substrates 50 and 55, which are examples of objects to be processed. FIG. 6 is an explanatory diagram of the three-dimensional data 19 of the processing object stored in the storage unit 17. As shown in FIG. 1, the mounting system 10 includes a three-dimensional mounting device 11, a reflow device (not shown), and a management computer (PC) 60. The three-dimensional mounting device 11 is a device that applies a viscous liquid and arranges members such as parts P on three-dimensional substrates 50, 55 (see FIGS. 4 and 5) as a three-dimensional processing object. The viscous fluid includes a solder paste, a conductive paste, an adhesive, grease and the like. The reflow device is a device that performs a reflow process that heats a three-dimensional substrate in which components are arranged on a viscous fluid. The management PC 60 is a device that manages the production of the three-dimensional substrate. Implementation condition information is stored in the management PC 60. The mounting condition information defines which components are mounted on the three-dimensional board in what order, and the required number of such three-dimensional boards to be produced. The mounting condition information includes three-dimensional data such as the shape and position of the circuit pattern used as the coating position of the viscous fluid to be processed by the three-dimensional mounting device 11 and the arrangement position of the components. In the present embodiment, the left-right direction (X-axis), the front-back direction (Y-axis), and the up-down direction (Z-axis) are as shown in FIG.

As shown in FIG. 4, the three-dimensional substrate 50 as a processing object is a three-dimensional object having a forming surface 51 including a plurality of forming surfaces 51a and 51b on which the circuit pattern 52 is formed. The three-dimensional substrate 50 has a stepped forming surface 51a, a forming surface 51b, and the like, and a mounting position (arrangement position) on which the component P is arranged is defined on these surfaces. The three-dimensional substrate 50 has a shape in which the forming surface 51a and the forming surface 51b are inclined with respect to the horizontal plane when placed on the horizontal plane. Further, when the three-dimensional substrate 50 is placed on a horizontal plane, the heights of the mounting position of the forming surface 51a and the mounting position of the forming surface 51b are different. As shown in FIG. 5, the three-dimensional substrate 55 is a three-dimensional object having a forming surface 56 including a plurality of forming surfaces 56a, 56b, 56c and the like on which the circuit pattern 57 is formed. The three-dimensional substrates 50, 55 and the like are collectively referred to as a three-dimensional substrate, the forming surfaces 51 and 56 and the like are collectively referred to as a forming surface, and the circuit patterns 52 and 57 and the like are collectively referred to as a circuit pattern. Further, on the formed surface 56 of the curved surface on which the circuit pattern 57 is formed, even if it is on the same curved surface, if it is necessary to change the inclination of the three-dimensional substrate 55 due to the difference in height and angle to apply and mount the three-dimensional substrate 55 It shall be treated as the forming surface 56 of. Further, the object to be processed may have a curved surface or a flat surface, and the mounting position may be on the upper surface side, the side surface side, or the bottom surface side.

The three-dimensional mounting device 11 is a device that performs a process of applying a viscous fluid and a process of mounting a component P on three-dimensional substrates 50, 55 and the like having a three-dimensional mounting surface. The three-dimensional mounting device 11 includes a parts supply unit 12, a parts camera 13, a measurement unit 14, a control unit 15, a support transport unit 20, a coating unit 30, a mounting unit 35, and the like.

The component supply unit 12 is a unit that supplies the component P to the mounting unit 35. The component supply unit 12 includes, for example, a feeder on which a tape on which the component P is held is mounted, a tray on which the component P is arranged, and the like. The parts camera 13 captures one or more parts P collected by the mounting head 37 of the mounting unit 35 from below. The upper part of the parts camera 13 is the imaging range. The measuring unit 14 is a sensor that measures the height of the three-dimensional substrate that is the object to be processed. The measuring unit 14 is arranged on the lower surface side of any one of the coating head 32 and the mounting head 37, and moves inside the device in the XY direction with the movement of the measuring unit 14. The measuring unit 14 may be an optical non-contact type sensor such as a laser, or may be a contact type sensor. If the height of the three-dimensional substrate is measured at a plurality of positions by the measuring unit 14, the inclination of the three-dimensional substrate can also be obtained.

The control unit 15 is configured as a microprocessor centered on the CPU 16, and includes a storage unit 17 and the like for storing various data. The control unit 15 exchanges information with the parts supply unit 12, the parts camera 13, the measurement unit 14, the support transport unit 20, the coating unit 30, the mounting unit 35, and the like. In the three-dimensional mounting device 11, the control unit 15 has a coating process of applying a viscous fluid to the forming surface of the three-dimensional substrate by the coating unit 30, and a mounting process of arranging the component P on the forming surface of the three-dimensional substrate by the mounting unit 35. To execute. As shown in FIG. 6, the storage unit 17 stores the mounting condition information including the three-dimensional data 19. The three-dimensional mounting device 11 acquires this mounting condition information from the management PC 60 by communication and stores it in the storage unit 17. The three-dimensional data 19 is data including information on the three-dimensional structure of a three-dimensional object such as three-dimensional substrates 50 and 55, which is created by, for example, CAD. The three-dimensional data 19 includes, for example, three-dimensional coordinates (X, Y, Z) with respect to a predetermined origin, information on the direction of the outer surface (for example, a normal vector) at the coordinates, and the like. There is. Further, the three-dimensional data 19 includes the identification information (ID) of the processing target object, the mounting position ID of the processing target object, the mounting coordinates (X, Y, Z), and the identification information of the forming surface including the mounting position. (ID), position tilt information including tilt RX due to rotation about the X-axis direction of the forming surface including the mounting position and tilt RY due to rotation about the Y-axis direction, and the like are included.

The support transport unit 20 is a unit capable of transporting the three-dimensional substrate and adjusting and fixing the inclination angle of the three-dimensional substrate. As shown in FIG. 1, the support transport unit 20 includes a first transport unit 21, a second transport unit 22, an articulated robot 24, and a drive unit 28. The first transport unit 21 is a conveyor that carries the transport pallet 40 to which the three-dimensional substrate is fixed from the device entrance to the introduction position. The first conveyor 21 has a pair of conveyor belts that are provided at intervals in the front and rear of FIG. 1 and are bridged in the left-right direction. The transport pallet 40 is conveyed by this conveyor belt. The second transport unit 22 is a conveyor that discharges the transport pallet 40 (pedestal) holding the three-dimensional substrate from the discharge position to the device outlet. The second transport unit 22 has the same configuration as the first transport unit 21. In the support transport unit 20, a movable space 29 in which the articulated robot 24 is arranged and operates below the moving region of the coating head 32 and the mounting head 37 and between the first transport unit 21 and the second transport unit 22 is provided. It is formed.

As shown in FIGS. 1 to 3, the transport pallet 40 includes a fixing portion 41 for fixing the three-dimensional substrate and a pallet side mounting portion 42 held by the arm portion 26. The fixing portion 41 may be a mechanism for fixing the three-dimensional substrate, and may be, for example, a clamp mechanism for sandwiching the three-dimensional substrate by a spring force or a mechanism for screwing the three-dimensional substrate. As shown in FIG. 2, the pallet side mounting portion 42 may be a clamp plate that is detachably fixed to the transport pallet 40. The clamp plate is formed with grooves and recesses to be gripped by the robot side mounting portion 27.

The articulated robot 24 is a support portion capable of fixing a three-dimensional substrate. The articulated robot 24 grips a transport pallet 40 to which a three-dimensional substrate is fixed, and moves the transport pallet 40 to an introduction position, a processing position, and a discharge position. The articulated robot 24 has a plurality of tilt axes and can tilt the three-dimensional substrate in a plurality of directions, and holds the three-dimensional substrate in a changeable posture with respect to the coating head 32 and the mounting head 37. The larger the number of tilt axes, the easier it is to change the posture of the three-dimensional substrate, and it is preferable that the number of tilt axes is four or more. The articulated robot 24 has 6 tilt axes. The articulated robot 24 has a base portion 25, an arm portion 26, and a robot side mounting portion 27. The base portion 25 is fixed to the device housing while supporting the arm portion 26. The articulated robot 24 is a vertical articulated robot, and the axial direction of the base 25 thereof is fixed in a direction along the horizontal direction, for example, a direction (X-axis) along the moving direction of the three-dimensional substrate. That is, the support transport unit 20 includes a horizontally placed vertical articulated robot. By arranging the articulated robot 24 in this way, the three-dimensional substrate can be tilted in the limited movable space 29, or the three-dimensional substrate can be moved to a position lower than the transport height of the first transport section 21 and the second transport section 22. Can be lowered.

The arm portion 26 has a first arm 26a, a second arm 26b, a third arm 26c, a fourth arm 26d, and a fifth arm 26e. The first arm 26a is arranged on the base 25 so as to be rotatable about the X axis. The second arm 26b is pivotally supported by the first arm 26a so as to be swingable mainly in the vertical direction. The third arm 26c is pivotally supported by the second arm 26b so as to be swingable mainly in the left-right direction. The fourth arm 26d is arranged so that the third arm 26c can rotate around the main shaft of the third arm 26c. The fifth arm 26e is pivotally supported by the fourth arm 26d so as to be swingable mainly in the left-right direction. The fifth arm 26e is provided with a robot-side mounting portion 27 so that the fifth arm 26e can rotate around its main shaft. The robot-side mounting portion 27 is a mechanical chuck that is disposed at the tip of the arm portion 26 and grips and fixes the pallet-side mounting portion 42 (clamp plate). The robot-side mounting portion 27 opens and closes according to the pressure supplied from the main body. The drive unit 28 includes, for example, a motor that drives the conveyor belts of the first transfer unit 21 and the second transfer unit 22, a motor that rotates or swings each member of the arm unit 26, and the like. The articulated robot 24 transports the three-dimensional substrate between the introduction position, the processing position, and the discharge position with the transport pallet 40 attached. At this time, the articulated robot 24 mounts the pallet side mounting portion 42 of the transport pallet 40 on the first transport unit 21 to move the transport pallet 40, and dismounts the pallet side mounting portion 42 on the second transport unit 22. To do.

The coating unit 30 is a coating unit that applies a viscous fluid to a three-dimensional substrate fixed to the support and transport unit 20. The coating portion 30 includes a head moving portion 31, a coating head 32, and a coating nozzle 33. The head moving unit 31 includes a slider that is guided by a guide rail and moves in the XY directions, and a motor that drives the slider. The coating unit 30 is configured as an XY robot that moves the coating head 32 as a processing head in the XY plane direction. The coating nozzle 33 is detachably attached to the lower surface side of the coating head 32. The coating nozzle 33 is a nozzle that applies pressure to the accommodating portion accommodating the viscous fluid and supplies a predetermined amount of the viscous fluid from the tip of the coating nozzle 33.

The mounting unit 35 is a mounting unit that collects the component P from the component supply unit 12 and arranges the component P on a three-dimensional board fixed to the support transport unit 20. The mounting unit 35 includes a head moving unit 36, a mounting head 37, and a sampling unit 38. The head moving unit 36 includes a slider that is guided by a guide rail and moves in the XY directions, and a motor that drives the slider. The mounting unit 35 is configured as an XY robot that moves the mounting head 37 as a processing head in the XY plane direction. The sampling unit 38 is a member that is detachably mounted on the lower surface side of the mounting head 37 and collects the component P. The sampling unit 38 may be a suction nozzle that collects the component P by using negative pressure, or may be a mechanical chuck that mechanically grips the component P. The mounting head 37 is configured so that one or more sampling units 38 can be mounted. The head moving portion 36 may share a part of the slider with the head moving portion 31. Further, the coating head 32 and the mounting head 37 may have the same structure, and the coating nozzle 33 and the sampling portion 38 as tools may be freely attached.

Next, the operation of the mounting system 10 of the present embodiment configured in this way, particularly the coating process and the mounting process executed by the three-dimensional mounting device 11 will be described. FIG. 7 is a flowchart showing an example of a coating mounting processing routine executed by the CPU 16 of the control unit 15. This routine is stored in the storage unit 17 and executed based on the implementation start input of the operator.

When this routine is started, the CPU 16 first acquires mounting condition information including the three-dimensional data of the three-dimensional board which is the object to be processed from the management PC 60 (S100), and first conveys the transport pallet 40 to which the three-dimensional board is fixed. It is carried in by 21 and the transport pallet 40 is attached to the arm portion 26 and moved to the processing position (S110). FIG. 8 is an explanatory view of a support transport unit 20 for mounting the transport pallet 40 at the introduction position. FIG. 9 is an explanatory view of a support transport unit 20 for fixing the transport pallet 40 at the processing position. The CPU 16 controls the first transport unit 21 so as to move the transport pallet 40 to the introduction position, and controls the articulated robot 24 so that the robot side mount portion 27 grips the pallet side mount portion 42 below the transport pallet 40. (Fig. 8). Next, the CPU 16 controls the articulated robot 24 so as to move the transfer pallet 40 to the processing position at the center of the movable space 29 (FIG. 9).

Next, the CPU 16 applies the viscous fluid and sets the formation surface of the processing target on which the component P is arranged (S120). The CPU 16 can set the formation surface of the processing target based on the three-dimensional data 19 of the processing target, including the mounting order, for example. Next, the CPU 16 corrects the inclination of the three-dimensional substrate as necessary and fixes it so that the formation surface of the processing target becomes a horizontal plane (S130). The CPU 16 causes the articulated robot 24 to fix the processing object so that the forming surface becomes a horizontal plane based on the inclination of the forming surface included in the three-dimensional data 19 of the processing object. At this time, the CPU 16 controls the articulated robot 24 so that the formation surface to be processed has a predetermined mountable height. FIG. 10 is an explanatory view for mounting the component P by correcting the posture (tilt) of the three-dimensional substrate 50. As shown in FIG. 10, when the forming surface 51 is tilted, the angle of the transport pallet 40 is corrected so that the forming surface 51 becomes horizontal. In addition, "to be a horizontal surface" means to change the posture of the three-dimensional substrate so that the position where the component P is arranged is horizontal, and when the formed surface is a curved surface, the central portion thereof and the arrangement of the component P are arranged. The posture of the three-dimensional substrate may be changed so that a high-density portion or the like becomes a horizontal plane.

Next, the CPU 16 causes the measuring unit 14 to measure the height of the forming surface to be processed, and corrects the posture and height of the three-dimensional substrate using the measurement result (S140). At this time, when it is determined that there is a deviation in the height or inclination of the three-dimensional substrate (see, for example, the dotted line in FIG. 10), the CPU 16 causes the articulated robot 24 to perform position correction so that the deviation is eliminated. Next, the CPU 16 applies a viscous fluid to the coating unit 30 (S150), and the mounting unit 35 arranges the component P on the three-dimensional substrate (S160). Subsequently, the CPU 16 determines whether or not there is a next unprocessed formation surface (S170), and if there is a next formation surface, executes the processing after S120. On the other hand, when there is no next forming surface in S170, that is, when all the forming surfaces are mounted, the CPU 16 causes the articulated robot 24 to discharge the transfer pallet 40 (S180).

FIG. 11 is an explanatory view of a support transport unit 20 for mounting and dismounting the transport pallet 40 at the discharge position. The CPU 16 controls the articulated robot 24 to move the transport pallet 40 from the processing position to the discharge position, mounts the transport pallet 40 on the discharge position of the second transport unit 22, and then opens the robot side mounting unit 27. Then, the grip of the pallet side mounting portion 42 is released. Next, the CPU 16 controls the second transport unit 22 so as to move the transport pallet 40 to the outlet of the device. Then, the CPU 16 determines whether or not there is a three-dimensional substrate to be processed next (S190), and if there is a next three-dimensional substrate, executes the processing after S110. On the other hand, when there is no next three-dimensional board, that is, when the mounting process for all three-dimensional boards is completed, this routine is terminated as it is. In this way, in the three-dimensional mounting device 11, while the height is corrected by the measuring unit 14, the coating process and the mounting process are performed on each formed surface while changing the posture of the three-dimensional substrate.

Here, the correspondence between the components of the present embodiment and the components of the present disclosure will be clarified. The coating head 32 and the mounting head 37 of the present embodiment correspond to the processing head, the head moving portions 31 and 36 correspond to the moving portion, the coating portion 30 and the mounting portion 35 correspond to the XY robot, and the articulated robot 24 It corresponds to an articulated robot, and the control unit 15 corresponds to the control unit.

In the three-dimensional mounting device 11 of the present embodiment described above, the viscous fluid can be applied and the members can be arranged by the XY robot provided with the processing heads such as the coating head 32 and the mounting head 37, and the articulated robot 24 can be used. Therefore, the posture of the object to be processed can be held in a three-dimensionally changeable manner, moved to a predetermined position, and fixed at a predetermined position. Therefore, this apparatus can provide a novel three-dimensional mounting-related apparatus for applying a viscous liquid to a three-dimensional object to be processed and arranging members. Further, the articulated robot 24 is a vertical articulated robot, and the axial direction of the base 25 thereof is fixed in the direction along the horizontal direction, that is, the vertical articulated robot is fixed horizontally. Compared to a robot in which a vertical articulated robot is fixed vertically, it can be made more compact in the height direction. Further, in this device, it is easy to move the object to be processed below a predetermined transfer reference surface such as the transfer lane of the first transfer unit 21 and the second transfer unit 22. Further, in the articulated robot 24, since the axial direction of the base 25 is fixed in the direction along the moving direction of the processing object, this device can smoothly move the processing target in the moving direction. Furthermore, since the articulated robot 24 has four or more movable axes, the posture of the object to be processed can be changed more freely.

Further, the three-dimensional mounting related device 11 includes a first transport unit 21 for carrying the processing target object to the introduction position and a second transport unit 22 for discharging the processing target object from the discharge position, and has a moving region of the processing head. A movable space 29 in which the articulated robot 24 operates is formed downward and between the first transport unit 21 and the second transport unit 22. This device has a movable space 29, and has a higher degree of freedom in moving the object to be processed in the vertical direction than, for example, a transport lane formed from the introduction position to the discharge position, and is a three-dimensional processing object. It is easy to adjust the posture and height of objects. Further, the XY robot includes a coating head 32 for coating a viscous liquid and a mounting head 37 for arranging members (parts P) as processing heads. In this device, the application process of the viscous fluid and the arrangement process of the members can be performed collectively, and the space can be further saved. Furthermore, since the XY robot can adopt the existing configuration, it is possible to further suppress the complexity of the device configuration and the like. The three-dimensional mounting device 11 includes a measuring unit 14 for measuring the height of the object to be processed, and the control unit 15 is a member to be processed fixed by the articulated robot 24 based on the measurement result of the measuring unit 14. Correct one or more of the horizontal position, height position, and inclination of. In this device, the coating process and the arrangement process can be performed with higher accuracy by correcting the height and inclination of the object to be processed.

It goes without saying that the three-dimensional mounting device of the present disclosure is not limited to the above-described embodiment, and can be implemented in various modes as long as it belongs to the technical scope of the present disclosure.

For example, in the above-described embodiment, the axial direction of the base 25 is fixed in the direction along the moving direction (X-axis direction) of the object to be processed. For example, the axial direction of the base 25 is the X-axis direction. However, the direction along the horizontal direction, that is, the articulated robot 24 may be simply fixed horizontally. This device can also save space in the height direction. Alternatively, in the above-described embodiment, the axial direction of the base 25 is along the horizontal direction, that is, the articulated robot 24 is placed horizontally, but the present invention is not particularly limited to this, and the articulated robot 24 is placed vertically. It may be fixed. This device can also change the posture of the object to be processed by using an articulated robot. Further, in the above-described embodiment, the vertical articulated robot is adopted, but the present invention is not particularly limited to this, and other articulated robots may be used. Further, in the above-described embodiment, the articulated robot 24 having 6 axes as movable axes is provided, but the present invention is not particularly limited to this, and the movable axes are arbitrary. When the number of movable axes is 4 or more, the degree of freedom in changing the posture of the object to be processed is higher, which is preferable. Further, in the above-described embodiment, the articulated robot 24 has the first to fifth arms 26a to 26e, but the number of movable members of the arm portion 26 is adjusted to the size of the device, the size of the object to be processed, and the like. Then, it may be selected as appropriate.

In the above-described embodiment, the three-dimensional mounting device 11 includes the coating head 32 and the mounting head 37, and performs the coating process and the arrangement process of the component P on the three-dimensional substrate. However, even if either one is omitted. Good. Also in this device, the posture of the three-dimensional substrate, which is the object to be processed, can be freely changed by the articulated robot 24.

In the above-described embodiment, the support transport unit 20 includes the first transport unit 21 and the second transport unit 22, but any one or more of these may be omitted. For example, the first transport unit 21 and the second transport unit 22 may be arranged outside the device. Also in this device, the posture of the three-dimensional substrate, which is the object to be processed, can be freely changed by the articulated robot 24.

In the above-described embodiment, the three-dimensional substrate is conveyed by the transfer pallet 40, but the present invention is not particularly limited to this, and the three-dimensional substrate directly placed on the conveyor belt is arranged at the tip of the articulated robot 24. It may be gripped by a mechanical chuck to carry, change the posture, or the like. Also in this device, the posture of the three-dimensional substrate, which is the object to be processed, can be freely changed by the articulated robot 24.

In the above-described embodiment, the height of the three-dimensional substrate is measured by the measuring unit 14, and the posture of the three-dimensional substrate is corrected. However, the measuring unit 14 may be omitted, or the height of the three-dimensional substrate may be measured. The processing, the posture correction processing, and the like may be omitted. In order to arrange the parts on the surface of the three-dimensional object with higher accuracy, it is desirable to measure and correct the height of the three-dimensional substrate.

Here, in the three-dimensional mounting device of the present disclosure, the articulated robot may be a vertical articulated robot, and the axial direction of the base thereof may be fixed in a direction along the horizontal direction. In this device, since the vertical articulated robot is fixed horizontally, it is possible to make the vertical articulated robot more compact in the height direction than the one fixed vertically. Further, in this device, it is easy to move the object to be processed below the predetermined transport reference plane. In the three-dimensional mounting related device adopting this vertical articulated robot, the articulated robot may have the axial direction of the base fixed in a direction along the moving direction of the processing object. With this device, the object to be processed can be smoothly moved in the moving direction.

In this three-dimensional mounting related device, the articulated robot may have four or more movable axes. With this device, the posture of the object to be processed can be changed more freely.

This three-dimensional mounting-related device includes a first transport unit that carries the processing target object to the introduction position and a second transport unit that discharges the processing target object from the discharge position, and has a moving region of the processing head. A movable space in which the articulated robot operates may be formed below the above and between the first transport unit and the second transport unit. This device has a movable space, and has a higher degree of freedom in moving the processing object in the vertical direction than, for example, a transport lane formed from the introduction position to the discharge position, and is a three-dimensional processing object. Easy to adjust posture and height.

In this three-dimensional mounting-related device, the XY robot may include, as the processing head, a coating head for coating a viscous liquid and a mounting head for arranging members. In this device, the application process of the viscous fluid and the arrangement process of the members can be performed collectively, and the space can be further saved.

The three-dimensional mounting related device includes a measuring unit for measuring the height of the object to be processed fixed to the articulated robot, and the control unit is the articulated robot based on the measurement result of the measuring unit. One or more of the horizontal position, the height position, and the inclination of the processing target member fixed by the above may be corrected. In this device, the coating process and the arrangement process can be performed with higher accuracy by correcting the height and inclination of the object to be processed.

The three-dimensional mounting device of the present disclosure can be used in the technical field of a device that performs processing such as collecting and arranging a processing object that is a three-dimensional object.

10 mounting system, 11 3D mounting device, 12 parts supply unit, 13 parts camera, 14 measurement unit, 15 control unit, 16 CPU, 17 storage unit, 19 3D data, 20 support transfer unit, 21 1st transfer unit, 22 2nd transport part, 24 articulated robot, 25 base part, 26 arm part, 26a 1st arm, 26b 2nd arm, 26c 3rd arm, 26d 4th arm, 26e 5th arm, 27 robot side mounting part, 28 Drive unit, 29 movable space, 30 coating unit, 31 head moving unit, 32 coating head, 33 coating nozzle, 35 mounting unit, 36 head moving unit, 37 mounting head, 38 sampling unit, 40 transport pallet, 41 fixed unit, 42 Pallet side mounting part, 50 3D board, 51, 51a, 51b forming surface, 52 circuit pattern, 55 3D board, 56, 56a, 56b, 56c forming surface, 57 circuit pattern, 60 management PC, P parts.

Claims (8)

A three-dimensional mounting-related device that applies a viscous liquid and / or arranges members to a three-dimensional object to be processed having a plurality of mounting surfaces.
An XY robot provided with a processing head that applies a viscous liquid to a three-dimensional object to be processed and / or arranges members at a processing position, and a moving portion that moves the processing head in a predetermined plane direction.
The first transport unit that carries the object to be processed to the introduction position,
A second transport unit that discharges the object to be processed from the discharge position,
After moving the processing object from the introduction position to the processing position, the posture of the processing object is held in a changeable manner with respect to the processing head, and then the processing object is discharged from the processing position. An articulated robot that moves to a position,
A control unit that controls the XY robot, the first transport unit, the second transport unit, and the articulated robot.
3D mounting related device equipped with. The three-dimensional mounting-related device according to claim 1, wherein the articulated robot is a vertical articulated robot, and the axial direction of the base thereof is fixed in a direction along the horizontal direction. A three-dimensional mounting-related device that applies a viscous liquid and / or arranges members to a three-dimensional object to be processed having a plurality of mounting surfaces.
A processing head for placement of the coating and / or members of the viscous liquid from the vertical direction against the processing object of the three-dimensional, the XY robot and a moving portion for moving the processing head in a predetermined horizontal plane,
It is a vertical articulated robot, the axial direction of its base is fixed in the direction along the horizontal direction, the posture of the processing object is mutably held with respect to the processing head, and the introduction position, the processing position, and the discharge position are changed. the processing object is moved, the articulated robot that holds the processing target so that the mounting surface is horizontal in the processing position to and from,
A control unit that controls the XY robot and the articulated robot,
3D mounting related device equipped with. The three-dimensional mounting-related device according to claim 2 or 3 , wherein the articulated robot has an axial direction of the base fixed in a direction along a moving direction of the processing object. The three-dimensional mounting-related device according to any one of claims 1 to 4 , wherein the articulated robot has four or more movable axes. The three-dimensional mounting-related device according to any one of claims 1 to 5.
A first transport unit that carries the object to be processed to the introduction position,
A second transport unit that discharges the object to be processed from the discharge position is provided.
A three-dimensional mounting-related device in which a movable space in which the articulated robot operates is formed below the moving region of the processing head and between the first transport unit and the second transport unit. The three-dimensional mounting-related device according to any one of claims 1 to 6 , wherein the XY robot includes, as the processing head, a coating head for coating a viscous liquid and a mounting head for arranging members. The three-dimensional mounting-related device according to any one of claims 1 to 7.
A measuring unit for measuring the height of the object to be processed, which is fixed to the articulated robot, is provided.
The control unit is a three-dimensional mounting-related device that corrects one or more of the horizontal position, height position, and inclination of the processing target member fixed by the articulated robot based on the measurement result of the measurement unit.

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