CN101282636B - Substrate operating system - Google Patents

Abstract

The present invention relates to a working system for a substrate that fulfils various kinds of requirements, such as compactness, excellent convenience, and flexibility. A plurality of working devices (12) for substrates are arranged in the transfer direction of substrates, on system bases (10, 570-574). Then the working devices (12) are made to a mode, (a) movable along device path; (b) module-like and separatable from the system base (10); (c) module-like by arranging a substrate transporting device to itself; (d) mutually adjacent arrangement; and (e) standardization of the widths of devices. Also, the system is made workable to a circuit board that extends over a plurality of working devices (12). Furthermore, when the working devices (12) are X-Y slide type of devices, the slide devices are made to a multistage (extensible) mode. These modes make a system fulfilling the above requirements.

Description

To operation system of substrate

The application is dividing an application in first to file (applying date: on June 25th, 2003, application number: 03164973.4, denomination of invention: to operation system of substrate).

Technical field

The present invention relates to a kind of when electronic circuit assembling, be used to carry out to circuit substrate implement to the circuit substrate operation to operation system of substrate.

Background technology

The assembling of electronic circuit, that is, the operation that the circuit block of electronic unit etc. is installed on the circuit substrate of printed substrate etc. generally realizes by the circuit block hookup wire.The installation exercise of circuit block is for example printing the solder printing operation of solder(ing) paste by the operation of multiple class on the circuit substrate, the bonding agent of coating adhesive coating operation on circuit substrate, circuit block is installed to circuit block installation exercise on the circuit substrate, weld operation by the circuit substrate heating that circuit block will be housed with the scolding tin that carries out the scolding tin weldering, check inspection operation of operation result any in above-mentioned each operation etc. (below, these operations are generically and collectively referred to as " to the circuit substrate operation ", perhaps roughly abbreviate " to base board operation " as) constitute, general circuit block hookup wire by carry out these to the conduct of circuit substrate operation to base board operation machine scope, the solder printing machine, the bonding agent coating machine, component mounter, the reflowing stove, formations such as inspection machine.

On hookup wire in the past, from considering the viewpoint of the convenience etc. under the situations such as separately the adjustment of these working rigs, maintenance, generally be that these working rigs are provided with at interval, each working rig is formed by connecting by conveyer etc.On such hookup wire, space availability ratio is limited, wish to have a kind of compact conformation to operation system of substrate.In addition, on the hookup wire of said structure, because when change hookup wire sequence, must move the base board operation machine singly, position singly, consider from the viewpoint of change hookup wire, also wish compact conformation, in addition, from the viewpoint consideration that quick realization hookup wire changes the convenience of operation or the form width that the broadening hookup wire constitutes, wish to have adaptable to operation system of substrate.Moreover, as above-mentioned, wish that also operation system of substrate is had good convenience when adjustment, maintenance etc.

Summary of the invention

As above-mentioned, for to operation system of substrate, claimed structure compactness, facility and adaptability are strong etc.For this reason, the purpose of this invention is to provide a kind of these several at least in requiring that satisfy to operation system of substrate.According to the present invention, can obtain following each form to operation system of substrate.Each form and claim are same, distinguish with item, and every sequence number of enclosing, as required, with the form record of the sequence number of quoting other.Just in order to understand the present invention easily, technical characterictic that this specification is put down in writing and combination thereof should not be interpreted as limiting by the following described content for this.In addition, a plurality of items are recorded under the situation in one, are not will together adopt these a plurality of items all the time.Also can only select and adopt a part of item.

(1) a kind of the supporting circuit block is scheduled to the circuit substrate that constitutes electronic circuit more than one to the circuit substrate operation to operation system of substrate, include:

System base; The base board delivery device of delivery circuit substrate; With along by the direction of this base board delivery device delivery circuit substrate, be the substrate throughput direction state configuration of arranging on described system base, at least a portion is positioned at a plurality of to the base board operation device of paired circuit substrate operation that the circuit substrate of the operating area of self stipulates respectively.

This described form to operation system of substrate be on the system base that becomes all pedestals of system, be provided with a plurality of to the base board operation device.Can carry out several operations by a system to substrate, can obtain several compact conformations to operation system of substrate.The parameter of the kind to the base board operation device that is disposed in addition,, configuration mode etc. will describe in detail in following.

System base requires to have at least the function as a plurality of platforms to the base board operation device of mounting.Except this function, can have disposed a plurality of in the base board operation device more than two or whole devices can be shared composite device, shared device is action power for example, malleation, these malleations of source of negative pressure or master control from the generation source, the negative pressure feeding path, the control device that system is all, with each to the control signal between the base board operation device, information is transmitted the telecommunication cable of usefulness mutually, terminal etc., in addition, also can have and be exclusively used in disposed a plurality of any one isolated plant of base board operation device, the control device that special equipment is for example special-purpose, action power etc., with the location or fix the positioner that each is used the base board operation device, fixture or part etc. wherein.By be provided with isolated plant, special equipment in the system, can make disposed to base board operation device compactness, have composite device, shared device as employing, can make system base self further compact.One as optimised form is that system base can have actuating forces such as electric power, fluid pressures at least to the actuating force supply unit to the base board operation unit feeding.

It can all be that each is to the base board operation device by system that base board delivery device preferably is set as circuit substrate.Base board delivery device can have the corresponding width change device of substrate width that can change its width according to the width of the circuit substrate of being carried when being main with conveyer for example.In addition, form a pipeline on base board delivery device is can be in system all, in addition, also can on a part that spreads all over all or system of system, form a plurality of pipelines.The quantity of substrate pipeline according to system constitute, the kind of substrate etc. can change at any time.Base board delivery device can be used as above-mentioned composite device or isolated plant is arranged on the system base, as aftermentioned, can become with it part or all cuts apart and is assembled in the base board operation device, on the allocation position of the regulation by these being disposed at system base to the base board operation device, with the device of in system, constructing.

(2) described according to (1) item to operation system of substrate, describedly a plurality of the base board operation device is included the device that carries out from following operation at least one selected operation, described operation be included in the surface coated high-viscosity fluid of circuit substrate high viscosity coating operation, circuit block is installed to the lip-deep circuit block installation exercise of circuit substrate, checks the inspection operation of the result of at least one operation in above-mentioned high viscosity coating operation and the circuit block installation exercise.

The above-mentioned operation to circuit substrate that exemplifies is the general operation to the base board operation machine on the hookup wire in the past, be provided with carry out these operations the base board operation device become practical system to operation system of substrate.Even in the operation that is exemplified, the circuit block installation exercise is to carry out on a plurality of fitting machines owing to being installed under the situation on the circuit substrate at multiple circuit block mostly, therefore, a plurality of circuit block erecting devices are become an effective form of native system as the circuit block installation system of main body configuration.

In system of the present invention, the quantity to the base board operation device that is disposed, kind do not limit.For example, a kind of device to base board operation is carried out in all can becoming the base board operation device, in addition, and the also configurable different multiple device mutually that carries out to base board operation.To what the base board operation device carried out base board operation is not limited to the above-mentioned example that exemplifies.For example, also can be by carrying out the aforementioned reflowing furnace apparatus (heating apparatus for work) that adds hot work, conveying with circuit substrate is the conveying apparatus for work of main purpose, circuit substrate such as is stored at the standby tasks device of standby tasks, make circuit substrate towards system transfer operation the handover apparatus for work, make circuit substrate shift out from system operation the less important work of shifting out apparatus for work etc. the base board operation device is constituted native system.As an example of standby tasks device, has the storage operation device of a plurality of circuit substrates of storage.In addition, as the example of the device that carries out above-mentioned less important work in addition, has the transport path change apparatus for work of the transport path of change circuit substrate.Headed by above-mentioned conveying apparatus for work, storage operation device and transport path change apparatus for work are carried a kind of of associated job machine as substrate.By include carry out such less important work to the base board operation device or can comprise construction systems under the state of this device, can improve the adaptability or the convenience of system.

That is disposed can be according to forming base board operation that it carries out to the base board operation device.For example, as the circuit block erecting device time, can be by the assembly supply device of supply circuit parts, circuit substrate is fixed and held at base plate keeping device on definite job position, has parts such as adsorption mouth and keep equipment and circuit block is taken out and keeps simultaneously this circuit block being installed to installation head on the circuit substrate that is kept, installation head mobile device that installation head moves between assembly supply device and circuit substrate etc. is constituted from assembly supply device.In addition, when becoming a kind of solder(ing) paste printing equipment of high-viscosity fluid apparatus for coating, for example, can be by base plate keeping device, apparatus for coating with metal mask and squeegee, with the formations such as feedway of solder(ing) paste to the apparatus for coating supply, during as another kind of bonding agent apparatus for coating, for example can be by base plate keeping device, formations such as apparatus for coating with syringe and distributor etc., when the result's who checks above-mentioned various operations testing fixture, for example can be by base plate keeping device, the identification equipment of ccd video camera etc., the formations such as recognition data processing unit of the recognition data of processing graphics processing unit etc.

(3) described according to (1) item or (2) item to operation system of substrate, described a plurality of at least one is can be along at the upwardly extending device track in side that intersects with described substrate throughput direction, the movable device that described relatively system base relatively moves in the base board operation device.

In being provided with a plurality of systems to the base board operation device, for example, at the length of this system lengthening, the many devices of configuration and under the situation that the interval between this device narrows down, carry out when the operations such as any one adjustment, maintenance the base board operation device, can influence adjacent existence to the base board operation device etc., its operation meeting is difficult to carry out.As the device that becomes the object of operations such as adjustment can move from device is arranged with breaking away from, then can improve the convenience of this system.This described system is owing to can make certain move the base board operation device along the substrate throughput direction, promptly at the upwardly extending device track in side that intersects with the direction that the base board operation device is arranged, and therefore, convenience is excellent.

The direction of said apparatus track limits especially, the device track that under the situation of arranging about to the base board operation device when the system front is seen being, can adopt at above-below direction, fore-and-aft direction, preceding oblique upper, all directions is extended above retreading etc.In addition, the device track is not limited to linearity, can be curve-like.The quantity to the base board operation device that becomes movable device does not limit, and can be that only a part of device becomes movable device, can be that all devices become movable device yet.A plurality of when the base board operation device is become movable device, in view of these devices can wish that the device track separately of these devices is positioned at each plane that is parallel to each other near configuration.Movable device can be the device that only moves towards a direction by on the allocation position of regulation, also can have the allocation position of regulation on the centre position on one the device track, the device that the both direction from this allocation position court along its device track moves.

To moving of base board operation device can manually be that manpower carries out, also can by for example system base or become movable device to the base board operation device on the drive source drives device of the electro-motor, cylinder apparatus etc. that possess carry out.Movably scope is not special limits, but as the convenience when the operations such as consideration adjustment, maintenance, when hope is looked from the direction that is parallel to the substrate throughput direction, do not overlap mutually with device and the adjacent with it device that becomes object, the degree that perhaps more than half part does not overlap is widened movable range.

(4) described to operation system of substrate according to (3) item, described device track is the rectilinear orbit perpendicular to described substrate throughput direction.

(5) arbitrary described to operation system of substrate according to (3) item or (4) item, described device track approximate horizontal is extended.

Above-mentioned 2 described forms are to the direction of device track, promptly become the relevant qualification of the moving direction to the base board operation device of movable device.In (4) described form, in the time of will becoming mobile object the base board operation device is moved, become this device and the adjacent form mobile uninterruptedly of making easily to the base board operation device, particularly, even under the state of configuration, also can not interfere phenomenon at adjacent device and the device that becomes mobile object.In addition, in (5) described form, even moving on the either direction of device track, also comprise moving direction composition upwards on this moving direction hardly, the weight of the movable device that is moved is difficult to become load.Therefore, as adopting the force mechanisms of reducing friction such as a kind of wheel as travel mechanism easily, roller, then movable device is moved along installing track by manpower.Above-mentioned 2 described forms are practical forms, together adopt the form of both described qualification items, then become more practical form.

(6) arbitrary described according to (3) item～(5) item to operation system of substrate, this has operation system of substrate allows that the movable device that described movable device moves along described device track moves the movable device fixture of allowing device and described movable device being fixed to the certain position place on this device track.

This described form is will be to the form of base board operation device when as movable device.As by the device track restrictions to the moving direction of base board operation device, simultaneously, be fixing on certain relative position on for example with respect to system base at the certain position on the device track, then become the system of practicality.The fixed position on the device track of the movable device that the said fixing device carries out can comprise the allocation position to the regulation of base board operation device in system base that makes when system moves, in addition, also can comprise the position of only moving any distance from this allocation position.That is, the fixed position is not limited to a position, for example, when becoming the form of the allocation position that includes afore mentioned rules and different positions of setting in addition with it, can be a plurality of positions.

(7) described according to (6) item to operation system of substrate, described movable device move allow device be arranged at with having fixed-site described system base and described movable device one side go up, with device track formation portion and the fixed-site ground that forms described device track be arranged on described system base and described movable device the opposing party, engage with described device track formation portion movably to the track holding section.

The movable device of this described form moves allows that device has device track formation portion and to the track holding section.For example, on system base, be laid with the guide rail that forms parts as track, and when setting up the engaging part that engages with this guide rail on movable device, guide rail is equivalent to said apparatus track formation portion, and engaging part is equivalent to the track holding section.At this moment, wish that the frictional force that produces between this engaging part and guide rail is less, wish to adopt for example include can free rotating wheel by bearing wheel assembly, comprise the carriage of bearing etc. etc.In addition, also can be opposite, guide rail is arranged on the movable device side, above-mentioned engaging part is arranged on the system base side.

(8) described according to (6) item or (7) item to operation system of substrate, described movable device fixture have the fixed-site on the bearing of trend of described device track be arranged on each of described system base and described movable device, by mutual butt, forbid each abutting part that moves along a direction of described device track relative to described system base of described movable device; By forbidding removing this each abutting part butt state each other, remove prohibition unit relative to described system base along the butt state that moves of the other direction of described device track to forbid described movable device.

This described form is the form of carrying out the qualification relevant with the movable device fixture.For example, on system base, be provided with latch for printed circuit such as retainer, on movable device, be provided with by this latch for printed circuit card end by latch for printed circuit, on the certain position of device on the track during both butts, these latch for printed circuit and be equivalent to above-mentioned abutting part respectively by latch for printed circuit.And, for example, on system base or movable device one side, be provided with the force application apparatus that comprises application of force generators such as pressure cylinder, to latch for printed circuit with continued the application of force on the direction of butt mutually by latch for printed circuit, then can keep the relative position of movable device relative system pedestal to system base or movable device the opposing party's a part.That is, movable device is fixed on the system base.At this moment, comprise this force application apparatus ground and constitute butt state releasing prohibition unit.By removing institute's application of force, latch for printed circuit and can be disengaged by the mutual butt of latch for printed circuit is allowed movable device moving along the device track.

In addition, movable device fixture in this described form can be, on movable device and system base one side, be provided with the pin of giving prominence to towards the opposing party, on the opposing party, be provided with and the chimeric embedded hole in the no gap of this pin, this pin is embedded the device of this embedded hole form.At this moment, the part of the outer peripheral face of pin and the part of embedded hole are equivalent to abutting part, and pin and embedded hole self have the function of removing prohibition unit as the butt state.

(9) arbitrary described according to (3) item～(8) item to operation system of substrate, the table device that can form another track different with described device track under near situation about being configured under the state that prolongs described device track with this another track the described system base, at least a portion of described movable device for mounting on described table device and can move along described another track.

As be considered as a kind of compact system, on system base configuration a plurality of during to the base board operation device, wish that the size of system base is not excessive to the configuration space of base board operation device relatively.Like this, for example, movable device relative system pedestal moves on transverse direction, and movable device just becomes from the overhanging state of system base.This described form is effectively in occasion like this, particularly, is a kind of effective form during the device track approximate horizontal of movable device.That is, this described table device has the effect as supplementary base.In addition, in the native system, although table device also can be used as the system that comprises table device not as the member of direct construction system.

The table device relative system is configured under the situation on the assigned position, and the track with this table device has prolonged the device track.For this reason, above-mentioned other track can be called advancing the track.Advancing the track can be by constituting with the same structure of the structure that is used to form the device track.For example, can move with aforesaid movable device and allow that device is same, fasten pass at table device and movable device, allows that to include device track formation portion and the table device side movable device of track holding section moved device is such, constitutes table device.At this moment, for example, can be on the table device body, to lay the guide rail that forms parts as track, and on movable device, set up the form of the engaging part that engages with this guide rail.In addition, although advancing the track has prolonged the device track, when adopting guide rail as described above, guide rail self not necessarily must be positioned on the straight line.At this moment, for example, also can adopt another the different engaging part of engaging part that is provided with the engaging of the guide rail of system base side, and the form that engages with the guide rail of table device side of this another engaging part.As long as track is extended, the moving direction of promptly movable device maintains under the state of certain orientation, the moving range of device track is extended, then aforementioned movable device moves the component part of allowing device and table device side movable device, and to move the component part of allowing device both can be the form of dual-purpose mutually, also can be the form of dual-purpose not mutually.

In addition, also can be provided with aforesaid movable device fixture in the table device side.Formation on this table device side movable device fixture can be decided according to the formation of aforementioned movable device fixture.In addition, table device can movable device of mounting, but the also plural movable device of mounting.It is such that but the table device of a plurality of movable device forms of mounting for example will be described in detail later, and is a kind of table device easily moving simultaneously under the adjacent situations such as plural movable device.

(10) described to operation system of substrate according to (9) item, by described movable device is transplanted on the described table device, it separates with described system base the base board operation device.

For example, as aftermentioned, under the situation to the base board operation apparatus moduleization, this can separate with system base the base board operation device.In the system of like this form, the base board operation device is carried out to use the form of this table device to be equivalent to this described form with when system base is separated at this.In this described form, as become the form of removable table device, but then this table device double as to base board operation device Handling device.For example, be provided with wheel assembly etc. can become by manpower just movably form, table device self have drive source can be voluntarily form etc., can become the movable table device under the various forms.In addition, table device for example is provided with lifting device etc., also can improve convenience.

(11) described to operation system of substrate according to (9) item or (10) item, described system base has connecting portion, and this connecting portion becomes the locational member that prolongs under the described device track condition for described table device being positioned at described another track.

When the moving of movable device mainly is adjustment, maintenance etc. at this movable device, perhaps during system variation etc. under the situation, movable device with carry out when system base is separated.Therefore, generally table device is in the place of separating with system, in case of necessity, is positioned at by the system system when operation etc.At this moment, can obtain to make easily the track fixation with table device is exactly this described form in the form of the locational operation of extension fixture track.The concrete structure of the connecting portion of connecting portion and table device side does not limit especially, and pin and embedded hole are separately positioned on each of mutual connecting portion, by it is chimeric, can become orientable jockey.

(12) arbitrary described according to (3) item～(11) item to operation system of substrate, described a plurality of be described movable device to the plural device that adjoins each other in the base board operation device, the extending direction of the described device track of this plural movable device is parallel to each other, this is included in when the described relatively system base of this plural movable device relatively moves simultaneously at least operation system of substrate, limits the mutual device that relatively moves on the extending direction of described at least device track of these two the above movable devices restraint device that relatively moves each other.

As the back will describe in detail, exist circuit substrate cross over plural to base board operation device location, and the situation of these devices and this circuit substrate co-operating ground operation.In this case, take place when any problem, have requirement adjust simultaneously these the device etc. the time., for example also exist when the movable device at these devices, under the state of holding circuit substrate, these devices are moved when carrying out necessary adjustment operation simultaneously from allocation position.At this moment, consider, wish under the state of keeping the relative position relation between these devices, move these devices simultaneously crossing over the influence of circuit substrate on these devices etc.This described form is a kind of effective form under situation like this.That is, this described form can be a kind of have device track that is parallel to each other and the form that adjacent a plurality of movable devices is moved under the state of keeping the relative position relation between these devices simultaneously.In addition, the device restraint device that relatively moves each other also can be a kind of purpose according to its utilization, only forbids that relative position has than mistake to admit of the device of errors of form to a certain degree.

In addition, install the restraint device that relatively moves each other and be not limited to the occasion of mobile movable device simultaneously, and, whether what no matter become object is movable device to the base board operation device, all can be used as to make a plurality of device utilizations correct to the mutual relative position relation on the allocation position of base board operation device.

(13) described according to (12) item to operation system of substrate, the aforementioned means restraint device that relatively moves each other is, have respectively in aforementioned plural movable device one and adjacent with it another that fixed-site ground on extending direction of aforementioned means track is provided with and each holding section of engaging mutually, limit the mutual relative position on the extending direction of the track of aforementioned means at least of these holding sections.

This for illustrating relatively move the each other item of concrete form of restraint device of said apparatus.Can prevent two adjacent relative position relation dislocation effectively to the base board operation device.This form is specially, for example, can adopt that be provided with can be towards the outstanding pin of the opposing party's device on side's device, and on the opposing party's device, be provided with the embedded hole chimeric with this pin, chimeric by both, the device of the relative position form of the restriction both sides device restraint device that relatively moves each other.During this form, pin and embedded hole are equivalent to above-mentioned each holding section.The engomphosis relation of pin and embedded hole can be not fastening relation when allowing relative position dislocation to a certain degree.In addition, when adopting the device of above-mentioned form to relatively move restraint device each other, become outstanding state and the state chimeric, also pin can be become the non-chimerism of the state of being highlighted with embedded hole by making pin.Like this, can be with two holding sections in fastening state be stuck the device of changing between these two states of the state restraint device that relatively moves each other and return, then in any period, become the device of the restriction of the relative position relation of removing two movable devices, have device and relatively move each other and allow the function of device.

(14) arbitrary described to operation system of substrate according to (1) item～(13) item, described system base comprises a plurality of base module and constitutes.

Of the present invention can be to operation system of substrate with several modularizations of its inscape.This described form is, with the form of system base by modular base module construction system pedestal.System base can interconnect a plurality of base module and be integral, and does not perhaps connect, and by being disposed at mutually on the suitable position, and has the system base of the function of being integral.In addition, also can be with base module part connected to one another and unconnected partially mixed system base that forms.The advantage that constitutes by base module as system base, for example, easily make the change of system base length corresponding to constitute change along with system, exist with disposed to the base module of the corresponding special use of base board operation device the time, can comprise this special module etc., the adaptability of system is strong.

(15) described according to (14) item to operation system of substrate, the base board operation unit is made of each of aforementioned a plurality of base module and the aforementioned a plurality of more than one devices to the base board operation device that are configured on this each, and this is provided with a plurality of to the base board operation unit.

When adopting system base, also can by this base module and configuration thereon to base board operation device configuration example as independent unit to base board operation machine function.At this moment, on a base module configuration plural to the base board operation device when constituting to the base board operation unit, this unit self can become (1) such to operation system of substrate.The plural unit to the base board operation device in unit and configuration to the base board operation device of configuration on the base module is compared, and under by situations such as cell moving, convenience is good.In addition, from as be provided with the easy mobile device of wheel assembly etc., then the base board operation unit is become the unit that can move easily in base module on one's body by what this module constituted.By blocking, can improve the versatility of system.

(16) arbitrary described according to (1)～(15) to operation system of substrate, described a plurality of at least one device in the base board operation device for can with the modular unit of described system base separate modulesization.

As can be easily discretely with the base board operation apparatus moduleization, by several modular units directly are disposed on the system base, altering system have easily improved the versatility of system.As with all to the equal modularization of base board operation device, can realize having the more system of high-adaptability.In as the circuit block erecting device a kind of to the base board operation device, can for example on the apparatus module body, pack into previous described assembly supply device, base plate keeping device, installation head, installation head mobile device etc. and modularization.In addition, also can for example pack into the control device of controlling these devices, identification substrate surface the substrate recognition device, will remain in the device and the modularization of component recognition apparatus that the circuit block in the installation head discerned etc.In addition, as the words relevant with the degree of " separable ", be preferably and for example be not that the fastening grade of being undertaken by many securing members is fixing to the base board operation device, need big labour, the state of time during separation, but, can adorn the state that takes off easily and dispose the base board operation device down by fairly simple operation.

(17) described to operation system of substrate according to (16) item, at least one during the aforementioned modules makeup is put can be changed with another modular unit of other preparation.

(18) described according to (16) item or (17) item to operation system of substrate, aforementioned a plurality of be that aforementioned modules makeup is put to plural at least device in the base board operation device, at least plural device in this plural modular unit, its mutual allocation position is variable.

In above-mentioned 2, be that the degree of modularity to the base board operation device is limited.In (17) described form, it is the form that to change with other modular unit, for example, when certain notes abnormalities to the base board operation device, easily with this base board operation device is changed to base board operation device and regular event, perhaps, easy content to base board operation of carrying out according to system is changed different types of to the base board operation device, the few system of loss in the time of can realizing changing operation.In addition, in (18) described form, can easily be configured replacement, the convenience in the system variation is good.In addition, for a plurality of to the whole modularizations of base board operation device, and the form that any one modular unit also can also can at random change mutual allocation position with form or any one modular unit of other device replacings, from the convenience of system, the regulation of versatility, more favourable.

(19) arbitrary described according to (1)～(18) to operation system of substrate, described the base board operation device is made of separable modular a plurality of substrate conveyor modules on described substrate throughput direction.

As with the equal modularization of its part of base board delivery device, then same with the modularization of pedestal, can be corresponding with the change of system length easily etc., improve the versatility of system.Can be the equal modularization of all parts of base board delivery device, also can be only a part of modularization.

(20) arbitrary described according to (16) item～(18) item to operation system of substrate, described base board delivery device is the structure that includes modular separably a plurality of substrate conveyor modules on described substrate throughput direction, and more than one device is equipped with modular unit as being equipped with the modular conveying device of conveying device for self being equipped with in these a plurality of substrate conveyor modules more than one in the described modular unit.

Being provided to the modular substrate conveyor module of the part of base board delivery device modular is this described form to the form in the base board operation device.Be the modular form of system height.Can be the form that is equipped with a substrate conveyor module in a modular unit, also can be the form that is equipped with two above substrate conveyor modules in a modular unit.

(21) described according to (20) item to operation system of substrate, aforementioned outfit conveying device is the part co-operating adjacent with this outfit conveying device with the aforesaid base plate conveying device, transfer circuit substrate, at least a portion of circuit substrate is positioned on the job position of regulation of operating area of the conveying device outfit modular unit that has been equipped with this outfit conveying device.

This form of being put down in writing is a kind of especially effectively form allowing under the situation of base plate keeping device in the modular unit that is equipped with it as the substrate conveyor module double as that is equipped with conveying device etc.In addition, the conveying of co-operating is the handing-over of the circuit substrate between part of the base board delivery device of upstream one side, downstream one side (also can be the conveying device that is equipped with in addition) and outfit conveying device, during the moving etc. of beginning, halt circuit substrate, with between them separately starting, stop constantly, transporting velocities separately etc. are by simultaneously, wait and realize synchronously.In addition, for example, according to the width of circuit substrate, can allow upstream side, downstream base board delivery device delivery section width and the delivery section that is equipped with conveying device width (for example, under the conveyor-belt apparatus situation, meaning conveyer belt width etc.) mutually correspondence change and constitute.In addition, as being described later, also can be according to the kind of circuit substrate to a circuit substrate by the substrate stop position under the situation of the base board operation device being carried out operation, the circuit substrate on the base board operation setting position is carried out substrate stop position under the operation situation switch and constitute crossing over adjacent two with the co-operating of these two devices.

(22) according to (21) a system that work is put down in writing to base board operation, the aforesaid substrate conveying device is the device based on conveyer belt, above-mentioned outfit conveying device has and the other parts of aforesaid substrate conveying device conveyer belt independently mutually, this conveyer belt is in the conveyer belt that exists on the adjacent part with the aforesaid substrate conveying device and is on the position of a line under the outfit modular unit of above-mentioned conveying device is disposed at situation on the said apparatus pedestal.

Conveying device based on conveyer belts such as belt conveyers is very easy.In addition, it also have simultaneously can be on the substrate throughput direction modular discretely easily characteristics.

(23) described according to (21) item or (22) item to operation system of substrate, this comprises operation system of substrate coordinates the action of the adjacent part of this outfit conveying device of the action of above-mentioned outfit conveying device and aforesaid substrate conveying device, and the substrate that carries out the control of aforesaid substrate conveying device is carried and coordinated control part.

As previous explanation, each install tunable ground carry out upstream one side, downstream one side base board delivery device part and be equipped with the reception of the circuit substrate between the conveying device, make its on circuit substrate arbitrarily stop position stop the state to wait.For example, be equipped with conveying device with the situation of conveyer belt as main body under, have it will coordinate the action of conveyer belt.More particularly, respectively on the part that is equipped with conveying device and adjacent with it base board delivery device, position more than a place is provided with the substrates detector whether a part of confirming circuit substrate exists, substrate is carried and is coordinated control part according to the substrate detection signal that this substrates detector place is set, make the action of outfit conveying device and adjacent with it base board delivery device coordination control partly, thereby form the system of this form.Under situation based on the device of conveyer belt, in this conveyer belt starting, stop, in the processes such as the change of transporting velocity, preferably realizing simultaneously, synchronously, precision constantly etc.It also can be that the part that constitutes the center of this control is arranged on the common part of system such as system base that substrate carry to be coordinated control part, in addition, also can be distributed to each inside to base board operation device control device separately etc.

In addition, put down in writing in above-mentioned (21) to (23) and be characterised in that no matter whether the substrate conveyor module is provided in the modular unit as the outfit conveying device, all obtain the feature of substrate conveyor module.Therefore with the more than one module conduct " target base plate conveyor module " in " a plurality of substrate conveyor module " alleged in (19) item, with (21) " outfit conveying device " conduct " target base plate conveyor module " to (23) item, feature by record in above-mentioned (21) to (23) limits (19), thereby obtains a form of the present invention.

(24) arbitrary described according to (1) item～(23) item to operation system of substrate, as in the multiple arrangement of above-mentioned a plurality of at least a portion to the base board operation device each all is the inking device that adjoins each other that is configured to the state of adjoining each other, and these a plurality of inking devices that adjoin each other are configured to the state of adjoining each other and constitute the abutment means group.

By will be, thereby have realized compact to operation system of substrate to the base board operation device in abutting connection with configuration.Here alleged " adjacency ", the meaning are at least a portion closely configurations mutually to base board operation outside of deivce face.In addition, the surface of particular component such as interconnective parts is removed from above-mentioned outer surface.Generally speaking, for example, the device that constitutes abutment means group's the configuration that adjoins each other is configured to state almost very close to each other on the substrate throughput direction.Device in the configuration that adjoins each other is under the situation of above-mentioned movable device etc., allow there is gap to a certain degree, can exceeds under the state that this gap interferes with the device in the mobile phase adjacency on the direction that does not intersect with the substrate throughput direction of this device.More particularly, the space of outside of deivce face, for example, minimum part can be in the 50mm, preferably is in the 30mm, is in 15mm with interior then better.In addition, also can adopt many parts to the base board operation device to constitute abutment means group's form, in addition,, can also adopt the form that the base board operation device is constituted the abutment means group by all as compacter form.

(25) described according to (24) item to operation system of substrate, in the device of above-mentioned a plurality of configurations that adjoin each other each all is modular separably with the said system pedestal, and the width on above-mentioned each substrate throughput direction all specification turns to the roughly integral multiple of the unit width of setting.

Under as the situation that constitutes the abutment means group,, realized compact and system flexibly by width specificationsization with these devices to the apparatus moduleization of the configuration that adjoins each other of base board operation device." width " to the base board operation device is meant the maximum in the outer surface part spacing distance of an opposite side on the substrate throughput direction of base board operation device.Width for there being particular component such as interconnective parts part can foreclose.For example, what will have an identical appearance the base board operation device is close to state configuration under with the state of substrate throughput direction permutation mutually under the situation of the predetermined allocation position of system base, the spacing of its configuration equates with the width of this device.If width specificationsization, by the width specificationsization with the abutment means group, under situations such as the device replacing that adjoins each other, configuration conversion, pedestal can recycle.

Normalized unit width for example, can be the roughly suitable width of width of the inking device that adjoins each other with minimum widith.In this case, the device that interconnects configuration in addition then can be with its width equal widths, be the width of 1 times of its width or 2 times, 3 times ... width.It at the device that adjoins each other situation of movable device etc., considering that configuration is changed etc. must be provided with under the situation of certain interval between device, the width of device can not form integral multiple closely, even but in this case, this system is also contained in the form of this record.

(26) described according to (25) item to operation system of substrate, said system is on the part that disposes above-mentioned abutment means group at least, have with the above-mentioned unit width in the aforesaid substrate throughput direction and equate that a plurality of allocation positions of the allocation position of the aforesaid substrate throughput direction of each at least of definite above-mentioned a plurality of inking devices that adjoin each other of pitch setting determine device, each in above-mentioned a plurality of devices that dispose that adjoin each other all determines that by these allocation positions in the device at least one determine allocation position.

Generally speaking this form of being put down in writing for example, is that the allocation position that is arranged on the system base is determined the device normalization, and the allocation position of the inking device that adjoins each other is determined that the position of device concerns normalized state.For example, under the device group's that adjoins each other of component unit width abutment means group's situation, if definite device of allocation position can be configured in the predetermined configurations position with the inking device that adjoins each other arbitrarily arbitrarily, also can constitute the abutment means group at an easy rate even carry out under the situation of position replacement at inking device that these are adjoined each other.In addition, at unit width under 2 times the situation of the inking device that adjoins each other roughly, suppose the inking device that adjoins each other that disposes two unit widths that adjoin each other, and be with their incorporate device, then can be configured in the identical position of allocation position with the device of this supposition, constitute allocation position and determine that device also is fine.For roughly 3 times of basic width, roughly 4 times device also can be identical structure.According to said structure, corresponding with the configuration replacement of the device of the configuration that adjoins each other that constitutes the abutment means group, replacing, increase and decrease etc., can construct the system that has various abutment means group at an easy rate.In addition, also improved the versatility of system.

(27) described according to (26) item to operation system of substrate, above-mentioned allocation position determines that device has the throughput direction position determination portion that the allocation position of the aforesaid substrate throughput direction of determining the above-mentioned inking device that adjoins each other is used, the direction determining positions portion of reporting to the leadship after accomplishing a task that the allocation position on the direction of determining to intersect with the aforesaid substrate throughput direction is used.

In the form that this is put down in writing, can carry out the location of above-mentioned both direction, constitute a kind of system of practicality.Concrete form to throughput direction position determination portion and crisscross position determination portion does not limit, for example, at the device that adjoins each other is under the situation of movable device, described in the above movable device moves the device track formation portion that allows device when being arranged on the system base, and this device track formation portion can form the form of double as throughput direction position determination portion.In addition, can form the form of the above-mentioned crisscross position of a part of double as determination portion of above-mentioned movable device fixture.

(28) arbitrary described according to (1) item～(27) item to operation system of substrate, this system to base board operation have to above-mentioned a plurality of to two of adjoining each other in the base board operation device with on the apparatus for work group that constitutes, size is carried out operation to substrate for crossing over the circuit substrate to the operating area of base board operation device that constitutes this apparatus for work group.

Operating system to substrate of the present invention will be contained in each the big circuit substrate in the operating area of base board operation device will be transported by base board delivery device, stop at successively in each operating area, thereby can adopt the form of the base board operation device being carried out the operation of base board operation by each the base board operation device.To this, the form of this record is being arranged the smaller alignment to the base board operation device, when carrying out base board operation, this circuit substrate is in crosses on a plurality of positions, form the state that can carry out the operation form of operation that adopts substrate to the base board operation device to bigger circuit substrate.Have the advantage that can make, can make the advantage of entire system miniaturization in addition the base board operation equipment miniaturization.

Above-mentioned apparatus for work group can be the form that is made of the part in the base board operation device that is equipped with, and in addition, also can be the form that is made of whole base board operation devices.In addition, the number of the apparatus for work group in the system can be one, also can be more than two.Comprise a plurality of whole forms that are divided into a plurality of apparatus for work groups the base board operation device.In this case, for example, allow the device width of substrate throughput direction equates a plurality of to the base board operation device all in abutting connection with disposing, the a plurality of apparatus for work groups that adjoin each other as similar number to base board operation device formation, with the carrying out that comprise identical type among each the apparatus for work group mode construction system to the base board operation device to base board operation, this system is a kind of system of practicality.

(29) described according to (28) item to operation system of substrate, when carrying out base board operation to the circuit substrate that cross over to constitute above-mentioned apparatus for work group to the size of the operating area of base board operation device, in the aforesaid substrate conveying device, the unit of circuit substrate as this apparatus for work group carried, constitute this apparatus for work group on each of base board operation device, by certain for base board operation what the circuit substrate subregion that is positioned at this each operating area is carried out this determines respectively, thereby will form the operating system that comprises this control part of operation in the lump to this circuit substrate base board operation is carried out in the lump to substrate.

(30) described according to (28) item to operation system of substrate, when carrying out base board operation to the circuit substrate that cross over to constitute above-mentioned apparatus for work group to the size of the operating area of base board operation device, in the aforesaid substrate conveying device, circuit substrate is transported to successively constitute this apparatus for work group each in the base board operation device, constitute this apparatus for work group on each of base board operation device, allow the circuit substrate subregion of each operation change successively, thereby corresponding to the subregion of operation determine successively to base board operation, form and to comprise the operating system to substrate of carrying the operation control part successively.

(31) described according to (28) item to operation system of substrate, this system to base board operation comprises: (a) when carrying out base board operation to the circuit substrate to the size of the operating area of base board operation device that cross over to constitute above-mentioned apparatus for work group, in the aforesaid substrate conveying device, the unit of circuit substrate as this apparatus for work group carried, constitute this apparatus for work group on each of base board operation device, by certain for base board operation what the circuit substrate subregion that is positioned at this each operating area is carried out this determines respectively, formation allows carries out the control part of operation in the lump that base board operation is carried out in the lump to this circuit substrate, (b) when carrying out base board operation to the circuit substrate that cross over to constitute above-mentioned apparatus for work group to the size of the operating area of base board operation device, in the aforesaid substrate conveying device, circuit substrate is transported to successively constitute this apparatus for work group each in the base board operation device, constitute this apparatus for work group on each of base board operation device, allow the circuit substrate subregion of each operation change successively, thereby corresponding to the subregion of operation determine successively to base board operation, formation comprises carries the operation control part successively, and comprise the control of selectively carrying out by the above-mentioned control part of operation in the lump, and select control part by the above-mentioned operation form of the control of operation control part of carrying successively.

Above-mentioned 3 kinds of forms relate to the operation form when crossing over more than two wiring board to the size of base board operation device and carry out operation.Generally speaking, for example, in being divided into by the operating area under the situation in several zones with circuit substrate, what allow one of them zone is the form of record in (29) to base board operation by a form that the base board operation device is carried out, and allows one the base board operation device carried out the form that form to base board operation is record in (30) successively to a plurality of zones.In these forms, can form the system of richer convenience by compactness the base board operation device is carried out base board operation bigger circuit substrate.Like this, form of (31) record is that these two operation forms are selected and the form that obtains, and operation form is very broad, has constituted a kind of system more flexibly.In addition, for example, with a plurality of same structures to the configuration that adjoins each other of base board operation device, mark off a plurality of apparatus for work groups that adjoin each other to base board operation device formation by similar number, in such system, (30) form of being put down in writing, the delivery interval of circuit substrate can be these similar intervals such as configuration space to the base board operation device, in addition, (29) form of being put down in writing then can be the interval that base board operation device number is drawn of multiply by fabrication process device group on configuration space.

(32) arbitrary described according to (1) item～(31) item to operation system of substrate, above-mentioned a plurality of at least one in the base board operation device is to comprise the operation head that circuit substrate is carried out the key operation action, and have two linear moving apparatus that described operation head is moved to vertical both direction respectively, and make the operation head plane mobile device of above-mentioned operation head mobile head moving device in a plane, this comprises the head mobile control division that above-mentioned head moving device is controlled to operation system of substrate.

This form of being put down in writing is to allow at least one of base board operation device had the form of so-called XY automatic type mobile device.For example, carry out circuit block installation exercise, welding compound coating operation, what check operation etc. is to be made of the operation head plane mobile model device in this to the base board operation device.Therefore, in these devices, for example, under the situation of circuit block erecting device, be to have the installation head that circuit block keeps equipment, in the adhesive apparatus for coating, it is the dispense tip that has injector, distributor etc., under the situation of testing fixture, then be the inspection head that has the substrate identification equipment etc. of identification circuit substrate surface, the operation head that they are equivalent to install separately.

At the head mobile device is under the situation of XY automatic type mobile device, the X carriage that the operation head is moved at directions X, the operation head is suitable with above-mentioned two linear moving apparatus respectively at the Y carriage that the Y direction moves.For example, the X carriage has the X-direction guider, the X sliding part that moves along the X-direction guider, the X slip mobile device of mobile X sliding part, similarly, the Y carriage has the Y direction guider, the Y sliding part that moves along the Y direction guider, the Y slip mobile device of mobile Y sliding part, allow a side in X-direction guider and the Y direction guider be fixedly set on the body part to the base board operation device, the side that the opposing party in X-direction guider and the Y direction guider is fixedly installed in above-mentioned X-direction guider and the Y direction guider moves on the X sliding part and the side in the Y sliding part at place, like this, by the operation head being remained on the opposing party of X sliding part and Y sliding part, just can constitute XY automatic type mobile device as operation head plane mobile model device.

The head mobile control division can be arranged on any position to operation system of substrate.For example, be arranged on and have in the control device to the base board operation device that forms operation head plane mobile model device, be arranged on the place outside the base board operation device, system base for example has in the control device of independent control panel etc. and also is fine.In addition, disperse to be provided with in a plurality of positions, fetch information, form the form of carrying out Comprehensive Control and also be fine from these parts by each part.

(33) the supporting circuit block is scheduled to the circuit substrate that constitutes electronic circuit to the circuit substrate operation to operation system of substrate in, include:

Comprise that (a) has the operation head that circuit substrate is carried out the key operation action, (b) have two linear moving apparatus that this operation head is moved to vertical both direction respectively, make the head mobile device that above-mentioned operation head moves in a plane operation head plane mobile device to the base board operation device

The head mobile control division that this head moving device is controlled.

(34) described according to (33) item to operation system of substrate, above-mentioned is from the high viscosity coating operation at circuit substrate surface coating high-viscosity fluid to the base board operation device, the circuit block installation exercise of circuit block is installed on the circuit substrate surface, check the inspection operation of at least one side's operation result in this high viscosity coating operation and the circuit block installation exercise, the device that carries out from these operations, selecting at least one operation in the circuit substrate operation.

Above-mentioned 2 are not expressed as identification form of the present invention, and the item that plays to disclose below is the use of prerequisite.In other words, as concrete example, even as " system base ", " base board delivery device " of the important document shown in (1), " a plurality of " to the important document of base board operation device not necessarily important document to operation system of substrate (for example, for example independently to base board operation machine etc.) in, because additional have the invention of the technical characterictic of record in following to set up, for the present invention who comprises them is described, to be provided with above-mentioned two for the purpose of the convenience.

(35) arbitrary described according to (32) item～(34) item to operation system of substrate, at least one side in above-mentioned two linear moving apparatus, have itself and form the 1st track formation portion of 1st track parallel with the moving direction of above-mentioned operation head, move and form and the 2nd track formation portion of the 2nd track of the 1st parallel track along the 1st track, keep above-mentioned operation head, along the moving part that above-mentioned the 2nd track moves, constituted the multisection type mobile device.

This form of being put down in writing is being under the situation of header planes mobile model device to the base board operation device, is the form that the relevant linear moving apparatus that has the head mobile device is added qualification.At head moving device is under the situation of XY automatic type mobile device, and at least one side in X carriage and the Y carriage for example, is the form of multistage (multisection type) mobile devices such as concertina type (socket type) carriage.In the system of above-mentioned form, on the basis to the base board operation device of compactness, can also guarantee has big operating area.

For example, the X carriage is being made under the situation of two-stage type mobile device, have the 1st track that constitutes by 1X direction of principal axis guider and form portion, on the 1X sliding part that moves along it, fixedly install the 2nd track formation portion that the 2X direction of principal axis guider parallel with 1X direction of principal axis guider constitutes, the moving part that constitutes by the 2X sliding part that moves along 2X direction of principal axis guider.Identical with the situation of the Y carriage being made the two-stage type mobile device, in addition, under the situation of linear moving apparatus being made the multistage mobile device more than 3 grades, also can adopt in the same way.

For example, the Y direction guider is fixedly installed in the device body portion, fixedly installing the X-direction guider on the Y sliding part, like this, keeping at the X sliding part under the situation of operation head, both the X carriage can made the multistage device, also the Y carriage can made the multistage device, in addition, the both can also be made the multistage structure.The X sliding part is being made under the situation of multistage mobile device, above-mentioned moving part forms the form of direct maintenance operation head.To this, the Y carriage to be made under the situation of multistage device, moving part keeps the operation head indirectly by the X carriage.In the form of this record, comprised thus and allow moving part pass through the form that side's linear moving apparatus keeps the operation head indirectly.

The expansion and contraction of multistage mobile device can be set arbitrarily.For example, allowing side's linear moving apparatus form under the situation of multistage device, corresponding with the operating area under supposing the situation that the 2nd track formation portion moves, by mobile the 2nd track formation portion, thereby be expected to obtain with the expansion and contraction of its operating area expansion more than 5%.Preferably obtain to enlarge the shrinkage of the operating area more than 10%, and be more preferably the shrinkage that obtains to enlarge the operating area more than 20%.

(36) described according to (35) item to operation system of substrate, in the moving range of above-mentioned the 2nd track formation portion on above-mentioned the 1st track, be set with a plurality of orbit portion stop positions as the stop position of the 2nd track formation portion, above-mentioned mobile control division stops under the state of any one position in above-mentioned a plurality of orbit portion stop position in the 2nd track formation portion, has to allow the orbit portion that moves along the above-mentioned operation head of above-mentioned the 2nd track stop a mobile control division.

Under the situation that is multistage mobile device,, can select the combination of the stop position on the 1st track of the 2nd track stop position of moving part and the 2nd track formation portion arbitrarily with respect to the temporary transient stop position of operation head.Under extreme case, exist continuous unlimited combination, from wherein determining the control of both stop positions according to any rule.In the form of this record, at first set the stop position on the 1st track of several the 2nd track formation portions, allow orbit portion stop a mobile control division and in its desired location, select stop position,, allow moving part move allowing the 2nd track formation portion stop under the state of stop position of its selection.Allow the selection of stop position of the 2nd track formation portion carry out, carry out the control of the stop position of operation head easily according to certain rules.Also can allow certain rules change, thereby can carry out richer control targetedly corresponding to state.For example with the operation head movably Region Segmentation become several subregions, according to allowing the operation head stop in certain subregion, can control the stop position of determining the 2nd track formation portion.In addition, alleged here " halted state " means that not merely allowing the 2nd track form parts stops mobile operating head afterwards.In working control, when the change of the stop position of the 2nd track formation portion, in case move towards the stop position of the 2nd track formation portion, the operation head is with respect to the situation that moves also simultaneously or almost do not have time difference ground beginning of the 2nd track formation portion.In this case, the phenomenon (frequency of generation is not necessarily very high) that both move simultaneously can take place.Above-mentioned " halted state " means and comprised this phenomenon.

(37) described according to (35) item or (36) item to operation system of substrate, on the specific direction that forms by the straight line shift position that forms above-mentioned multistage mobile device as an above-mentioned operation moving direction, above-mentioned the 1st track formation portion of this linear moving apparatus and the length of above-mentioned the 2nd track formation portion are no more than the device peak width of above-mentioned head plane mobile model device, above-mentioned mobile control division be by allowing above-mentioned the 2nd track formation portion move on the position outside a part of access to plant zone of above-mentioned the 2nd track, thereby can allow outside the above-mentioned operation access to plant zone.

According to the form of this record, have the linear moving apparatus that is contained in the device zone to the base board operation device in, for example, can allow the operating area expand to outside the device by allowing the part of the 2nd track formation portion expose the device zone.For " device zone ", mean the inner space that marks off by device body portion outer surface to the base board operation device.Except the 2nd track formation portion, operation first-class move into device, equipment, parts etc., perhaps interconnect outside the particular component outer surfaces such as parts to the base board operation device, also can determine the inner space.In addition, also can be used for allowing the operation head of device zone one side of specific direction enter, in addition, allow both sides all enter also and be fine.

(38) described according to (37) item to operation system of substrate, as different with the above-mentioned head plane mobile model device of destination object device to the base board operation device with under side by side the state on the above-mentioned specific direction as and establish under the situation that device disposes, by entering the control of control part, can allow the above-mentioned operation head of this destination object device enter this and establish in the device zone of device.

In the project under this, be the form that has on specific direction side by side to the situation of base board operation device, with center one side of explanation to the base board operation device as the destination object device, arrange thereon to the base board operation device for and establish device.In the form of this record, the operating area has been expanded in the device zone adjacent cooperation and array apparatus.As specific direction to base board operation device and column direction, it is an operation moving direction of the multistage mobile device of destination object device, and system comprise a plurality of to the base board operation device, they are under the situation of proper alignment on the substrate throughput direction, and specific direction then also can be the throughput direction of substrate.Form below this is under the situation of substrate throughput direction at specific direction, is a kind of practical in especially operation system of substrate.

(39) described to operation system of substrate according to (38), above-mentioned destination object device is with above-mentioned and establish device and can carry out operation with respect to both locational circuit substrate co-operatings of leap.

If the device zone of device has been expanded and established in the operating area of destination object device to, the operating area of device just might be repeated mutually.In this case, the ifs circuit substrate is in the position of crossing over two devices, in the repeating part of operating area, just may carry out the operation of co-operating to this circuit substrate.Like this, just can not there be the dead band in the operating area.In addition, two devices can co-operating carry out operation, can allow the operation form abundanter.The operation of co-operating is not limited to having or not of repetition operating area, has also comprised the plural situation that the base board operation device is carried out operation to 1 circuit substrate simultaneously.Exist to repeat under the situation of operating area, for example, any one that has comprised two devices allowing in this repetition operating area carried out the form of operation.In addition, for example, in repeating the operating area, only the operation head of destination object device is carrying out operation, and establish in the part that is not repeating the operating area in the operating area of device and establish the form that device carries out operation, in other words, comprised the operating area is marked off subregion the form of in the zone separately of each subregion, carrying out operation.In this form, can allow the working load homogenizing of two devices.In addition, what for example illustrate later is such, in repeating the operating area, avoided the operation head of destination object device or the 2nd track formation portion with and the interference of establishing the device part, the form of carrying out this operation also is operation form a kind of who carries out co-operating.

(40) described according to (38) item or (39) item to operation system of substrate, above-mentioned and establish under the situation that device is the device identical with above-mentioned destination object apparatus structure, the above-mentioned operation head that allows to have this and establish device enters the device zone of this destination object device.

For and " structure is identical " of establishing device, meaning and establishing device is plane mobile model device, at least one side's linear moving apparatus is the multistage mobile device, and can allow the operation head enter outside device zone itself.By allowing this and establishing device and dispose side by side, allow in the device zone of its operation target approach object apparatus, can enlarge the repetition operating area, and then the variation that makes operation form horn of plenty more.

(41) described according to (40) item to operation system of substrate, above-mentioned destination object device and above-mentioned and establish device and can carry out operation to crossing over both locational circuit substrate co-operatings, above-mentioned mobile control division is when the co-operating operation, avoided first-class the interfering of operation that the operation of above-mentioned destination object device is first-class and above-mentioned and establish device, formed and have the system that control part is avoided in the interference of moving above-mentioned operation head base board operation.

Here " operation is first-class " be the destination object device with and establish the part of the side's device in the device, mean with the destination object device with and establish device and can enter part headed by the operation head in the device zone of another device.If two to the base board operation device mutually under independent control (unallied control) move, its part all can interfere in any case.More particularly, in " operation is first-class ", include operation head and the 2nd track formation portion.If avoided two to the first-class interference of the operation of base board operation device, just can carry out co-operating operation stably.More particularly, for example in the first-class zone that may get along simultaneously of stream oriented device operation, control both operations are first-class, make it not exist simultaneously, this is a kind of form in the form of this record.

(42) described according to (41) item to operation system of substrate, when even above-mentioned destination object device and above-mentioned operation head above-mentioned and that establish side's device of device are in optional position on above-mentioned the 2nd track of this side device, at the first-class above-mentioned destination object device and above-mentioned and establish device and do not enter in the scope of device zone state of the opposing party's device that is in of the above-mentioned operation of this side device, with the limit positions on residing above-mentioned the 1st track of above-mentioned the 2nd track formation portion of above-mentioned side's device as the non-limit positions that enters in above-mentioned side's device, and the above-mentioned operation head at above-mentioned the opposing party's device enters under the inner most state in device zone of above-mentioned side's device, when even the above-mentioned operation head of above-mentioned side's device is in optional position on above-mentioned the 2nd track, at the above-mentioned operation head of the first-class and above-mentioned the opposing party's device of above-mentioned operation of above-mentioned side's device for mutually in the interference range, with the limit positions on residing above-mentioned the 1st track of above-mentioned the 2nd track formation portion of above-mentioned side's device as under the situation to non-interference limit positions in above-mentioned side's device, above-mentioned interference is avoided control part the 2nd track formation portion position control part, be under the situation of the above-mentioned non-interference limit positions state that does not surmount itself in above-mentioned the 2nd track formation portion above-mentioned and that establish device, allow above-mentioned the 2nd track formation portion of above-mentioned destination object device to be in the above-mentioned non-limit positions that enters that surmounts itself, and be under the situation that surmount itself above-mentioned non-enter the limit positions state in above-mentioned the 2nd track formation portion above-mentioned and that establish device, forbid that above-mentioned the 2nd track formation portion of above-mentioned destination object device is in the above-mentioned non-interference limit positions that surmounts itself.

This form of being put down in writing is to avoid two concrete forms that the base board operation device is interfered, and is by the position on the 1st track of the 2nd track formation portion is managed, the form that the first-class interference of the operation of avoiding two devices is controlled.Generally speaking, for example for the position of the 2nd track formation portion, be respectively from the first-class regional limit positions of device that do not enter of the operation of itself itself, and when for example matching unification side operation first-class entering not with the first-class limit positions that interferes of operation own, at separately device and definite, usually be controlled to the degree that the 2nd track formation portion is no more than the former mutually, the 2nd track formation portion at side's device surpasses under the latter's the situation, the 2nd track formation portion that is controlled to the opposing party's device allows to surpass the former, and this form is also included within the form of this record.

(43) described according to (42) item to operation system of substrate, in the moving range of above-mentioned the 2nd track formation portion on above-mentioned the 1st track, stop position as the 2nd track formation portion, be set with and be present in the non-interference stop position more than that does not surmount above-mentioned non-interference limit positions, and surmount the above-mentioned non-a plurality of orbit portion stop positions that enter stop position more than that enter limit positions and exist, above-mentioned the 2nd track formation portion position control part is under the situation of the above-mentioned non-interference limit positions state that does not surmount itself in above-mentioned the 2nd track formation portion above-mentioned and that establish device, allow above-mentioned the 2nd track formation portion of above-mentioned destination object device to stop on above-mentioned any one position that enters stop position, and be under the situation that surmount itself above-mentioned non-enter the limit positions state in above-mentioned the 2nd track formation portion above-mentioned and that establish device, form and allow above-mentioned the 2nd track formation portion of above-mentioned destination object device stop on any one position in the above-mentioned non-interference stop position.

This form of being put down in writing is with the combined a kind of form of form explanation in the form of above-mentioned (42) and above-mentioned (36), that allowing the 2nd track formation portion stop to allow moving part move under the state of any desired location.With the above-mentioned non-relation that enters limit positions and non-interference limit positions a plurality of track stop positions are set, manage by mutual stop position, formed to control and avoided two first-class forms that interfere of the operation to the base board operation device the 2nd track formation portion.

The above is the explanation to the various forms to operation system of substrate of the present invention, in the above description, with the base board operation device is called respectively with " movable device ", " modular unit ", " conveying device outfit modular unit ", " inking device adjoins each other ", " modularization adjoin each other inking device ", " head plane mobile model device ", " destination object device ", " and establishing device " these various function titles in the system of being contained in.These titles are only in order to show that this characteristic to the base board operation device uses, and the present invention does not hinder one the base board operation device had form corresponding to a plurality of functions of above-mentioned title.In other words, what have is " movable device " to the base board operation device, is " modular unit ", is " inking device adjoins each other ", and is forms such as " head plane mobile model devices ", and these also all are a kind of forms of the present invention.

The accompanying drawing summary

Fig. 1 is all stereograms that several forms of circuit block installation system are shown.

Fig. 2 is the stereogram after circuit block installation system that citation form is shown is got the exterior member of next circuit block erecting device.

Fig. 3 is the stereogram that the system base of the circuit block installation system that constitutes citation form is shown.

Fig. 4 illustrates all stereograms of board conveying device that are disposed in the circuit block erecting device.

Fig. 5 is from the front view of one of delivery track of board conveying device and its a part of cutaway view.

Fig. 6 illustrates the installation head that the circuit block erecting device has and the stereogram of head moving device.

Fig. 7 is the horizontal cross that the X carriage of head moving device is shown.

Fig. 8 is for schematically illustrating the stereogram of head moving device.

Fig. 9 is the stereogram that the installation head that the circuit block erecting device has is shown.

Figure 10 is the schematic diagram that moves that the installation head that the X carriage carries out is shown.

Figure 11 is illustrated in the moving of installation head that the X carriage carries out, and the 1X slide block is stopped at the stop position of regulation so that the schematic diagram of the method that installation head moves.

Figure 12 is the control block diagram of circuit block erecting device.

Figure 13 is the right flank partial sectional view of the circuit block installation system of citation form.

Figure 14 is the fragmentary sectional elevation view of the circuit block installation system of citation form.

Figure 15 is the stereogram that is illustrated in the user mode of the table device prepared in the circuit block installation system of citation form and this table device.

Figure 16 is the stereogram that the jockey of the system base of the circuit block installation system that connects citation form and table device is shown.

Figure 17 is several multi-form all stereograms that the circuit block installation system is shown.

Figure 18 is the stereogram that the circuit block installation system that is equipped with the different circuit block erecting device of width is shown.

Figure 19 is the stereogram that another circuit block installation system that is equipped with the different circuit block erecting device of width is shown.

Figure 20 illustrates the stereogram that the circuit block erecting device of unit width can be configured to the system base of 8 permutations.

Figure 21 is for being example with system base shown in Figure 20, is used to illustrate the concept map of configuration mode of the circuit block erecting device of various width.

Figure 22 illustrates the stereogram that the conveying apparatus for work that will mainly carry out the conveying operation of wiring board is disposed at the circuit block installation system of form between the circuit block erecting device.

Figure 23 illustrates diverse various the stereograms to operation system of substrate to base board operation device of configuration to base board operation.

Figure 24 is for being illustrated in the circuit block installation system, and board conveying device becomes the schematic diagram of a plurality of states arranged side by side.

Figure 25 is the schematic diagram of the 1st example that the carrying method of wiring board in the circuit block installation system is shown.

Figure 26 is the schematic diagram of the 2nd example that the carrying method of wiring board in the circuit block installation system is shown.

Figure 27 is the schematic diagram of the 3rd example that the carrying method of wiring board in the circuit block installation system is shown.

Figure 28 is for being illustrated in the circuit block installation system, with a circuit block erecting device as the destination object device, with the circuit block erecting device of one side adjacency as and establish the schematic diagram of the first-class action of two Unit Installation of device.

Figure 29 is for being illustrated in the circuit block installation system, to the schematic diagram supply of circuit block installation exercise, that cross over the wiring boards of two erecting devices.

Figure 30 is for being illustrated in the circuit block installation system, the schematic diagram of the operation form the when wiring board of crossing over two circuit block erecting devices relatively carries out the circuit block installation exercise.

Figure 31 is for being illustrated in the circuit block installation system, the schematic diagram of another operation form the when wiring board of crossing over two circuit block erecting devices relatively carries out the circuit block installation exercise.

Figure 32 illustrates the erecting device control device function associated block diagram that each the circuit block erecting device with the circuit block installation system is possessed.

Figure 33 is the stereogram that main expression is provided with the circuit block installation system of depositing apparatus for work of depositing operation that carries out wiring board.

Figure 34 is the stereogram of the transport path change apparatus for work of the main expression transport path operation of changing wiring board.

The optimal morphology that carries out an invention

Several examples that the present invention is concrete are described with reference to the accompanying drawings.But the invention is not restricted to following example, can be according to those skilled in the art's knowledge, form to aforementioned (the problem to be solved in the present invention, the technical scheme of dealing with problems and effect thereof) every middle record is carried out various changes, improvement, constitutes above-mentioned example other form in addition.

＜grown form to operation system of substrate

I) integral body of system constitutes

Fig. 1 (a) illustrates a grown form to operation system of substrate.System shown in Fig. 1 (a) is the circuit block installation system that carries out the circuit block assembling work, two circuit block erecting devices of identical formation (be a kind of to the base board operation device, be designated hereinafter simply as " erecting device ") 12 are adjacent to be configured in the same way on the system base 10.Below for convenience of explanation, erecting device 12 directions arranged side by side are called left and right directions, the horizontal direction vertical with this direction is called fore-and-aft direction.

The ii) formation of erecting device general introduction

Stereogram after the part that Fig. 2 illustrates the external component of an erecting device 12 in the system of above-mentioned grown form is removed.Each erecting device 12 all has the device body 18 that comprises frame section 14 and the beam portion 16 ground formation of frame on frame section 14.In addition, each erecting device 12 all has electronic part feeder 22, this feedway 22 has a plurality of tape feed devices 20 on the place ahead part of the frame section 14 of device body 18, this tape feed device 20 from make circuit block a kind of, be to supply with electronic unit one by one the electronic unit wrap of electronic unit band shapeization.This electronic part feeder 22 is a kind of circuit block feedwaies, and illustrated is that feeder with supply part the band shape electronic unit on being wrapped in reel is the device that main body constitutes.Below electronic part feeder is abbreviated as " assembly supply device ".Briefly, assembly supply device 22 has for tape feed device 20 arranges the pallet of placing, and this pallet can be located on the frame section 14 with freely loading and unloading.And each tape feed device 20 also can freely load and unload with respect to pallet, can be according to sequence arrangement arbitrarily corresponding to the device of tape feed arbitrarily 20 of the kind of electronic unit.

And, in each erecting device 12, board conveying device 24 is housed respectively, it the delivery circuit substrate a kind of, be printed substrate (below abbreviate " wiring board " as) in, also have the function of wiring board being fixed, remaining on the locational base plate keeping device of setting.Two erecting devices 12 be positioned under the state on the fixed rigging position, two board conveying devices are 24 consistent with each other, can assist ground conveying circuit plate mutually.In the system of this form, wiring board is to erecting device 12 direction arranged side by side, and promptly left and right directions is carried.That is, this direction becomes the throughput direction (also can be called " substrate throughput direction ") of wiring board in the system of this form.Board conveying device 24 will be described later.

Each erecting device 12 has installation head 26 (being a kind of of operation head), this installation head 26 is taken out electronic unit from assembly supply device 22, and this electronic unit is installed on the wiring board that remains on the board conveying device 24, installation head 26 is at the human-like mobile device of XY machine that is contained in each beam portion 16, be under the effect of each installation head mobile device (below abbreviate " head moving device " as) 28, cross assembly supply device 22 and board conveying device 24 ground move.Installation head 26 and head moving device 28 will describe in detail in the back.

In each erecting device 12, parts camera head 30 is housed on frame section 14, this camera head 30 is equipped with the CCD camera as picture pick-up device between assembly supply device 22 and board conveying device 24, this parts camera head 30 is taken and is mounted a posture of 26 electronic units of catching etc.In addition, each erecting device 12 externally parts a kind of, be that the guidance panel 34 as input/output unit is equipped with in the place ahead of top cover 32, though omitted among this figure, but each erecting device 12 also comprises the graphics processing unit 38 (with reference to Figure 12) of the view data that erecting device control device 36 (with reference to Figure 12) based on computer, processing unit camera head 30 etc. obtain etc., and wherein the aforementioned calculation machine is used for control assembly feedway 22 and the own various devices that assemble.

Each erecting device 12 has assembly supply device 22, installation head 26, head moving device 28 etc. respectively, is to make modular modular unit.And, because board conveying device 24 also packs in the erecting device 12, so erecting device 12 is made into to have the modular unit of conveying device.Each erecting device 12 can easily separate with system base 10, and can mutual alternative, and this will describe in detail in the back.And each erecting device 12 is movable fixtures, can be with respect to the direction of system base 10 to and approximate horizontal vertical with the wiring board throughput direction, and promptly fore-and-aft direction moves.Realize that this mobile structure will be described later.

The iii) formation of system base general introduction

Fig. 3 shows the stereogram of system base 10.The system base 10 that two erecting devices 12 are housed has and comprises framework 50, adorns the base body 56 that plate 52, top board 54 ground constitute outward.The power subsystem 58 as the composite device of erecting device 12, shared device, the pipe arrangement 60,62 that stretches out etc. are equipped with in the inside of base body 56 from outside malleation, negative pressure air source, constitute actuating force supply unit from actuating force to each erecting device 12 that supply with thus.Though not shown, the inside of base body 56 also be provided be used between each erecting device 12, and the system control device (aftermentioned) of each erecting device 12 and overall control system between exchange the communication cables of control signal, information and terminal thereof etc.Top board 54 is provided with the opening that is used to safeguard, and the lid 64 of blocking this opening is housed.Establishing an opening 66 again near anterior place, top, the inside of the base body 56 by this opening 66 is provided with takes back receptacle 68, this returnable 68 reclaim the electronic unit wrap of discharging from assembly supply device 22 the carrying band, cover heading tape etc.Though illustrate and omitted, in fact erecting device 12 is provided with the shearing device that cuts off carrying band etc., and the carrying band that is cut off arbitrarily is discharged to be taken back in the receptacle 68.Comprise opening 66, take back the composite device that ground such as receptacle 68 constitutes erecting device 12, promptly take back receiving apparatus.Though not shown, those wraps that in fact are recovered can be fetched into the outside of system base 10.As previously mentioned, apparatus structure and the realization that makes each erecting device 12 constitute movable fixture can will be described later by segregative apparatus structure.

The iv) formation of board conveying device

Fig. 4 shows the integral body of board conveying device 24.Board conveying device 24 is conveying devices, has 4 delivery tracks that road along the line sheet conveying direction (left and right directions) extends and the position is parallel to each other (below abbreviate " track " as) 100～106.The track 100 that is positioned at the forefront is a pair of with track 102 formations that are positioned at its rear, and toward each other, the track 104 that is positioned at again the rear is a pair of with track 106 formation that are positioned at its rear, toward each other.Delivery section 110 and 112 two delivery section of back delivery section before this board conveying device 24 has, delivery section 110 before track 100 and track 102 form, track 104 and track 106 form back delivery section 112.In a word, each benchmark track of delivery section 110, the effect of subordinate track before track 100, track 102 play respectively, track 104, track 106 play each benchmark track of back delivery section 112, the effect of subordinate track respectively.

Track 100 is the trapped orbits that are fixedly installed on substrate 114 the place aheads, and track the 102,104, the 106th is along two guide rails 116 movable track that moves of direction forwards, backwards that is located on the substrate 114.The right side of device is provided with 3 cheese head screws 118, they be separately positioned on 3 nuts on the movable track 102,104,106 and be meshed, and the rear of device is provided with 3 electro-motors (stepper motor), it is orbital position change motor 120 (is covered), they are as the drive source of these cheese head screws 118, drive above-mentioned 3 orbital positions change motor 120 independently, can make 3 movable tracks 102,104,106 independently forwards, backwards direction move.Thus, the conveying width of preceding delivery section 110 and back delivery section 112 can change arbitrarily.The central portion on each track 100～106 top is provided with reference mark 122, employing is arranged on sign camera head (back description) on the head moving device 28 with installation head 26, take the position of each track in erecting device 12, and carry width based on the recognition result adjustment of its image.Promptly, this board conveying device 24 is equipped with the corresponding change device of substrate width, this change device is corresponding to the width (perpendicular to the length of wiring board throughput direction) of the wiring board that is transferred, change the width of delivery section 110,112, the corresponding change device of this substrate width comprises movable track 102,104,106, orbital position change motor 120 etc. and constitutes.

Delivery section 110 and 112 two delivery section of back delivery section before board conveying device 24 can use when carrying the less wiring board of width.That is, use as 2 row conveying devices.At this moment, with the benchmark track of back delivery section 112, be the fixed-site of track 104 on the position of setting, adjust the conveying width separately of two delivery section 110,112 respectively.Relative therewith, when carrying the bigger wiring board of width, before only using in delivery section 110 and the back delivery section 112 one can be used as 1 row conveying device and uses.At this moment, track 104 is moved to rear or the place ahead of device, adjust the width of a delivery section of using.

With track 102 is the structure of example explanation track 100～106.Fig. 5 shows track 102.Fig. 5 (a) is the figure that sees from the front, and Fig. 5 (b) is the sectional view of being done along the A-A line.Track 102 be comprise two carriages 130, across the track entity plate 132 between two carriages 130, be located at the guide post 134 on track entity plate 132 tops and form.Drive pulley 136 is arranged on the carriage 130.The splined shaft 138 (with reference to Fig. 4) that extends before and after the left side of board conveying device 24 is provided with, though it is not shown, but in fact drive pulley 136 passes through spline engagement with splined shaft 138, no matter where track 102 is on fore-and-aft direction, and the rotation of splined shaft 138 can both be delivered on the drive pulley 136.And, rotatably being provided with a plurality of driven pulleies 140 on carriage 130 and the track entity plate 132, conveyer belt 142 is enclosed within on above-mentioned drive pulley 136 and the driven pulley 140 as shown in figure.Splined shaft 138 is connected to the electro-motor (servo motor that has encoder) that is located at the device rear, and promptly wiring board is carried on the motor (with reference to Fig. 4) 144, transfers motor 144 by the driver circuit plate, can make conveyer belt 142 cycle rotations.Because the structure of other track 100,104,106 is identical therewith, therefore omit explanation to them.

Wiring board 150 is supported on the part of conveyer belt 142 upper horizontal tensionings, and guide post 134 limits its position at fore-and-aft direction, and along with the rotation of conveyer belt 142, this wiring board 150 is direction to the left and right simultaneously, and promptly the wiring board throughput direction is transferred.Because being located at 4 conveyer belts 142 on the track 100～106 rotates together, the conveying action of the conveying action of delivery section 110 and back delivery section 112 before therefore can not controlling independently.

Board conveying device 24 also plays the effect that wiring board 150 is fixedly remained on the locational base plate keeping device of setting in order to carry out the circuit block assembling work.Board conveying device 24 has two supporting brackets 152.On supporting bracket 152, a plurality of standby devices 156 that have standby pin 154 can be installed on the optional position.By conveyer belt 142 is stopped the rotation, the wiring board 150 by conveyer belt 142 supports and handover comes is stopped on the position of setting according to the kind of wiring board and the form of circuit block assembling work etc.Under this state, can make by not shown supporting bracket lowering or hoisting gear 158 (with reference to Figure 12) supporting bracket 152 only rise fixed distance (with reference to the double dot dash line among Fig. 5 (a)).Like this, the front end of standby pin 154 touches the inside of wiring board 150, lifts this wiring board 150, has removed the support of conveyer belt 142, and simultaneously, end on the fastener 158 of guide post 134 with suitable power card on the surface of wiring board 150 ends.In a word, under this state, wiring board 150 remains on regularly to carrying out on the position that the circuit block assembling work sets.

(not shown in Fig. 4, Fig. 5 based on the photoelectric sensor 160 that is located at this board conveying device 24 or be connected on the conveying device in its upstream side, downstream as wiring board detector (substrates detector a kind of), with reference to Figure 12, Figure 24) detection signal, control the rotation of conveyer belt 142 beginning, stop.This will describe in detail in the back.As previously mentioned, the structure of the conveying action of the conveying action of delivery section 110 and back delivery section 112 before this board conveying device 24 forms and can not control independently, but, when maintaining the state of above-mentioned wiring board 150 on one before becoming in delivery section 110 and the back delivery section 112, carry action if another is carried out, also can use the 2 higher row operations of efficient of two delivery section.

The v) formation of head moving device

Fig. 6 illustrates the stereogram of installation head 26 and head moving device 28, and Fig. 7 illustrates the horizontal sectional view of X carriage (aftermentioned), and for the ease of understanding, Fig. 8 shows the stereogram of the signal of head moving device 28.Head moving device 28 comprises two linear moving apparatus that installation head 26 is moved to vertical both direction.One of them is to the horizontal direction vertical with the throughput direction of wiring board, it is the mobile device of fore-and-aft direction (hereinafter referred to as " Y direction "), it is Y carriage 200, another is to the direction parallel with the throughput direction of wiring board, be the mobile device of left and right directions (hereinafter referred to as " X-direction "), promptly the X carriage 202.These two linear moving apparatus move installation head 26 in a plane.That is the device of erecting device 12 fabrication process head plane mobile models.

Y carriage 200 comprises Y sliding part 214, the Y cheese head screw 216 that is located in the beam portion 16 and extends along Y direction, combine by screw thread with the Y cheese head screw, be located to rotatable and fixed-site the Y nut 218 on the Y sliding part 214, be located at the rear and have the electro-motor (servo motor that has encoder) that makes Y cheese head screw 216 rotation as drive source, it is the Y-axis drive unit 222 of Y-axis motor 220, wherein above-mentioned Y sliding part has two Y direction guide rails (being designated hereinafter simply as " Y guide rail ") 210 that are located in the beam portion 16 parallel with Y direction and 4 slide units (linear bearing) 212 that slide along Y guide rail 210, and moves along Y direction.

X carriage 202 is mobile devices of multisection type, and promptly 2 segmentation mobile devices comprise an X carriage 230 and 232 two carriages of the 2nd X carriage that installation head 26 is moved in direction parallel to each other.The one X carriage 230 comprises an X sliding part 242 that has two the first X-direction guide rails parallel with X-direction (being designated hereinafter simply as " X1 guide rail ") 240,4 slide units (linear bearing) 244 that are fixedly installed on the Y sliding part 214 and on X1 guide rail 240, slide, the X1 cheese head screw 246 that is arranged on the Y sliding part 214 and extends along X-direction, combine by screw thread with X1 cheese head screw 246, be arranged on to rotatable and fixed-site the X1 nut 248 on the X sliding part 242, be arranged on the Y sliding part 214 and have the electro-motor (servo motor that has encoder) that makes X1 cheese head screw 246 rotation as drive source, it is the X1 axial brake device 252 of X1 axle motor 250, the 2nd X carriage 232 comprises with X-direction and is arranged on two second X-direction guide rails (being designated hereinafter simply as " X2 guide rail ") 260 on the X sliding part 242 abreast, be formed in the 2nd X sliding part 264 of two slide units (linear bearing) 262 that slide on the X2 guide rail 260, the X2 cheese head screw 266 that is arranged on the X sliding part 242 and extends along X-direction, combine by screw thread with X2 cheese head screw 266, be located to rotatable and fixed-site the X2 nut 268 on the 2nd X sliding part 264, be located on the X1 sliding part 244 and have the electro-motor that makes X2 cheese head screw 266 rotation (servo motor of band encoder) as drive source, it is the X2 axial brake device 272 of X2 axle motor 270.

X carriage 202 is the multisection types with above-mentioned formation, is 2 segmentation linear moving apparatus in detail.The Y sliding part 214 that has the slide unit 244 that slides on X1 guide rail 240 plays the effect of the first track formation portion that forms first track, an X sliding part 242 that has an X2 guide rail 260 plays along first track and moves and form effect with the second track formation portion of second track of this first parallel track, and the 2nd X sliding part 264 that moves along X2 guide rail 260 plays the effect of the moving part that moves along second track.That is, X carriage 202 constitutes concertina type (socket type) mobile device.Thus, installation head 26 remains on its moving part, promptly on the 2nd X sliding part 264.If the moving direction towards installation head 26 of multisection type mobile device is decided to be specific direction, then X-direction is pointed to this specific direction in the erecting device 12.By the rotation of control Y-axis motor 220, X1 axle motor 250, X2 axle motor 270, installation head 26 is moved in a plane, and be positioned on the optional position in the operating area.

The vi) formation of installation head

Figure 10 shows the stereogram of installation head 26.The installation head 26 that remains on the 2nd X sliding part 264 has a plurality of, says so in more detail to keep the adsorption mouth 288 of equipment to be fixed on the assembly unit 290 of leading section with 8 as circuit block.Though each adsorption mouth 288 is not shown in the drawings, but it selects feedway 292 (with reference to Figure 12) by positive negative pressure, is communicated with negative pressure air, positive pressure air path, with negative pressure electronic unit is absorbed and fixed at leading section, as long as supply with malleation slightly, the electronic unit that is fixed is promptly tear-away.The assembly unit 290 that roughly is a shape is with the equal angles spacing, and axially vertical state remains on the peripheral part of the unit maintenance body 294 that intermittently rotates.And, but each assembly unit 290 rotation and can moving axially.Have electro-motor (servo motor that has encoder), promptly keep the unit of body rotation motor 296 to keep body whirligig 298 driver elements to keep body 294, one by one intermittently rotation and assembly unit 290 set the angular interval angle same, thereby make intermittently rotation of assembly unit 290.Intermittently in the rotation, a stop position at assembly unit 290, be lifting seat in the plane, unit (being positioned at the seat in the plane of forefront), have electro-motor (servo motor that has encoder), be that the unit lowering or hoisting gear 302 of unit lift motor 300 makes assembly unit 290 liftings that are positioned at this seat in the plane as drive source.From assembly supply device 22, take out electronic unit action, and the action that electronic unit is contained on the wiring board that is fixed on the board conveying device 24 be to finish by the assembly unit 290 that is positioned at this lifting seat in the plane, the distance that makes this moment assembly unit 290 descend and set.Another stop position becomes rotation seat in the plane, unit, in this seat in the plane, in order to adjust the purposes such as assembling orientation of the electronic unit that is adsorbed maintenance, have electro-motor (servo motor that has encoder) as drive source, i.e. the unit rotating device 306 of unit rotation motor 304 makes its rotation.It more than is the main composition of installation head 26.Place, the bottom of the 2nd X sliding part 264 is provided with the device that is used to take the lip-deep reference mark of wiring board etc., promptly comprises the sign camera head 308 (with reference to Fig. 6) as the ccd video camera of picture pick-up device.

Vii) the X carriage moves installation head

Figure 10 schematically shows X carriage 206 moves installation head 26.Only show Y sliding part 214 among the figure as the first track formation portion, as an X sliding part 242 of the second track formation portion, be maintained at as the installation head 26 on the 2nd X sliding part 264 of moving part.The AA that represents with solid line is a line of representing erecting device 12 sides, and AA-AA represents the device zone of erecting device 12.Y sliding part 214 does not move in X-direction, remains on specific direction, and promptly the middle position in the device zone of X-direction only moves to Y direction.Allow an X sliding part 242 along first track that forms by Y sliding part 214, move within the specific limits to X-direction.Installation head 26 moves in the gamut of an X sliding part along second track that is formed by an X sliding part.

A Y sliding part 214 and an X sliding part be at specific direction, and promptly all the width of ratio device is little for the length on the X-direction.Under the state shown in the solid line, an X sliding part 242 is positioned at the middle position of X-direction in the drawings, and under this state, an X sliding part 242 is in the AA-AA of device zone.Installation head 26 can move along second track, roughly is positioned at the end of an X sliding part 242 up to its end.Though not shown, be positioned under the state of middle position at an X sliding part 242, even installation head 26 is moved, the end of installation head 26 also can only arrive distance means side AA and keep the to a certain degree position at interval.Make an X sliding part 242 from the only mobile institute of middle position set a distance, thereby an X sliding part 242 and device side AA are positioned near the AA of device side alignedly, thus, the mobile range of installation head 26 can be extended to the scope that its end does not exceed device side AA.Under the state of this expansion, can in the scope of illustrated WA1-WA1, carry out assembling work.If move an X sliding part 242 again away from middle position, then the end of an X sliding part 242 will enter outside the device zone.Thus, installation head 26 also enters outside the device zone, and the mobile range of installation head 26 exceeds device zone AA-AA, further expands the scope of WA2-WA2 to.Like this, by adopting the multisection type mobile device, erecting device 12 compact conformations and operating area increase.

In the working control process of head moving device 28, set a plurality of stop positions (stop position of the second track formation portion in the moving range of the one X sliding part 242 on first track, be equivalent to the orbit portion stop position), the one X sliding part 242 is stopped in these stop positions any one, and installation head 26 is moved along second track that is formed by an X sliding part.Figure 11 schematically show make an X sliding part 242 stop at fixed stop position, and installation head 26 is moved.In the X carriage 202, set the stop position of 4 the one X sliding parts 242 on first track.Each stop position is represented with symbol ST1～ST4.Shown in Figure 11 (b), (c), the state that the one X sliding part 242 is positioned at ST2, ST3 is respectively at right, the left state that do not enter outside the device zone of an X sliding part 242 upwards, be to be that order installation head 26 is positioned at any position on second track, the state that installation head 26 also can not enter outside the device zone.Relative therewith, shown in Figure 11 (a), (d), the state that the one X sliding part 242 is positioned at ST1, ST2 be respectively right, left upwards an X sliding part 242 be the state that corresponding installation head 26 can enter outside device is regional at the outer state that enters in device zone.

The following describes the situation when on the wiring board in the device zone that exceeds erecting device 12, carrying out the circuit block assembling work, for example, when on the rigging position of the assembly area that is positioned at wiring board, electronic unit being installed, when its rigging position is positioned at the right side of device central authorities, make an X sliding part 242 stop at the stop position of ST2, when its rigging position is positioned at the left side of device central authorities, an X sliding part 242 is stopped on the stop position of ST3, and control installation head 26 is moved.When on the extra-regional rigging position of the device that is being positioned at wiring board electronic unit being installed, when its rigging position is positioned at the extra-regional right side of device, the one X sliding part 242 is stopped on the stop position of ST1, when its rigging position is positioned at the extra-regional left side of device, the one X sliding part 242 is stopped on the stop position of ST4, and control installation head 26 is moved.Like this, corresponding with rigging position various situations where, the moving area of installation head 26 is divided into a plurality of zones, stop at which zoning based on installation head 26, control to determine the stop position of an X sliding part 242.The signal of the encoder that possesses based on X1 axle motor 250 is decided the position of an X sliding part 242 by aftermentioned erecting device control device 36.

About moving of installation head 26,12 pairs of head moving devices of erecting device 28 carry out above-mentioned head and move control.Specifically, it is to make the second track formation portion that head moves control, promptly an X sliding part 242 stops under the state on any one stop position, the orbit portion that installation head 26 is moved along second track stops head and moves control, and, be to make a part that an X sliding part 242 moves to second track, thereby make the control that enters that installation head 26 can enter outside device is regional in the outer position that enters, device zone.

As mentioned above, make an X sliding part 242 and installation head 26 can from the device side enter assembling work the time, the right flank of the outer dress plate 320 of erecting device 12 sides still is the part opening 322 that left surface all is provided with band side board conveying device 24, when installation head 26 enters outside the device zone, by this opening 322, make an X sliding part 242 and installation head 26 outside the device zone, enter (with reference to Fig. 1 (a)).In this erecting device 12, it is the situation that the installation action of electronic unit is carried out in conduct that the moving area of installation head 26 expands to outside the device zone, when carrying out from assembly supply device 22 taking out the action etc. of electronic unit, make an X sliding part 242 be positioned at ST2, ST3 or be located at other stop position in the middle of their, and make installation head 26 mobile in the device zone.

Viii) erecting device control device

Figure 12 represents with part and parcel of the present invention to be the control block diagram of the erecting device 12 at center.The circuit block installation system of citation form has two erecting devices 12, and they are equipped with erecting device control device 36 separately.Figure 12 is to be the block diagram at center with erecting device 12 and the erecting device control device 36 that comprises this erecting device 12.Erecting device control device 36 is the control device based on computer 350, and computer 350 has CPU (processing unit) 352, ROM354, RAM356, input/output interface 358, with they buses 360 connected to one another.Each drive circuit 362 that input/output interface 358 possesses by erecting device control device 36 respectively with each tape feed device 20 of assembly supply device 22,3 orbital position change motors 120 of board conveying device 24, wiring board is transferred motor 144, supporting bracket lowering or hoisting gear 158, the positive negative pressure of installation head 26 is selected feedway 292, keep body rotation motor 296, unit lift motor 300, unit rotation motor 304, the Y-axis motor 220 of head moving device 28, X1 axle motor 250, X2 axle motor 270 connects.And parts camera head 30 links to each other by the graphics processing unit 38 that carries out data processing from the camera data that is obtained by them till obtaining various recognition results with sign camera head 308.And then input/output interface 358 links to each other with photoelectric sensor 160 in the board conveying device 24.

An action with another in two erecting devices 12 is moved explicitly.The system of citation form comprises the system control device 370 (omitting among Fig. 1, Fig. 2 etc.) with system base 10 and 12 fens other overall control system integral body of erecting device.Thus, input/output interface 358 links to each other with another erecting device 12 and system control device 370 by communication cable 372.Other operation system of substrate is connected of system control device 370 and native system, and then when constituting big system, system control device 370 is also used as other system control device to operation system of substrate.And erecting device 12 modularizations can be arranged in other other system.At this moment, this erecting device control device 36 also can with other system in have other control device, other system to the base board operation device system control device be connected.

On ROM354, remembering the elemental motion program of erecting device 12 etc., in addition, on RAM356, remembering relevant action control corresponding to the operation form, with other coordination to the base board operation device, the operation program of co-operating control etc., be shifted corresponding to the wiring board holding position, the application programs such as installation site revision program such as displacement of parts absorption holding position, carry out the erection sequence data of the corresponding line plate setting of circuit block installation exercise, installation position data, the parts inherent data that the circuit block of installing is relevant, which electronic unit are so various data such as assembly supply device related data of supplying with from which tape feed device 20.

Ix) circuit block installation exercise summary.

Below the circuit block installation exercise of an erecting device 12 is carried out simple declaration as an example with the operation to the wiring board of the size in the device zone that is housed in this erecting device 12.The wiring board of sending here from upstream one sidesway stops on the job position of setting in the device zone by board conveying device 24.The wiring board that stops to be fixed maintenance by allowing supporting bracket lowering or hoisting gear 158 rise by wiring board holding device 24 on this position.Then, allow mark camera head 308 move to the top that is attached to the reference mark on the wiring board, the picked-up reference mark by head moving device 28.Detect the displacement of the wiring board holding position of maintenance from this camera data.In addition, under the situation of Shuo Ming two erecting device 12 co-operating operations, wiring board holding device 24 co-operatings respectively that each erecting device 12 has fixedly maintain a wiring board in the back.In this case, the reference mark that exists in the installation region with each erecting device 12 is made a video recording by the mark camera head 308 of erecting device 12 respectively, by the result that mutual reception camera data is handled, detect the displacement of the wiring board holding position of erecting device 12 respectively.

Then, installation head 26 moves to the top of assembly supply device 22, and the taking-up order according to setting remains on electronic unit absorption on the adsorption mouth 228.In more detail, the installation component 290 that is positioned on the lifting position is positioned at the parts taking-up portion top of supplying with as the tape feed device 20 of the electronic unit that keeps object.Allow installation component 290 descend in this position, supply with negative pressure, thereby this electronic unit absorption is kept to the adsorption mouth 288 that remains on the front end.Like this, intermittently rotation of installation component 290 is carried out same parts and is taken out action on next installation component 290.Like this, in the installation component 290 that has installation head 26, carry out parts successively and take out action (most applications is 8 times).

Then, keeping the installation head 26 of electronic unit to move to the top of parts camera head 30.On this position, parts camera head 30 is indexed to the electronic unit that keeps in the visual field.Detect the displacement of each electronic unit holding position according to the camera data that is obtained.Installation head 26 has moved to the top of wiring board, move midway at it, be positioned at the installation component 29 of assembly rotation position and forward to certainly on the correct position of rotation according to the holding position of the shift amount of the installation position on the electronic unit that is set in its maintenance, detected wiring board holding position, electronic unit.This rotation action is to carry out rotation at the intermittence of installation component 290 repeatedly, is in lifting position up to the installation component 290 of the maintenance electronic unit of initial installation, and the locational installation component 20 of assembly rotation carries out to being positioned at during this intermittently rotates.For the installation component 290 that is not positioned at the rotation position, its installation action carries out when intermittently rotating.

Then, installation head 26 has moved to the top of wiring board, according to the erection sequence of setting, the electronic unit that remains on the PCB surface is installed.In more detail, at first, allow the installation component 290 that is in the assembly lifting position be in the top of correct installation site.At this moment, according to the shift amount of detected wiring board holding position, the shift amount of electronic unit holding position, allow the shift position of installation head 26 correctly change.On this position, allow installation component 290 decline preset distances, on adsorption mouth 288, infeed malleation, the electronic unit that keeps is installed on the PCB surface.The identical parts installation action relevant with next installation component 290 carried out in then intermittently rotation of installation component 290.Like this, carry out the installation action of parts successively for the installation component 290 that is keeping electronic unit.

Up to the installation of all predetermined electronic units, installation head 26 all comes and goes between assembly supply device 22 and wiring board, is carrying out parts repeatedly and is taking out action, parts installation action.After the installation of all electronic units, allow the supporting bracket lowering or hoisting gear 158 of board conveying device 24 descend, remove fixedly maintenance wiring board.This wiring board by wiring board holding device 24 towards downstream a sidesway give.Like this, predetermined circuit block installation exercise has just been finished on this wiring board.The conveying of the wiring board that is undertaken by board conveying device 24 for abridged in the explanation will be elaborated in the back.In addition, be disposed at two erecting devices 12 in the system of grown form for the installation exercise that also can carry out circuit block across two sides' big wiring board.This be will be described later.

＜erecting device is with respect to moving of system base etc. 〉

I) device that allows erecting device to move.

As shown in Figure 3, on the top of system base 10, be provided with in a straight line many 4 track row 472 (in Fig. 1, Fig. 2 etc., omitting) that guide rail 470 constitutes side by side.The track row 472 in the outside are made of two guide rails 470 respectively about seeing from the place ahead, and 472 inboard of two row track row are made of 3 guide rails 470 respectively.Article 4, track row 472 configuration that is parallel to each other.Article 4, it is right that track row 472 can be divided into two tracks.The track that is made of the two row track row 472 on right side is pair relevant with right side erecting device 12, and the track that is made of the two row track row 472 in left side is pair relevant with the left side erecting device.In addition, two tracks are to mutual formation equating at interval of the right track row 472 of track separately.

Figure 13 illustrates the phantom of system's right flank of above-mentioned grown form, figure 14 illustrates the front portion cutaway view under the state except that assembly supply device 22.Erecting device 12 has in frame section 14 bottoms and amounts to 8 wheel assemblies that wheel 474 can maintain by bearing with each two row of 4 is arranged side by side with rotating freely, and this wheel 474 fastens as engaging part and the paired guide rail 470 as track formation parts that constitutes track row 472 respectively.Thus, erecting device 12 can relatively move on fore-and-aft direction with respect to system base 10.In other words, erecting device 12 is the movable devices that can move along the device track that fore-and-aft direction extends.The device track be with as the perpendicular rectilinear orbit that intersects of the left and right directions of wiring board throughput direction, and along horizontal-extending.In addition, native system has and carries out above-mentioned mobile movable device as the erecting device 12 that constitute to allow movable device and move and allow two erecting devices of device to move the permission device, each erecting device moves and allows device to comprise fixed-site at the paired track row 472 that are located at the conduct device track formation portion on the system base 10, and fixed-site be arranged on the erecting device 12, can move the wheel assembly of the conduct of engaging with respect to guide rail 470 to the track holding section.In addition, move at erecting device 12 under the situation in the place ahead, in 1 track row 472, can appear at the situation that there is wheel 474 at the position (orbit gap) that does not have guide rail 470, in this case, a plurality of wheels 474 also are fastened on the arbitrary guide rail 470 that constitutes paired track row 47.Wheel assembly has the function as the mechanism that allows movable device move easily, and erecting device 12 can move by manpower at an easy rate.

In addition, as shown in figure 14, the peripheral part of wheel 474 is flat, and the guide rail 470 that constitutes pair of tracks row 472 is made the shape of part for preventing that wheel derailment is outstanding towards the top in the left and right directions outside, by like this, making can the release unit track as the erecting device 12 of movable device.Guide rail 470 and wheel 474 shape of the part of engaging mutually are not limited to above-mentioned shape.For example allow the guide rail that has the tabular shaped upper part to be provided with the wheel that prevents the edge portion of derailing fasten (similar to the wheel relation) to the track in the rolling stock, allow guide rail that has mountain font section and the wheel that has the groove of the V font section configuration that matches with it fasten, allow the mutually reverse inclination (for example forming the inclination of " eight " font) of top formation of pair of guide rails, simultaneously, employing has the wheel of the taper outer peripheral face that matches with it, and these forms all are fine.

The ii) fixture of erecting device.

As shown in Figure 3, on system base 10, to being respectively arranged with a block 482 as latch for printed circuit on the pars intermedia separately, this latch for printed circuit card only is arranged on conduct on the rear, erecting device 12 bottom regularly by the contact component 480 of latch for printed circuit at two pairs of tracks at rear, top.Moving under the situation of erecting device 1 along the device track, the part of contact component 480 contacts with the part of block 482, forbids that its more rear towards erecting device 12 moves.In addition, on system base 10, on near the pars intermedia that constitutes two right track row 472 of track the fore-and-aft direction central portion respectively with respect to two tracks to being provided with device for exerting 490, this device for exerting has the hydraulic cylinder device 486 as pressure generator spare, can be to being fixedly installed on being exerted pressure by pressure part 488 of erecting device 12 bottoms by linkage.In Fig. 3, show the state that the equipment of exerting pressure 492 that has device for exerting 490 is in the non-position of exerting pressure, in Figure 13, show the equipment of exerting pressure 492 and be projected into ground, top board 54 tops rotary state, promptly be in the state of the position of exerting pressure.By under above-mentioned contact component 480 and block 482 contacted states, being exerted pressure towards the rear by pressure part 488 by device for exerting 490, be maintained the contact condition of contact component 480 and block 482, stop and move towards the place ahead of erecting device 12.In other words, native system has movable device is fixed on the erecting device fixture as the movable device fixture on the certain position of device track, contact component 480 and block 482 have the function that is arranged at the contact site on each of erecting device 12 and system base 10 of forbidding moving along the device track of erecting device 12 towards a direction, device for exerting 490 and removed the function of prohibition unit by the contact condition that pressure part 488 has a contact condition of forbidding removing above-mentioned contact site has constituted and has comprised that these contact sites and contact condition remove the erecting device fixture of prohibition unit.The fixed position of the erecting device 12 of this erecting device fixture is the predetermined configurations position of erecting device 12 with respect to system base 10.

Iii) table device.

Removing fixing to the erecting device fixture, allow erecting device 12 move under the situation in the place ahead along the device track, erecting device 12 is got up by system base 10 suspentions, thereby can move, but when displacement is big, exist the possibility that erecting device 12 falls from system base 10.In native system, but have the table device of at least a portion of mounting erecting device 12.Figure 15 illustrates table device, and the state that uses this table device.Table device 500 is to have the bigger width of width (width of wiring board throughput direction) than erecting device 12 left and right directions, with the length of the same length of erecting device 12 fore-and-aft directions, constitute as main body with the table top portion 502 of the upper surface of the roughly the same height of upper surface of system base 10.Two guide rails 504 that have with above-mentioned guide rail 470 identical section configurations are being set on table top portion 502.Article two, equating at interval of two track row 472 that guide rail 504 configuration that is parallel to each other, their interval are right with constituting an above-mentioned track.Table device 500 is in and allows two guide rails 504 move respectively, the state that the paired track row 472 of transference erecting device engaging prolong respectively, and the location is configured in the next door in system base 10 the place aheads.

After configuration effort table apparatus 500, operate the fixture of above-mentioned erecting device, remove the fixing of erecting device 12, allow this erecting device 12 move to the place ahead.Under the state that has moved certain distance, a part of mounting of erecting device 12 is on table device 500.In more detail, the guide rail 504 that had of the part of a plurality of wheels 474 of erecting device 12 and table device 500 fastens.Under this state, side's erecting device 12 that the part of the erecting device 12 that moves is in respect to adjacency is displaced to the state in the place ahead, thereby operations such as maintenance, adjustment can be carried out easily.In other words, table device 500 has the function of supplementary base unit in the system.Like this, by allowing this erecting device 12 move to the place ahead, make this erecting device 12 be in the state of transfer to the table device 500.The state of this transfer has been shown among Figure 15.In addition, the state shown in the chain-dotted line is the state of a part of mounting on table device 500 of erecting device 12 among Figure 15.Under the state on the table device 500, make this erecting device 12 be in the state that leaves system base 10 in erecting device 12 mountings.By table device 500 is used for native system, comprise the guide rail 504 that forms parts as advancing the track, constitute table device one side movable device as the wheel 474 of the engaging part of engaging with it and move the permission device.

On the table device 500, above as table top portion 502, on two of front part guide rail pars intermedias, be provided with block 506 as workbench side fixed part.In addition, also have and the device for exerting 508 that is arranged at the device for exerting 490 similar structures on the system base 10.Block 506 card only is different from the above-mentioned other contact arrangement (omitting among the figure) that is fixedly set on the erecting device 12, and in addition, 508 pairs of device for exerting are different from above-mentioned other being exerted pressure by pressure part (omitting among the figure) that is fixedly set on the erecting device 12.In other words, comprise block 506, device for exerting 508 etc., constituted table device one side movable device fixture.Because it has the one side erecting device fixture identical functions with previously described system, thereby omits its explanation at this.By this workbench side fixture, erecting device 12 is fixed to the certain position on the advancing the track.In this table device 500, erecting device 12 can be fixed on leave system base 10 and transfer to table device 500 states under the position on.

In addition, table device 500 has the castor 510 as the mechanism that moves easily, the movable workbench that formation can be moved by manpower at an easy rate in the bottom.By with erecting device 12 mountings moving workbench device under top state, this erecting device 12 can be transported in maintenance area outside the assembly line for example etc.In other words, table device 500 has realized that carrying is disposed at the function to base board operation device Handling device to the base board operation device in the system base 10.

In native system,, adopted the jockey of connected system pedestal 10 with table device 500 in order easily table device 50 to be positioned on the position of extension fixture track.Figure 16 illustrates this jockey.Shown in Figure 16 (a), in the front of system base 10, be provided with a pair of contiguous block 520 as the base side connecting portion, it is arranged on neighbouring (there is shown one of them) of an erecting device 12.In addition, shown in Figure 16 (b), on the table device 500 on the face of the front of system base 10, be provided with a pair of outstanding device 524 of chimeric pin 522 pin outstanding that allows towards the top, it is provided with (there is shown one of them) corresponding to a pair of contiguous block 520.Move at table device 500 under the state of approximate location, if press the bar 526 of the outstanding device 524 of pin separately, chimeric pin 522 separately will embed respectively in the embedded hole 528 of contiguous block 520 separately, under this state, the guide rail 504 of table device 500 will be in a straight line with the track row 472 of system base 10, thereby determines the position of table device 500.When forming such state, the mutual alignment of connecting portion is correctly changed.In addition, even under any one situation in moving two erecting devices 12, also can use identical table device, thereby on native system pedestal 10, contiguous block 520 is provided with two pairs respectively accordingly with both sides' erecting device 12.

Iv) install the restraint device that relatively moves each other.

In the native system as the grown form example, any one in two erecting devices 12 is movable device, can move separately with respect to system base 10, in addition, can also be separately separately.In addition, in native system,, thereby can allow them move simultaneously, separate simultaneously because the device track of two erecting devices 12 is parallel to each other.In other words, the relative position of two erecting devices 12 is kept roughly certain, thereby can relatively move corresponding to system base 10.In this case, also can replace above-mentioned table device 500, but adopt the table device of two erecting devices 12 of mounting, in more detail, adopt the table device that two pairs of guide rails that are parallel to each other are arranged.

As keeping two erecting device 12 relative position relations, allow their effective means under the situation of movement simultaneously, in native system, each erecting device 12 has the control device setting that relatively moves each other of device that restriction erecting device 12 relatively moves.Be described below with reference to Figure 13 and Figure 14.Its place ahead part on erecting device 12, in more detail, be provided with on the bottom of part of assembly supply device 22 of frame section 14, be provided with and making chimeric pin 540 from the outstanding device 542 of the outstanding pin of device left surface, in addition, on the right flank part of the device frame portion 14 of correspondence, the embedded hole 544 that embeds chimeric pin 540 is being set.The outstanding device 542 of pin is based on hydraulic cylinder device 546.Chimeric pin 540 is partly gone up set supported hole 548 by being positioned at frame section 14 left surfaces, extend towards left and right directions, and can not move with front and back, above-below direction, and transportable mode supports on the left and right directions.The rearward end of chimeric pin 540 is connected on the leading section of bar of hydraulic cylinder device 546, by operation hydraulic cylinder device 546, can allow chimeric pin 540 selectively switch at the state outstanding and outstanding from erecting device 12 left surfaces.

Figure 13 illustrates the outstanding device 542 of the pin that is arranged on the right side erecting device 12, as shown in the drawing, if two erecting devices 12 are in the outstanding state when being positioned at the predetermined configurations position simultaneously, the front end of chimeric pin 540 then is in the state in the embedded hole 544 that is embedded into left side erecting device 12.In other words, chimeric pin 540 has the function as the holding section of a side erecting device 12, and 544 of embedded holes have the function as the holding section of the opposing party's erecting device 12.The size of chimeric pin 540 only has certain interval so big (considering the chimeric pin 540 of erecting device 12 and the quality of fit of embedded hole 544) with respect to the inside dimension of embedded hole 544.Under the chimeric pin 540 of a side erecting device 12 and states that the embedded hole 544 of the opposing party's erecting device 12 engages mutually, relatively moving of two erecting devices 12 on the device track bearing of trend is limited, the relative position relation of having kept both is constant, thereby can allow both move simultaneously along the device track.Otherwise under the situation that chimeric pin 540 cannot not be in outstandingly, then not to the restriction of erecting device 12 relative positions, any erecting device 12 all can move along the device track individually.

In native system as the grown form example, with the place-exchange of two erecting devices 12, in other words, can be with the left side that is configured on right side, the left side be configured in the right side.Outstanding device 542 of pin and embedded hole 544 are being set on each of two erecting devices 12 in native system, under situation with the place-exchange of two erecting devices 12, do not have the pin of no that side under the swap status to give prominence to device 542 and embedded hole 544 by use, can under the shape of both relative position relations of keeping two erecting devices 12, move.

This will be elaborated in the back, and erecting device 12 and adjacent erecting device 12 co-operatings can carry out the installation exercise of circuit block to a wiring board of the position of crossing over both.In this case, for example under the situation about in the co-operating operation, breaking down on any erecting device 12, on the board conveying device 24 that two devices have, still keeping a wiring board, must mobile erecting device 12.Under the situation that this needs occur, installing the restraint device that relatively moves each other becomes effective means.

＜to the variation of operation system of substrate 〉

Operation system of substrate is not limited to the circuit block installation system of above-mentioned grown form, begins to have a lot of changeful kinds from it.To describe some below.

I) with to the relevant variation of base board operation device configured number.

What Fig. 1 (b)-(d) represented is the different circuit block installation system separately of configured number of erecting device 12.In the system of the grown form shown in Fig. 1 (a), erecting device 12 has two, and four erecting devices 12 are arranged in shown in Fig. 1 (b), six erecting devices 12 are then arranged in shown in Fig. 1 (c), and eight erecting devices 12 are arranged in shown in Fig. 1 (d), be a kind of respectively in the system of the left and right directions permutation of circuit sheet conveying direction configuration.In addition, any one structure is identical among the structure of erecting device 12 and Fig. 1 (a)-(d).Each system is corresponding to the configured number of erecting device 12, the width of its system base (length on the wiring board throughput direction) is different, and the system base separately 570,572,574 of the system shown in Fig. 1 (b), (c), (d) is respectively about 2 times, 3 times, 4 times a width of the system base 10 of the system shown in Fig. 1 (a).

Each erecting device 12 shown in Fig. 1 also is above-mentioned movable device, on system base 570,572,574, disposing and the identical track row 472 of grown form shown in previously described Fig. 1 (a), they are corresponding with the number of erecting device 12, dispose 4 pairs, 6 pairs, 8 pairs respectively.Every on the device track that forms by these track row 472 all with the throughput direction square crossing of wiring board, along the fore-and-aft direction horizontal-extending.In other words, for all erecting devices 12, all be provided with above-mentioned erecting device and move the permission device.In addition, identical with said structure erecting device fixture also is provided with a plurality of corresponding to the configured number of erecting device 12.And, also be provided with the device restraint device that relatively moves each other on each erecting device 12, an erecting device 12 can move towards system the place ahead individually, perhaps, be maintained two above erecting device 12 relative positions that adjoin each other and concern, move towards the place ahead of system.

The ii) modularization of system base and to the base board operation assembly.

The several forms different with above-mentioned form for the circuit block installation system have been shown among Figure 17.System shown in Figure 17 (a)-(c) is the system that permutation is arranged on the circuit sheet conveying direction of system with the grown form shown in a plurality of Fig. 1 (a).As Figure 13 and shown in Figure 14, its system base 10 of the system of grown form has a plurality of castors 580, and system itself can move at an easy rate.In addition, being provided with of system utilized hoisting apparatus 182,184, can adjust height, is arranged on the optional position.System shown in Figure 17 (a)-(c) is that the system with grown form disposes two, three, four respectively, from the system with Fig. 1 (b)-(d) is close in appearance.It is a plurality of that difference is that the former is set up in parallel identical system base 10, and the latter then is made of the different system base 570,572,574 of width.In other words, in the system of form shown in Figure 17, have system base of allowing 10 function of modular base module one by one, these systems can treat as a kind of system that has the system base 590,592,594 that allows a plurality of set of this base module and constitute.Like this, in to operation system of substrate, system base can have a plurality of base module and constitute.Illustrative system base 590,592,594 also can only be set up in parallel the system base 10 as base module, in addition, adopts special-purpose jockey that they are fused and also is fine.

Under the situation of form shown in Figure 17, can regard a system base 10 that comprises as base module as, and configuration thereon two erecting devices 12 and forming circuit component mounting assembly (to the base board operation assembly a kind of).In other words, the system of above-mentioned grown form can be used as a circuit block installation component processing at this.System as the grown form of circuit block installation component can independently be moved by itself, in addition, because its replacement of component also can freely be carried out, has therefore improved the versatility of system.

Iii) with to the relevant variation of base board operation Unit Installation width.

Circuit block installation system to the different erecting device of configuration and above-mentioned erecting device 12 describes below.Shown in Figure 18 (a) is the system of the configuration erecting device 600 different with the device width of wiring board throughput direction on the used system base 10 in the grown form system formerly.More particularly, the device width that has the twice that approximately is erecting device 12.The board conveying device 602 that is equipped with on the erecting device 600 has the delivered length (device length of wiring board throughput direction) of the board conveying device 24 about twices that are equipped with on the erecting device 12 corresponding with the device width.Like this, just can allow the big wiring board (the approximately length of twice) of wiring board of accommodating in the device zone than erecting device 12 be arranged in the device zone, circuit block is installed.In addition, assembly supply device 604 is compared with the assembly supply device 22 of erecting device 12, also can carry a lot of tape feed device 20 of number, and erecting device 600 can be installed the circuit block of more kinds.Installation head and head moving device are identical with the structure of previously described erecting device 12, and along with the width of device becomes big, the head of X-direction (wiring board throughput direction) movably also becomes big in the zone.Also the structure with erecting device 12 is identical for other outfit devices etc.

Circuit block installation system shown in Figure 18 (b) be with the system shown in Figure 18 (a) as a circuit block installation component, allow this assembly with the system that constitutes of configuration side by side of the system of the aforementioned grown form that forms different with it assemblies.The base module that two system base 10 form separately, identical with shown in Figure 17 (a) constituted a system base 590.This system is in its system base 590 upper edge two erecting devices 12 of wiring board throughput direction permutation configuration and the system that erecting device 600 constitutes.This will describe in detail in the back, and two erecting devices 12 can carry out to co-operating installation exercise with respect to crossing over both locational wiring boards.Like this, can allow wiring board from upstream side downstream side (any side in the left and right sides as upstream side can) carry, make wiring board be positioned at the installation region of erecting device 200 successively with random order, the circuit block installation exercise that installation head is carried out, and the installation exercise that wiring board is positioned at cross over the circuit block that 12, two installation head of two erecting devices carry out.Thereby constituted such system, for example the electronic unit that kind is few, amount is many has been installed, electronic unit wide in variety, that amount is few has been installed, just can constitute the adaptive system that is rich in that applies in a flexible way by erecting device 600 by two erecting devices 12.

Disposed another form of the circuit block installation system that installs the different erecting device of width shown in Figure 19.Shown in Figure 19 (a) is on the system base 572 (with the system shown in Fig. 1 (c) identical) of erecting device 12 used in can disposing 6 grown form systems, dispose this erecting device 12 with four permutations, adjoin each other with them, disposed the system of erecting device 600 of about double-width of above-mentioned erecting device 12.In addition, shown in Figure 19 (b) is on the system base 574 that can dispose 8 erecting devices 12 (with the system shown in Fig. 1 (d) identical), dispose this erecting device 12 with three permutations, adjoin each other with them, disposed the system of peace rotary device 600 of about double-width of above-mentioned erecting device 12, adjoin each other with them, disposed the system of erecting device 610 of about three times of width of above-mentioned erecting device 12.Like this, just can adopt the form of the erecting device permutation configuration that the width of wiring board throughput direction is different.

Iv) to the modularization of base board operation device.

The circuit block installation system of each form of enumerating since then all disposes a plurality of erecting devices, and will whole these erecting device modularizations.In other words, system is owing to constitute by the separable modular unit of configuration relative system pedestal, even situations such as a modular unit breaks down for example occur, if prepared the other modular unit identical with this apparatus structure, just can in a short period of time these devices be changed, thereby at an easy rate system be restored.In addition, the change of system configuration, for example change of erecting device allocation position also can be handled rapidly when changing.Particularly the system shown in Fig. 1 and Figure 17 is the system that is made of a kind of erecting device, owing to be to constitute by single modular unit, thereby be a kind of system more easily.

Any erecting device is all to be equipped with the form modularization of various devices such as assembly supply device, board conveying device, installation head, installation head mobile device.And, in said system, allow control device that these inking devices are controlled (suitable) on each erecting device, have with above-mentioned erecting device control device 36, form the modular system that also is equipped with this control device.In addition, the various fexible units, isolated plant etc. of such each erecting device as described above on system base, have been equipped with.Be fixed at modular erecting device under the situation of predetermined configurations position, allow the normalization that is connected of these fexible units, isolated plant etc. and erecting device, thereby obtained a kind of system more easily.The power line of connection device and system base for example, malleation, negative pressure power supply circuits, holding wire of signal access etc. connects (omitting among the figure) in the back side of system one side via the joint that can simply connect, separate between the control device.

V) to the adjacency configuration of base board operation device and the normalization of device width

In the system of above-mentioned each form, a plurality of erecting devices are provided with adjoining each other.That is to say that each of erecting device becomes the inking device that adjoins each other, these devices constitute the abutment means group of the configuration that adjoins each other.As a result, realize compact system.Each erecting device is in the side (left and right side) of circuit sheet conveying direction general planar, with almost gapless each erecting device of state configuration between each device.In the system of above-mentioned each form, each erecting device that constitutes the abutment means group becomes the modular unit of device width specificationsization.The device width of the erecting device 12 that will use in the system of aforementioned basic style is as unit width, and the device width that just has constitutes the abutment means group for the device of the roughly integral multiple of this unit width.For example, as being the words that example describes with system shown in Figure 19 (b), the device width of erecting device 12 is roughly 1 times of unit width, and then erecting device 600 becomes that the device width is about 2 times of unit width and the device width of erecting device 610 is about 3 times device of unit width.Constitute the abutment means group by the modular unit that will so install width specificationsization, all width of this abutment means group are all width specificationsization of system under the system situation of above-mentioned style.

In said system, outside the pale of civilization except the width specifications of erecting device, allocation position, the configuration mode of erecting device are also standardized.The erecting device 12 that Figure 20 illustrates unit width can be configured to 8 system base 574 that are listed as, and it is the schematic diagram of the configuration mode of example, the erecting device that various width are described that Figure 21 shows with this system base 574.On system base 574, for the erecting device 12 that can make unit width in abutting connection with configuration, the tracks that the track row 472 that are parallel to each other constitute in pairs are provided with 8 in parallel to each other to (having same structure in the system with aforementioned basic style).The interval that constitutes two right track row 472 of track all is identical any one track centering, and 8 tracks are to equal the pitch setting of unit width.

Under the situation of the erecting device 12 of unit width, shown in Figure 21 (a), be arranged to wheel 474 engagings of erecting device 12.To this, under the situation of about 2 times erecting device 600 of allocation unit width, shown in Figure 21 (b), the wheel 474 of erecting device 600 engages with two track row 472 in the outside in 4 track row 472 that constitute right each of two tracks being arranged side by side mutually.Equally, during the about 3 times erecting device 610 of allocation unit width, shown in Figure 21 (c), the wheel 474 of erecting device 610 engages with two track row 472 in the outside in 6 track row 472 that constitute right each of 3 tracks being arranged side by side mutually.No matter be any erecting device, all to lay respectively in the two sides of the device at the device width place that determines road along the line sheet conveying direction adjacent track to each other substantial middle wheel 474 is set, and make it to standardize, even erecting device is arranged side by side inciting somebody to action arbitrarily, also can under the almost gapless mutually state in device side, adjacent erecting device be adjoined each other.In addition, even the device width is about the erecting device more than 4 times of unit width, it is so long as the roughly erecting device of integral multiple, just adjacency configuration in the same way.Any one of the erecting device of this explanation also be wheel 474 be positioned at about two structures that track row 472 engage in the outside, but the width of erecting device be unit width more than 2 times the time, also can be other part or all structure that engages with wheel 474 of track row 472 that is positioned at the erecting device bottom.

Be provided with as previously described, constitute retainer 482, the force application apparatus 490 of erecting device fixture respectively at the pars intermedia of two right track row 472 of track of formation.Although detailed explanation has been omitted, when width is about the erecting device more than 2 times of unit width, below this erecting device, there are a plurality of retainers 482, force application apparatus 490 etc.At this moment, can be by any one above allocation position of determining fore-and-aft direction of these retainer 482 grades.

Can understand from the above description, native system has a plurality of allocation positions that the allocation position that becomes the erecting device of the inking device that adjoins each other is determined and determines device.This allocation position determines that device contains the throughput direction position determination portion of the allocation position of determining on the circuit sheet conveying direction, crisscross position determination portion with allocation position on the direction of determining to intersect at the wiring board throughput direction, throughput direction position determination portion comprises erecting device and moves the 1 pair of track row 472 that allows device and constitute, and crisscross position determination portion comprises the retainer 482 of erecting device fixture and constitutes.In addition, the erecting device that constitutes the abutment means group is movable device, and any one erecting device all can move along the direction perpendicular to the distribution throughput direction.The configuration although these erecting devices adjoin each other, more than one erecting device moves and does not interfere the erecting device of adjacency arbitrarily in these erecting devices.In addition, aforesaid device moving limiting device mutually each other can be set with standardizing on each of the erecting device that becomes the inking device that adjoins each other.

Vi) be provided with the system that carries out less important work to the base board operation device

The structure of so far illustrated circuit block installation system is that just erecting device is disposed on the system base.Except these styles, for the conveying of carrying out wiring board, transport, transport, standby, deposit, these substrates of change of the change in throughput direction and path, wiring board direction carry at least one the device of operation in associated jobs also to can be used as the configuration of less important work device.Below be that example is illustrated with the less important work device.

Vi-i) carry apparatus for work

Figure 22 is the example of less important work device, and the circuit block installation system that the conveying apparatus for work that mainly carries out wiring board conveying operation is disposed at style between erecting device is shown.This system is in the system shown in Fig. 1 (d), replaces from the right side the 3rd erecting device 12, and the conveying operation that is provided with wiring board in this position is the conveying apparatus for work 620 of main purpose.Carrying apparatus for work 620 to be configured in the outfit device of the board conveying device 24 in the erecting device 12, is to remove the device that installation head 26, head moving device 28, assembly supply device 22 etc. are equipped with device.Such conveying apparatus for work 220 for example can be applied in a flexible way easily in erecting device 12 when any one breaks down.At this moment, the circuit block installation exercise of distributing to the erecting device 12 that is disposed can be avoided the significantly running wastage of system as being shared by other erecting device 12 etc.Equally, erecting device 12 as preparation deposit part, also can be avoided running wastage, be simple in structure but carry the device of apparatus for work 620, than the low device of erecting device 12 costs, therefore has the advantage that can make all cost step-downs of equipment.In addition, carry apparatus for work 620 to be not only under situations such as fault, and be can form on the system base do not dispose the empty compartment of terrain construction systems of erecting device when, can be used as fill up this space every device be used.Substrate conveying associated job device as this conveying apparatus for work 220 becomes the adaptability that helps system, the device that convenience improves.

Vi-ii) deposit apparatus for work

Figure 33 is another example of less important work device, and the stereogram of depositing apparatus for work 800 of depositing operation that carries out carrying as substrate the wiring board of associated job is shown.With aforesaid unit width to the base board operation device can 3 on the system base 804 of configuration, deposit apparatus for work 800 in abutting connection with 2 erecting devices 12 of configuration and 1.In addition, this figure has omitted the view of a cover piece part of depositing apparatus for work 800, and the major part of this device schematically illustrates.Deposit apparatus for work 800 and have lifting platform 810, on this lifting platform 810, be provided with wiring board accommodation device 812.Wiring board accommodation device 812 can think simply that the board conveying device 24 that is provided on the aforementioned erecting device 12 does not have substrate maintenance function (pushing away the function of wiring board to be fixed from the below), and has a plurality of delivery tracks.

Wiring board accommodation device 812 has preceding incorporating section 814 and incorporating section 816, back, can take in a plurality of wiring boards respectively.Preceding incorporating section 814 has a plurality of delivery tracks 824 that supported by a pair of the 1st track holding components 820 and a plurality of delivery tracks 826 that supported by a pair of the 2 2nd track holding components 822, equate and relative delivery track 824,826 forms a delivery section 828 by the height of a pair of supporting place, take in a wiring board by this delivery section.In this wiring board accommodation device 812, on preceding incorporating section 814, have 6 delivery section 828, can take in 6 wiring boards in the preceding incorporating section 814 of wiring board accommodation device 812 at most.Back incorporating section 816 is same, a plurality of delivery tracks 834,836 are mutually relatively respectively by a plurality of the 3rd track holding componentss 830 and 832 supportings of the 4th track holding components, take in wiring board respectively by the delivery section 838 that these delivery tracks 834,836 form in pairs, can take in 6 at most.

Delivery section 828,838 each motor (not shown) that all have the conveyer belt (not shown) of conveying circuit plate and drive this conveyer belt.Each delivery track 824,826,834,836 (below, be called " delivery track 824～836 ") on be provided with these conveyer belts and motor one by one, by being arranged on two motors synchronously revolution mutually on a pair of delivery track 824～836 that forms a delivery section 828,838, be arranged on two conveyer belts on a pair of delivery track 824～836 by driven in synchronism with the conveying circuit plate.In addition, belonging to arbitrarily, a pair of conveyer belt of delivery section 828,838 can synchronously be driven mutually.

Usually, the immigration of wiring board or shift out by the delivery section 828,838 that is positioned at level altitude in a plurality of delivery section 828,838 and undertaken.By other to the base board operation machine, wiring board is transferred by becoming the delivery head position of the position of the short transverse shown in a plurality of straight line H among the figure, in wiring board accommodation device 812,, carry out the immigration of wiring board or shift out by the delivery section 828,838 that is positioned at this delivery head position.Have the lowering or hoisting gear 840 that makes lifting platform 810 liftings in depositing apparatus for work 800, by this lowering or hoisting gear 840, wiring board accommodation device 812 and together lifting of lifting platform 810 are to change the height and position of wiring board accommodation device 812.When carrying out the immigration of wiring board or shifting out, the delivery section 828,838 that moves into or shift out in a plurality of delivery section 828,838 is positioned on the delivery head position.

In addition, wiring board accommodation device 810 has 3 motors 842, each 3 screw rod that are threaded respectively with the 2nd, the 3rd, the 4th track holding components 822,830,832 can be rotated respectively, the position of these track holding componentss can be changed respectively at fore-and-aft direction.That is to say, same with the board conveying device 24 that is disposed on the aforesaid erecting device 12, can change conveyer width and the conveyer width in incorporating section 816, back in preceding incorporating section 814 respectively.

Originally deposit apparatus for work 800 and have control device 850, by this control device 850, the driving of the lifting of the wiring board accommodation device 810 that may command is above-mentioned, the change of conveyer width, each delivery section 828,838 etc.

Under the control of this control device 850, originally deposit apparatus for work 800 temporarily take in this machine of being adjacent to upstream side to base board operation machine or a plurality of wiring boards of outside system, transporting, accept or signal that input requires to shift out when, the wiring board in this machine of being accommodated in can be transported to this machine of being adjacent to downstream in the base board operation machine or be transported to outside the system.In addition, the order that moves into or shift out the delivery section 828,838 of wiring board can freely be set, for example, and can be from going up most or descend most order or carrying out with the order identical etc. with the order that moves into and shift out.

By being disposed in the base board operation machine system, can improve adaptability or convenience to base board operation machine system with originally depositing apparatus for work 800.For example, originally depositing apparatus for work 800 can be used for following purpose and is used, promptly the downstream that is disposed at this machine carried out Job Scheduling between conversion period to the base board operation machine, to be deposited by the wiring board that the base board operation machine is carried out operation that is disposed at this machine upstream side, afterwards, between conversion period, the wiring board of depositing side is downstream carried at the Job Scheduling that carries out upstream side.

Vi-iii) transport path change apparatus for work

As the other example of less important work device, the substrate that Figure 34 shows the transport path that changes wiring board etc. is carried the stereogram of the transport path change apparatus for work 900 of associated job.Transport path change apparatus for work 900 has at the elongated supporting station 910 of fore-and-aft direction, and this supporting station 910 stretches out to the rear of system base 10.Be provided with conveying device mobile device 912 above the supporting station 910 at this, this conveying device mobile device 912 has Y workbench 914,2 guide rails 916, screw rod 918 and motors 920.Y workbench 914 has slide unit (comprising bearing), and this slide unit engages with guide rail 916, and by these 2 guide rails 916, the moving direction of Y workbench 914 is limited in fore-and-aft direction.In addition, Y workbench 914 has not shown nut (comprising bearing), and this nut is threaded with screw rod 918, drives revolution by this screw rod 918 by motor 920, and Y workbench 914 is moved at fore-and-aft direction.

Transport path change apparatus for work 900 has board conveying device 930 and is fixed on the Y workbench 914 to support the conveying device slewing equipment 932 of this board conveying device 930.Conveying device slewing equipment 932 can be in horizontal plane corridor plate conveying device 930, can change the direction of board conveying device 930 arbitrarily.Board conveying device 930 can be considered not have the substrate that is provided to the board conveying device 24 on the aforesaid erecting device 12 and be kept function (pushing away the fixing function of wiring board from the below), only has a delivery section merely.Board conveying device 930 also can change the interval of two delivery tracks.

Conveying device mobile device 912 can together move to board conveying device 930 and conveying device slewing equipment 932 rearward end of supporting station 910.Board conveying device 930 can carry out the immigration of wiring board or shifts out under the state of the rearward end that is positioned at supporting station 910 at left and right directions.In addition, rearward end at supporting station 910, board conveying device 930 since not with other the base board operation machine is interfered that is adjacent to transport path change apparatus for work 900, by conveying device slewing equipment 932, can make board conveying device 930 revolution, can carry out the immigration of wiring board or shift out at rotary position arbitrarily.For example, not only in system as the left and right directions of throughput direction and also can carry out the immigration of wiring board or shift out at fore-and-aft direction.In the present embodiment, transport path change apparatus for work 900 has the function as the throughput direction converting means.In addition, in the wiring board immigration, when shifting out, conveying device etc. can be arranged on the rear portion of supporting station 910 simultaneously.

This transport path change apparatus for work 900 with other to the base board operation machine in abutting connection with setting, the wiring board that transports can be moved towards the direction vertical with the throughput direction of paired transmission line plate operating system, thereby shifts out.For this reason, be adjacent to upstream side or downstream the base board operation facility are had board conveying device with a plurality of delivery section the time, wiring board can move into from arbitrary delivery section of upstream side, shifts out from arbitrary delivery section in downstream.For example, with the upstream side of this transport path change apparatus for work 900 and downstream adjacency have before two and the board conveying device of back delivery section to the base board operation machine as having, then can from the preceding delivery section of upstream side or back delivery section to the front or rear delivery section in downstream not the delivery section of homonymy carry.In addition, this transport path change apparatus for work 900 has control device 940, and each device is by these control device 940 controls, carry out the immigration of above-mentioned wiring board or shift out, the moving or the action of revolution etc. of board conveying device 930.

By this transport path change apparatus for work 900 is disposed in the base board operation machine system, can improve adaptability or convenience to base board operation machine system.For example, accelerate at the operating speed that is disposed at transport path change apparatus for work 900 upstream sides to the base board operation machine, be disposed at the operating speed to the base board operation machine in downstream when slack-off, by this transport path change apparatus for work 900, by the wiring board that the base board operation machine is carried out operation of upstream side can be dispensed to other in the operation system of substrate.In addition, for example, relatively certain wiring board base board operation is had problem the time, also this wiring board can be discharged outside system as defective products.

The variation of vii) relevant kind to base board operation

So far illustrated system is the system that carries out the circuit block installation exercise, but also can construct the system to base board operation that carries out other kinds.Figure 23 illustrate dispose to base board operation diverse various to the base board operation device to operation system of substrate.The system base 630 of native system is made of two base module.One of them be can with unit width to the base board operation device with 8 system base 574 in abutting connection with configuration, another be can with unit width to the base board operation device with two in abutting connection with the system base 10 that dispose.System base 574 is positioned at upstream side (left side), and system base 10 is positioned at downstream (right side), and configuration adjoins each other.On system base 574, sequentially adjoin each other from upstream side and to dispose relative wiring board and carry out soldering printing equipment 632 as a kind of braze paste presswork of high viscosity coating operation, carry out being coated with the bonding agent apparatus for coating 634 of a kind of bonding agent coating operation of operation as other high viscosity, two erecting devices 12 of previously described unit width and erecting device 600, the installation results testing fixture 636 of inspection that carries out the installation results of circuit block disposes with adjoining each other.Other devices except two erecting devices 12 are for having about 2 times device of device width.As change view, the 2nd pair of base board operation unit that native system comprises the 1st pair of base board operation unit of thereon soldering printing equipment 632 of system base 574 and configuration, bonding agent apparatus for coating 634, two erecting devices 12 and erecting device 600 by (A) and (B) comprises system base 10 and configuration installation results testing fixture 636 thereon constitutes.In addition, the 1st pair of base board operation unit and the 2nd pair of base board operation unit become operation system of substrate separately respectively.

Viii) other

The above-mentioned relatively illustrative various immigrations of wiring board to operation system of substrate, for example be to be disposed at upstream side the board conveying device on the base board operation device and immigration machine (for example to move into the equipment of conveyer etc.) are linked to each other, carry out this immigration work by this immigration machine, and shifting out from system for example be be disposed at the downstream to the board conveying device on the base board operation device with shift out machine (for example to shift out the equipment of conveyer etc.) and link to each other, shift out machine by this and shift out operation.Move into device, moving-out device as system had to a kind of of base board operation device and modularization etc. also can be arranged on the system base.In addition, above-mentioned to operation system of substrate by with other system, base board operation machine etc. is connected use, used with the style that can bear a hookup wire part.

The conveying of＜wiring board 〉

Below, be the conveying of example explanation wiring board with the adjoin each other circuit block installation system of configuration style of erecting device shown in Figure 1, that the device width is unit width.

I) structure of system's conveying device

In the circuit substrate installation system of this style, the configuration that adjoins each other of a plurality of erecting devices 12.Board conveying device 24 has the device width width (delivered length is the length on the circuit sheet conveying direction) about equally with erecting device 12, when a plurality of erecting devices 12 are disposed at the allocation position of regulation, be disposed at the setting that adjoins each other of each board conveying device 24 on each erecting device 12.In addition, board conveying device 24 is disposed on the certain position in the erecting device 12, and when a plurality of erecting devices 12 were disposed at the allocation position of regulation, each board conveying device 24 became the state that is arranged side by side in a straight line.Conjointly be arranged side by side by each board conveying device 24, constitute the system that is dispersed throughout device on all, the conveying circuit plate.This device becomes the base board delivery device in the system,, is called " system's conveying device " in order to be different from each board conveying device.This system's conveying device can be considered the part continuous structure of modular conveyor module respectively.That is, be equivalent to conveyor module in system's conveying device as each of the board conveying device 24 that is disposed at the conveying device setting on each erecting device 12.In addition, each erecting device 12 can be called conveying device configuration of modular device owing to also be configuration conveying device, modular device.In addition, to the previous explanation of structure reference of board conveying device 24, omit its explanation at this.

The circuit block installation system of present embodiment is a system of the erecting device of allocation unit width 12.As aforementioned, also there is the system of the erecting device of the device width that is disposing the roughly integral multiple more than 2 times with device width.At this moment, be disposed at board conveying device on this erecting device, can constitute same system's conveying device as becoming the device with said apparatus width corresponding width.In addition, in the erecting device of the device width of the roughly integral multiple more than 2 times with above-mentioned unit width, be arranged side by side by 24 number arrays of board conveying device that will in the erecting device 12 of unit width, use, can obtain same system's conveying device according to the device width.

The ii) identification of wiring board location

The said system conveying device is, the board conveying device 24 that adjoins each other is worked in coordination action with the conveying circuit plate time, the part of wiring board at least is positioned at the device on the job position of regulation of operating area of erecting device 12.For example, the conveyer action ground of coordinating each board conveying device 24 is carried.That is, carry coordination control.As carrying the prerequisite of coordinating control is must hold wiring board and be present in which position at present.The native system conveying device all has the photoelectric sensor 160 as this wiring board detector for each board conveying device 24, according to the testing result of this photoelectric sensor 160, and the location of identification circuit plate.Below, the recognition methods of the location of this wiring board is illustrated.As aforementioned (with reference to Fig. 4), in this routine circuit block installation system, although can the two comes the conveying circuit plate by delivery section before aforementioned 110 and back delivery section 112, in the following description, and for the ease of understanding, delivery section 110 before the explanation only.In addition, as carrying the action meaning for the conveying of wiring board, stop etc. being the stopping of beginning, circulation, the change of circulation rate etc. of circulation of the conveyer belt 142 (with reference to Fig. 5) of purpose, for the purpose of simplifying the description, these are called simply conveyer startup, stop, speed change.

Figure 24 schematically illustrates in the system of this programme, and the board conveying device 24 of construction system conveying device is set up in parallel a plurality of states.In the drawings, show 4 in a plurality of board conveying devices 24, these board conveying devices 24 are called device [X] from upstream side (left side) serial number.In the drawings, begin order from upstream side and be device [1], device [2], device [3], device [4].At end, upstream and downstream end, be respectively equipped with photoelectric sensor 160 as the reflection-type of wiring board detector (substrates detector a kind of) as the track 100 (with reference to Fig. 4) of benchmark track.Photoelectric sensor 160 (following be called simply " transducer ") can send the detection signal of wiring board, with the sequence number [X] of board conveying device 24 relatively, photoelectric sensor with upstream side is called transducer [X] U respectively, and the photoelectric sensor in downstream is called [X] L.Downstream transducer [X-1] L of the device [X-1] of device [X] upstream side becomes ON state (detected state) when position by this transducer [X-1] L of the downstream end of wiring board 150.Thus, identify wiring board 350 and enter this device [X].In addition, upstream side transducer [X+1] U of this device [X] downstream device [X+1] becomes OFF state (non-detection status) during the position by this transducer [X+1] U in the end, upstream of wiring board 150.Thus, identifying wiring board 150 exports from this device [X].By these recognition results, can obtain the wiring board whether at least a portion of wiring board 350 in this device [X] exist and have or not information.The management whether wiring board exists is undertaken by the control device 36 on the erecting device 12 that is arranged on the device [X] that has as object, has or not information etc. to transmit being equipped with between the erecting device control device 36 that is equipped with on these Unit Installation devices 12 from the identification signal of the transducer of upstream side device [X-1] with from identification signal, the wiring board of the transducer of downstream device [X+1].

Iii) be accommodated in the conveying of the wiring board in the device zone of an erecting device

Figure 25 schematically illustrates the 1st example of wiring board carrying method.This routine carrying method is applicable to that delivered length (carrying the length of adorning on the direction at wiring board) is than the short wiring board of the width of board conveying device 24, in other words, be applicable to that (in fact conveying can be accommodated in wiring board big or small in the device zone of an erecting device 12, textural at device is the wiring board of the short specific length of a ratio device width) method.At first, the state shown in Figure 25 (a) is, wiring board 150 is fixed and held on the middle position on the wiring board throughput direction of device [1], with the circuit block installation exercise condition of supplying of carrying out to the erecting device 12 that is equipped with device [1].When this circuit block installation exercise finishes, remove the fixing of wiring board.Then, after confirming not have wiring board on the device [2], the conveyer of device [1] starts.When wiring board 150 moved position shown in arrival Figure 25 (b), transducer [1] L connected (ON), and the conveyer of device [2] starts.In addition, the conveyor speed of device [1] equates with the conveyor speed of device [2].Then, when wiring board 150 arrived position shown in Figure 25 (c), transducer [2] U connected, and beginning is with the control of this moment as the fed distance of initial point.The control of fed distance is undertaken by the control of the revolution amount (angle of revolution) of aforesaid motor 344.With by holding the length of wiring board 350, the mode that the downstream of wiring board 350 is moved to the distance of setting from the position of transducer [2] U is controlled above-mentioned revolution amount.By this control, wiring board 150 can be stopped at arbitrarily on the position.In addition, in this example, the center of wiring board 150 is set on the center that stops at the wiring board throughput direction.Then, when wiring board 150 arrived position shown in Figure 25 (d), transducer [2] U disconnected (OFF), and the conveyer that installs [1] stops.Then, shown in Figure 25 (e), wiring board 150 when the conveyer of device [2] stops, finishing the control of above-mentioned fed distance when arriving the position of above-mentioned setting.In this position, wiring board 150 is fixed and is keeping, the circuit block installation exercise that carries out with the erecting device 12 that begins to be equipped with device [2].

Each board conveying device 24 sequentially carries out above conveying repeatedly, and wiring board 150 order on each erecting device 12 moves.In many occasions, each erecting device 12 is implemented the circuit block installation exercise concurrently, wiring board 150 be present in be arranged in intrasystem board conveying device 24 each.Therefore, in the conveying of reality, at first, the board conveying device 24 in downstream becomes dummy status (state that does not have wiring board 150), by this upstream side transfer wiring board with insert of this dummy status carry action be from the downstream upstream side sequentially carry out, carry out the conveying of all wiring boards that are arranged in system's conveying device 150.As other method, be that the conveying action of all board conveying devices 24 is together carried out, can the interior wiring board of while conveying system conveying device.In addition, towards intrasystem immigration (towards the immigration of the board conveying device that is arranged in upstream), also can before the conveying device of system outside, be provided with aforesaid photoelectric sensor 160 etc. from the shifting out of system (from shifting out of the board conveying device 24 that is positioned at downstream), adopt and above-mentioned same method, carry out the conveying action of co-operating.In addition, according to the detection signal of above-mentioned photoelectric sensor 160 or according to the detection signal of the other photoelectric sensor that is provided with,, also can change the conveying of the handover speed mode of wiring board and coordinate control by the turnaround speed of change conveyer belt 142.

Iv) cross over the carrying method 1 of the wiring board of a plurality of erecting devices

Figure 26 schematically illustrates the 2nd example of wiring board carrying method.This routine carrying method is, is applicable to the wiring board that delivered length is longer than the width of board conveying device 24, promptly carries the carrying method of size for the wiring board of crossing over a plurality of erecting devices.Leap is effective in these erecting device 12 mutual co-operatings at the wiring board on a plurality of erecting devices 12 that adjoin each other when carrying out the circuit block installation exercise.In this example, to carrying size to be illustrated for the occasion of crossing over the wiring board on two erecting devices 12.

At first, under the state shown in Figure 26 (a), wiring board 150 becomes its center, and just to be positioned at device [1] and the device centre position of [2] and wiring board fixing and keeping by these two devices, respectively the circuit block installation exercise condition of supplying of carrying out to two erecting devices 12 that are equipped with these two devices.When this circuit block installation exercise finishes, remove stream oriented device fixing to wiring board.Then, after confirming not have wiring board on device [3] and the device [4], the conveyer of device [1] and device [2] begins action.When wiring board 150 moved position shown in arrival Figure 26 (b), transducer [2] L connected, and the conveyer of device [3] starts.Afterwards, when wiring board 150 arrived position shown in Figure 26 (c), transducer [2] U disconnected, and the conveyer of device [1] stops.Then, when wiring board 150 arrived position shown in Figure 26 (d), transducer [3] L connected, and the conveyer of device [4] starts.Then, when wiring board 150 arrived position shown in Figure 26 (e), transducer [4] U connected, and beginning is with the control (carry out with aforesaid control same action) of this moment as the fed distance of initial point.Next, when wiring board 150 arrived position shown in Figure 26 (f), transducer [3] U connected, and the conveyer of device [2] stops.Then, shown in Figure 26 (g), when the center of wiring board 150 arrived the centre position of device [3] and device [4], two conveyers of device [3] and device [4] stopped simultaneously, simultaneously, finished the control of fed distance.In this position, wiring board 150 is fixed and is keeping, and is equipped with two erecting devices, the 12 beginning circuit block installation exercises of device [3] and device [4] respectively.

In this routine carrying method, it is the wiring board of two degree of board conveying device 24 that wiring board 150 is once only carried width.Installed System Memory can similarly carry out with aforementioned the 1st example towards change of the immigration of system, method that wiring board shifts out from system, handover speed etc. etc. at the carrying method of a plurality of wiring boards, wiring board.In addition, as before illustrated, have the erecting device that the device width is about 2 times of unit widths and be positioned under any one locational situation, in this part, applicable same carrying method (specify and be omitted) of analogizing according to above-mentioned two carrying methods.Under the situation of utilizing this routine carrying method, in the system of this programme, device [1] and device [2] constitute an apparatus for work group, and install [3] and device [4] formation another one apparatus for work group.Adopt this routine carrying method, can realize the conveying as the wiring board of a unit these apparatus for work group.This conveying form is called group unit and carries form.

Vi) cross over the carrying method 2 of the wiring board of a plurality of erecting devices

Figure 27 schematically illustrates the 3rd example of the carrying method of wiring board.Carrying method that this is routine and aforementioned the 2nd example are same, for be applicable to the delivered length wiring board longer than the width of board conveying device 24, promptly size is the carrying method of the wiring board of a plurality of erecting devices of leap.The wiring board of crossing over a plurality of erecting devices 12 that adjoin each other is effective in these erecting device 12 mutual co-operatings with the occasion of carrying out the circuit block installation exercise.In this example, the occasion that size is carried for the wiring board of crossing over two erecting devices 12 is illustrated.

At first, under the state shown in Figure 27 (a), wiring board 150 becomes its center, and just to be positioned at device [1] and the device centre position of [2] and wiring board fixing and keeping by these two devices, respectively the circuit block installation exercise condition of supplying of carrying out to two erecting devices 12 that are equipped with these two devices.When this circuit block installation exercise finishes, remove stream oriented device fixing to wiring board 150.Then, after confirming not have wiring board on the device [3], the conveyer of device [1] and device [2] starts.When wiring board 150 moved position shown in arrival Figure 27 (b), transducer [2] L connected, and the conveyer of device [3] starts.Afterwards, when wiring board 150 arrived position shown in Figure 27 (c), transducer [3] U connected, beginning with this constantly as the control of the aforementioned fed distance of initial point.Then, when wiring board 150 arrived position shown in Figure 27 (d), transducer [2] U disconnected, and the conveyer of device [1] stops.Then, shown in Figure 27 (e), when the center of wiring board 150 arrived the centre position of device [2] and device [3], two conveyers of device [2] and device [3] stopped simultaneously, simultaneously, finished the control of fed distance.In this position, wiring board 150 is fixed and is keeping, and is equipped with two erecting devices, the 12 beginning circuit block installation exercises of device [2] and device [3] respectively.

In this routine carrying method, different with aforementioned the 2nd example, 150 of wiring boards are carried singly by conveying device 24.Conveying when the carrying method of Installed System Memory when a plurality of wiring board, wiring board are about the about 2 times erecting device of unit width towards change, the inking device width of the immigration of system, method that wiring board shifts out from system, handover speed etc. etc. can similarly be carried out with aforementioned the 2nd example.When utilizing this routine carrying method, in the system of this programme, device [1] and device [2] constitute an apparatus for work group, constitute another apparatus for work group and install [3] and install [4].As change an angle, can think that device [2] and device [3] constitute an apparatus for work group.Adopting this routine carrying method, is not with the conveying of these apparatus for work group as the wiring board of a unit, but can realize an erecting device the sending to as a unit with fabrication process device group.That is, sequentially send in each at erecting device.This conveying form is called device unit and carries form.In the system of this programme, can optionally adopt this device unit to carry form and aforesaid group unit to carry form according to the operation form of native system.

The co-operating operation of＜a plurality of erecting devices 〉

Below, with in the scope shown in Figure 1, the device width is that the circuit block installation system that the erecting device 12 of unit width adjoins each other under the configuration mode is an example, the co-operating operation of a plurality of erecting devices is illustrated.In the native system, a plurality of erecting devices 12 are in abutting connection with configuration, and with respect to the wiring board of crossing on the device zone of these adjacent a plurality of erecting devices, but described a plurality of erecting device co-operatings ground carries out the installation of electronic unit.Each of erecting device 12 all has identical structure, for the wiring board of crossing on erecting device 12 arbitrarily, between the arbitrary erecting device 12 adjacent with this erecting device 12, can carry out the co-operating operation.In the following description, relate to the installation of electronic unit to the wiring board of crossing over two erecting devices 12, particularly, be that carry out at the center with shift action for the installation head 26 of the insensitive interval of the wiring board installation region of eliminating the boundary member that is arranged in two erecting devices 12 that in the shift action of common installation head 26, exists.In addition, for the structure and the action thereof of installation head 26 and head moving device 28, be suitable for consulting and using the above stated specification that Figure 10, Figure 11 carry out.

I) be no more than the moving and the specific region of installation head in device zone

Figure 28 schematically illustrate with an erecting device as the destination object device, with the erecting device of one side adjacency as and two actions that Unit Installation is first-class of establishing device.In the drawings, the erecting device 12 in left side is the destination object device, the erecting device on right side 12 for and establish device.The destination object device is device [M], and to establish device be device [N].Wiring board remains on being centered close on device [M] position central with installing [N] on the wiring board throughput direction.In addition, specific direction was in same direction during device [M] was configured to the X-direction of the moving direction of conduct 1X slide block separately with device [N], promptly each installs.

As stated earlier bright, head moving device 28 is parked under the state at the arbitrary station of ST1～ST4 on the 1st track at the 1X slide block 242 as the 2nd track formation portion, and installation head 26 is moved.As shown in figure 11, when 1X slide block 242 was positioned at ST2 and ST3, installation head 26 and even 1X slide block 242 can not enter from the device zone of self.Therefore, a wiring board is accommodated in the device zone of self, when carrying out the circuit block installation exercise, usually, is positioned at ST2 or ST3 place, installation head 26 is moved, can install electronic unit by making 1X slide block 242.

The 1X slide block 242 that the 1X slide block 242 that Figure 28 (a) illustrates device [M] is positioned at ST2 place, device [N] is positioned at the state at ST3 place.Under this state, even installation head separately 26 is positioned at the optional position on the 2nd track, two Unit Installation 26 and even 1X slide block 242 are not interfered (below, be called for short the component part of these certain erecting devices that can interfere do " installing first-class ") mutually yet.; under this state; in the installation region of wiring board (with the relevant zone, parts installation site that electronic unit is housed), any one that exists two Unit Installation 26 also becomes the specific region 666 (figure bend zone) of the insensitive interval that can not install.Because the existence of this specific region 666 under the shift action of above-mentioned common installation head 26, can not be satisfied the co-operating operation.

The moving with avoiding interference of installation head that ii) surpasses the device zone controlled

At this, in native system, for expansion instrument [M] and device [N] both moving areas are the operating area, installation head 26 can enter in mutual relatively device zone, and the installation head 26 that allows mutual opposite side enters towards the device zone of self.At this moment, avoid the first-class interference of operation of two devices, the avoiding interference control that mutual installation head 26 is moved.For device [M] as the destination object device, concrete shown in Figure 28 (b), as and the 1X slide block 242 of establishing the device [N] of device when being positioned at ST2, be positioned at the ST1 place by the 1X slide block 242 that makes device [M], in the first-class interference of avoiding separately of installation, electronic unit can be installed towards the specific region 666 of device [M].On the contrary, shown in Figure 28 (c), when the 1X slide block 242 of device [N] is positioned at the ST4 place or wants to be positioned at the ST4 place, be positioned at the ST3 place by the 1X slide block 242 that makes device [M], when avoiding the mutual first-class interference of installation, electronic unit can be installed towards the specific region 666 of device [N].

Illustrate in greater detail as follows.Even under side's Unit Installation 26 arbitrary locational situation that are positioned on the 2nd track, this side device is that operation is first-class not in the scope that the device zone of the opposing party's device gets the hang of, and the critical localisation on the 1st track of this side 1X slide block 242 location is determined as the non-critical localisation that enters of side's device.And, the ST1 of device [M], the ST4 of device [N] fastens in the pass of two devices, sets as entering stop position, and this enters stop position for surpassing the above-mentioned non-stop position that critical localisation is set that enters.In addition, to be that operation is first-class get the hang of in the device zone of side's device down most the opposing party's device, even in the time of on the operation of one side's device 26 optional position that are positioned on the 2nd track, this side device is that operation is first-class first-class mutually not in the scope of interference state with operation the opposing party's device, and the critical localisation on the 1st track of 1X slide block 242 location of side's device is determined as the non-interference critical localisation of side's device.And, the ST3 of device [M], the ST2 of device [N] fastens in the pass of two devices, as being present in the locational non-interference stop position setting more than that is no more than non-interference critical localisation.

Avoiding interference control major control is as the position of the 1X slide block 242 of the 2nd track formation portion.For device [M] as the destination object device, become and be positioned under the state that is no more than non-interference critical localisation scope at the 1X slide block 242 of device [N], the 1X slide block 242 of allowing device [M] enters the critical localisation setting above non-.That is, the 1X slide block 242 of device [M] allows that stopping at conduct enters on the ST1 of stop position.In addition, become to be positioned at the 1X slide block 242 of device [N] and surpass under the non-state that enters the critical localisation scope, the 1X slide block 242 of inhibiting apparatus [M] surpasses non-interference critical localisation setting.That is, the 1X slide block 242 of device [M] stops on the ST3 as non-interference stop position.For as and establish the device [N] of device, also carry out same control in the relation with device [M].So, in the system of this programme, in avoiding interference control, carry out the control of 1X slide block 242 positions, the i.e. Position Control of the 2nd track formation portion.

In the system of this programme, there is the situation that also disposes erecting device 12 as device [M] left side in the drawings of destination object device.At this moment, and the erecting device 12 in this left side between, carry out above-mentioned interference and avoid control.With the relation of the erecting device 12 in left side in, the ST4 that is set by device [M] becomes the above-mentioned stop position that enters, ST2 becomes above-mentioned non-interference stop position.Avoiding interference control can only be carried out between adjacent side's erecting device 12, also can synchronously carry out between adjacent both sides erecting device 12.

The operation form of the wiring board of a plurality of erecting devices of＜leap 〉

Figure 1 shows that the device width is the adjoin each other example of the circuit block installation system under the collocation form of the erecting device 12 of unit width, below, the operation form when carrying out the circuit block installation exercise on the wiring board of crossing over a plurality of erecting devices is illustrated.

I) wiring board and apparatus for work group

Figure 29 is schematically illustrated in the wiring board of supplying with in the circuit block installation exercise.Diagram wiring board 150 has the size of crossing over two erecting devices 12, for convenience of explanation, is expressed as being equipped with two kinds of electronic units 690.A kind of in two kinds of electronic units is parts a, for convenience's sake, sequentially is marked with parts a1～a9 sequence number from the left side of wiring board 150.Equally, another kind of electronic unit is parts b, for convenience's sake, sequentially is marked with parts b1～b8 sequence number from the left side of wiring board 150.As substantial middle with wiring board 150 as being divided into 2 parts by the installation region of operating area, then parts a1～a5 and parts b1～b4 are arranged in the subregion 694 in left side, and parts a6～a9 and parts b5～b8 are arranged in the subregion 694 on right side.In addition, parts a5, a6 and parts b4, b5 are contained in the aforesaid specific region 666.The circuit block installation system constitutes the apparatus for work group who is made of two erecting devices in a plurality of erecting devices 12, that adjoin each other.By the configured number of erecting device 12,, be illustrated with one of them apparatus for work group although the apparatus for work group's that this system has number is different.Therefore, above-mentioned electronic unit 690 is to install in this apparatus for work group.In this circuit block installation system, can select two operation forms, as prerequisite, this two operation forms are described sequentially with foregoing.

The ii) operation form of job stacking control

Figure 30 schematically illustrates an operation form in two operation forms.In the drawings, wiring board is carried to the right side as the downstream from the left side as upstream side.Two erecting devices 12 of fabrication process device group respectively with the erecting device of upstream side as device [A], with the erecting device in downstream as device [B].In addition, erecting device only illustrates conveyer, and other parts are omitted.In this operation form, wiring board 150 is carried as the mode of a unit with the apparatus for work group.In detail, on device [A] and device [B], do not exist under the state of previous wiring board 150, wiring board 150 is transferred from the upstream side of device [A], the center is parked on the centre position of device [A] and device [B], on this position, after loading onto electronic unit 690, on device [A] and device [B], do not exist these wiring board 150 ground to transfer to the downstream of device [B].Be specially, carry out group unit in the conveying form of aforesaid wiring board and carry conveying under the form.In addition, be called the job stacking form in the operation form of this explanation, the control of carrying out the operation of this form is called job stacking control.

Figure 30 (a) illustrates the state before the installation electronic unit 690, and Figure 30 (b) illustrates the state behind the installation electronic unit 690.In this operation form, parts a is together loaded onto by device [A] in the subregion 694 in aforesaid relatively left side, parts b, and parts a is together loaded onto, parts b by device [B] in the subregion 696 on relative right side.Be specially, load onto parts a1～a5 by device [A], parts b1～b4 loads onto parts a6～a9, parts b5～b8 (with reference to Figure 29) by device [B].In addition, electronic unit relative to the specific region 666 installation control and installation head 26 moved realize by using aforesaid control and the avoiding interference of entering.In this operation form of so carrying out, by device [A], the circuit block installation exercise that device [B] is determined respectively becomes certain operation.That is to say that device [A], device [B] electronic unit 690 of the installation region of the wiring board 150 of operation and installation separately are certain in each device.

In addition, in above-mentioned job stacking form, come the setting section zone as a pattern with 694,696.Also can replace and make the subregion is corresponding a plurality of patterns such as kind with the electronic unit of installing.That is to say, for example, in every kind of electronic unit 690, also each can be installed the form that the installation region of operation is changed, carry out the circuit block installation exercise.In the job stacking form, when install in the whole zone that various types of electronic unit 690 is dispersed throughout the installation region of wiring board, must prepare various types of electronic unit according to each of a plurality of erecting devices 12.That is, the tape feed device 20 of supplying with the electronic unit 690 of identical type must be disposed in the assembly supply device 22 that each erecting device 12 possesses.Like this, although there are some shortcomings, compare with the following operation form that will illustrate, this operation form can shorten the time that wiring board is carried, and has the advantage that can promptly carry out the circuit block installation exercise.

The iii) operation form of batch transportation operation control

Figure 31 schematically illustrates another operation form beyond two operation forms.The throughput direction of wiring board, apparatus for work group and the title relevant with the erecting device 12 that constitutes foregoing are with above-mentioned job stacking homomorphosis.In this operation form, wiring board 150 is sequentially carried according to fabrication process device group's erecting device.In more detail, at first, wiring board 150 is carried from upstream side, stops in the device zone of device [A], on the position of roughly half degree in the downstream of receiving lines plate 150.In this position, after the installation of the electronic unit 690 due to the device [A] relative with this wiring board 150 finishes, transfer this wiring board 150, making it the center that stops at becomes on the position in device [A] and the centre position of device [B].Then,, after the installation end by device [A] and relative this wiring board 150 of carrying out of device [B], transfer this wiring board 150, make it to stop in the device zone of device [B], on the position of roughly half degree of the upstream side of receiving lines plate 150 in this position.In this position, after the installation to this wiring board 150 that device [B] carries out finishes, this wiring board 150 is transplanted on the downstream of device [B].Be specially, carry out with the conveying in the device unit's conveying form in the previously described wiring board conveying form.In fact, several wiring boards 150 are in a row carried, and roughly half degree in the downstream of wiring board 150 is positioned under the situation in device zone of device [A], and roughly half degree of the upstream side of previous wiring board 150 is positioned at the device zone of device [B].Figure 31 (a) (b) illustrates its state, and Figure 31 (c) (d) illustrates wiring board 150 and stops at the locational state that its center becomes the centre position of device [A] device [B].In addition, will be called the batch transportation form, the control of carrying out the operation of this form will be called batch transportation operation control in the operation form of this explanation.

Figure 31 (a) (c) illustrates the state of installing before the electronic unit 690, and Figure 31 (b) (d) illustrates the state of installing behind the electronic unit 690.The sequence of operation ground explanation that to carry out a wiring board 150 below.At first, as Figure 31 (a), (c) shown in, parts a6～a9 (parts sequence number with reference to Figure 29, below same) is loaded onto by device [A] in the relative subregion 696 on wiring board 150 right sides.At this moment, the installation of parts a6 on the specific region 666 by aforesaid control and the necessary occasion of entering by avoiding interference control realization.Then, after wiring board 150 being carried the degree of a device, as Figure 31 (c), (d) shown in, by device [A] parts a1～a5 is installed on the subregion 694 in left side of wiring board 150, parts b5～b8 is installed on the subregion 696 on right side by device [B].Installation on specific region 666 of parts a5 and parts b5 and same during the job stacking form enters control and avoiding interference is controlled by aforesaid, mobile installation head 26 and carrying out.Then, make wiring board 150 further carry the degree of a device after, as Figure 31 (a), (b) shown in, by device [B] parts b1～b4 is installed on the subregion 694 in wiring board 150 left sides.Equally, 666 installation enters control and the control of avoiding interference in case of necessity realizes by aforesaid to parts a6 towards the specific region.At this moment, in device [A], carry out the installation of the subregion 696 on next relatively wiring board 150 right sides.

In aforesaid job stacking form, by device [A], the circuit block installation exercise that device [B] is determined separately becomes certain operation.To this, in this operation form, no matter be device [A] or device [B], the circuit block installation exercise of wiring board 150 all changes at every turn relatively.That is, in this form, two devices all sequentially carry out repeatedly with two different circuit block installation exercises and change.Two circuit block installation exercise is in the also order change of the installation region of the wiring board 150 that becomes object, and to this, the kind that is installed in this regional electronic unit 690 is also different with its installation site.(annotate: in this example, for simplicity, two kinds of electronic units only are shown, an erecting device only is equipped with a kind of parts.For this reason, in appearance, although erecting device is equipped with electronic unit of the same race on each, yet the electronic unit of installing might not be identical.) in addition, the subregion be not as a pattern but variable more a plurality of and carry out operation can be identical with the situation of aforementioned job stacking form.

In this operation form, fasten in the device [A] and the pass of device [B], be to have only device [A] installing component a, have only device [B] installing component b.Therefore, on device [B], parts a needn't be prepared, and on device [A], parts b needn't be prepared.That is, the tape feed device 20 that only can construct out supply part a is disposed on the assembly supply device 22 of device [A], only the tape feed device 20 of supply part b is disposed at the system of form on the assembly supply device 22 of device [B].The minimizing of the quantity of the tape feed device 20 that it is not only had with system is relevant, also can reduce the width in the wiring board throughput direction of system self, reduces cost.

＜with the control function associated program of circuit block installation system

More than, action is illustrated to several forms of circuit block installation exercise in the circuit block installation system with to be the center with the corresponding erecting device 12 of above-mentioned form.Above-mentioned circuit block installation system is just as discussed previously, as control device include with system all gather possess in the system control device 376 of control and each erecting device 12 as erecting device control device 36 to base board operation device control device.The foregoing circuit component installation system carries out the control of decentralized, mainly is, each erecting device control device 36 utilizes the mutual transmission information of communication, signal etc., by carrying out the control of each erecting device 12, the control that the realization system is all.For this reason, below to describing with erecting device control device 36 function associated that exist as control centre.

Figure 32 shows the functional block diagram as the erecting device control device 36 of major part of the present invention.Erecting device control device 36 has being disposed at the control part that various outfit devices on the erecting device 12 etc. are controlled.One of them is to carry out the mobile control of installation head 26, promptly carry out the mobile control division 710 of the control of head moving device 28.Mobile control division 710 has orbit portion and stops a control part 712, enters control part 714 and avoiding interference control part 716, and wherein, avoiding interference control part 716 has the 2nd track formation portion position control part 718.Be respectively the part of carrying out with the mobile relevant various controls of aforesaid installation head 26, if be described simply, orbit portion stops a control part 712 for the part in the control that 1X slide block 242 as the 2nd track formation portion is stopped at make under the state on the stop position of the regulation on the 1st track installation head 26 to move, and enters control part 714 for 1X slide block 242 is entered outside the device zone of self so that installation head 26 is in the part of the extra-regional control of device.Avoiding interference control part 716 is the first-class first-class hands-off part of operation with self of the operation of the adjacent erecting device 12 of control, and the 2nd track formation portion position control part 718 be a part of controlling the position of 1X slide block 242 in avoiding interference control.These control parts are managed moving of installation head 26 with cooperatively interacting.

In addition, erecting device control device 36 has the wiring board conveying control part 720 of control as the board conveying device 24 of substrate conveyor module.Board conveying device 24 is based on conveyer, by each board conveying device 24 coordination, makes as the system that is dispersed throughout of base board delivery device the system's conveying device action on all.Specifically, just as discussed previously, control is coordinated in the conveying that make the startup of each conveyer and stopping etc. being coordinated.The part of carrying out this conveying coordination control is to carry the wiring board of coordination control part to carry as the substrate with wiring board conveying control part 720 to coordinate control part 722.

In above-mentioned circuit block installation system, just as discussed previously, can cross over the wiring board of a plurality of erecting devices 12 relatively and select the operation form.Operation form as one of them has the job stacking form, and the control part when 36 conducts of erecting device control device are carried out to batch job control has job stacking control part 724.This job stacking control part 724 carries the part of control part 720 to exist as blanket control head mobile control division 710 and wiring board.Equally,, have batch transportation operation form, have batch transportation control part 726 as the control part that carries out batch transportation operation when control as another operation form.Batch transportation control part 726 carries the part of control part 720 to exist as blanket control head mobile control division 710 and wiring board too.In addition, erecting device control device 36 still is batch transportation operation control and part that a selected side is carried out control as being selected to batch job control, has operation form selection control part 728.

Claims (4)

1. One kind to supporting circuit block (690), constitute that the circuit substrate (150) of electronic circuit is scheduled to more than one to the circuit substrate operation to operation system of substrate, include:

   System base (10,570～574,590～594);

   The base board delivery device (24) of delivery circuit substrate (150);

   With along by this base board delivery device (24,602) direction of delivery circuit substrate (150), the state configuration that is the arrangement of substrate throughput direction is in described system base (10,570～574,590～594) on, has the operation head (26) that circuit substrate (150) is carried out the key operation action respectively, the circuit substrate (150) that at least a portion is arranged in the operating area of self by described operation head (26) carries out described more than one a kind of a plurality of to base board operation device (12 to the circuit substrate operation respectively, 600,612,620,632～636), it is characterized in that

   This has by described a plurality of to base board operation device (12 operation system of substrate, 600,610,620,632～636) the apparatus for work group that the plural device that adjoins each other in constitutes, can carry out base board operation circuit substrate (150), wherein, the size of this circuit substrate (150) for cross over constitute this apparatus for work group to base board operation device (12,600, zone 610,620,632～636) each, that carry out operation by described operation head (26) is on the operating area.
2. 2. described to operation system of substrate according to claim 1, it is characterized in that, comprise operation control part (724) in the lump, to cross over to constitute above-mentioned apparatus for work group to base board operation device (12,600,610,620, when the circuit substrate of the size of the operating area of 632～636) each (150) carries out base board operation, in aforesaid substrate conveying device (24), the unit of circuit substrate as this apparatus for work group carried, constitute this apparatus for work group on each of base board operation device, by the described operation head (26) that each had to the base board operation device, carry out in the circuit substrate subregion that is positioned at this each operating area respectively determining to base board operation, thereby will base board operation be carried out in the lump to this circuit substrate.
3. 3. described to operation system of substrate according to claim 1, it is characterized in that, comprise and carry operation control part (726) successively, to cross over to constitute above-mentioned apparatus for work group to base board operation device (12,600,610,620, when the circuit substrate of the size of operating area 632～636) (150) carries out base board operation, in aforesaid substrate conveying device (24), circuit substrate is transported to successively constitute this apparatus for work group each to the base board operation device in, constitute this apparatus for work group on each of base board operation device, change the circuit substrate subregion of each operation successively, by to the described operation head (26) that each had of base board operation device corresponding to the subregion of operation determine successively to base board operation.
4. 4. described to operation system of substrate according to claim 1, it is characterized in that, this system to base board operation comprises: (a) operation control part (724) in the lump, to cross over to constitute above-mentioned apparatus for work group to base board operation device (12,600,610,620, when the circuit substrate of the size of operating area 632～636) (150) carries out base board operation, in aforesaid substrate conveying device (24), the unit of circuit substrate as this apparatus for work group carried, constitute this apparatus for work group on each of base board operation device, by the described operation head (26) that each had to the base board operation device, carry out in the circuit substrate subregion that is positioned at this each operating area respectively determining to base board operation, thereby will base board operation be carried out in the lump to this circuit substrate, (b) carry operation control part (726) successively, when carrying out base board operation to the circuit substrate that cross over to constitute above-mentioned apparatus for work group to the size of the operating area of base board operation device, in the aforesaid substrate conveying device, circuit substrate is transported to successively constitute this apparatus for work group each in the base board operation device, constitute this apparatus for work group on each of base board operation device, change the circuit substrate subregion of each operation successively, by to the described operation head (26) that each had of base board operation device corresponding to the subregion of operation determine successively to base board operation, and comprise the control of selectively carrying out by the above-mentioned control part of operation in the lump, and select control part (728) by the above-mentioned operation form of the control of operation control part of carrying successively.

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