# US 11,992,957 B2 · Mounting-related device and rail device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,992,957 B2 - Document ID: US11992957B2 - Status: Granted - Kind: B2 - Application number: 17/424,017 - Filed: 2019-02-05 - Published: 2022-03-17 - Granted: 2024-05-28 - Earliest claimed: 2019-02-05 - Assignees: Fuji Corporation - Applicants: Fuji Corporation - Inventors: Shinji Ichino; Tsuyoshi Hamane - Web page: https://patentgrep.com/patent/US11992957B2 ## CPC - B25J 9/1682: {Dual arm manipulator; Coordination of several manipulators} - B25J 9/1687: {Assembly, peg and hole, palletising, straight line, weaving pattern movement} - G05B 19/4189: {characterised by the transport system} - H05K 13/0061: {Tools for holding the circuit boards during processing; handling transport of printed circuit boards} - H05K 13/04: Mounting of components {, e.g. of leadless components} - B65G 21/00: Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors - G05B 2219/39001: Robot, manipulator control - G05B 2219/40252: Robot on track, rail moves only back and forth - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - H05K: PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) ## Abstract A mounting-related device includes an articulated robot that is disposed in a movable space formed between a first conveyance section and a second conveyance section, holds, and moves a processing target object such that a posture of a mounting surface can be changed, and the first conveyance section and the second conveyance section include a rail attachment section that can attach and detach a pair of rail devices bridged between the first conveyance section and the second conveyance section for moving a board when conveying the board. ## Claims ### Claim 1 A mounting-related device that performs a predetermined process on a processing target object by using an XY-robot including a processing head for performing a predetermined process on the processing target object having a mounting surface and a moving section for moving the processing head in a predetermined plane direction, the mounting-related device comprising: a first conveyance section configured to convey the processing target object into an introduction position; a second conveyance section configured to convey the processing target object out of a discharge position; an articulated robot disposed below a moving region of the processing head and in a movable space formed between the first conveyance section and the second conveyance section, and configured to hold the processing target object such that a posture of the mounting surface can be changed, and move the processing target object between the introduction position and the discharge position, the articulated robot having multiple axes so as to be configured to tilt the processing target object in multiple directions; and a control section configured to control the XY-robot and the articulated robot, wherein the first conveyance section and the second conveyance section include a rail attachment section that can attach and detach a pair of rail devices which are bridged between the first conveyance section and the second conveyance section and move a board as the processing target object which can be conveyed by the first conveyance section and the second conveyance section when the board is conveyed, and the articulated robot includes a base section fixed to a device housing, an arm section supported by the base section, the arm section being rotatable relative to the base section, and an attachment section that can attach and detach the processing target object, and attach and detach a support member for supporting the board from below when the rail device is attached on the rail attachment section and a process is performed on the board. ### Claim 2 (depends on 1) The mounting-related device according to claim 1, wherein the control section controls the first conveyance section, the second conveyance section, and the articulated robot such that the board is conveyed and fixed onto the rail device and the board is supported on the articulated robot from below by the support member when the rail device is attached on the rail attachment section and the support member is attached on the articulated robot. ### Claim 3 (depends on 1) The mounting-related device according to claim 1, wherein the rail device includes a connecting section that obtains a conveyance force of the board by physically contacting at least one of a conveyance member of the first conveyance section and a conveyance member of the second conveyance section, and the control section drives and controls at least one of the first conveyance section and the second conveyance section to convey the board on the rail device. ### Claim 4 (depends on 1) The mounting-related device according to claim 1, wherein the rail device includes a driving section that applies a conveyance force for conveying the board, and the control section is electrically connected to the driving section and also controls the driving section so as to convey the board on the rail device. ### Claim 5 (depends on 1) The mounting-related device according to claim 1, wherein the rail device includes a fixing section that grips and fixes the board, and the control section also controls the fixing section so as to fix the board on the rail device. ### Claim 6 (depends on 1) The mounting-related device according to claim 1, wherein the attachment section can attach and detach a contact member that comes into contact with a part of the board when the rail device is attached on the rail attachment section and a process is performed on the board, and the control section brings the board into contact with the contact member and moves the board between the introduction position and the discharge position along the rail device by an operation of the articulated robot. ### Claim 7 (depends on 1) The mounting-related device according to claim 1, further comprising: a pair of rail devices configured to be attached on the rail attachment section and bridged between the first conveyance section and the second conveyance section to move the board when conveying the board as the processing target object. ### Claim 8 A rail device that is used in a mounting-related device including an XY-robot including a processing head for performing a predetermined process on a processing target object having a mounting surface and a moving section for moving the processing head in a predetermined plane direction, a first conveyance section configured to convey the processing target object into an introduction position, a second conveyance section configured to convey the processing target object out of a discharge position, an articulated robot disposed below a moving region of the processing head and in a movable space formed between the first conveyance section and the second conveyance section, and configured to hold the processing target object such that a posture of the mounting surface can be changed, and move the processing target object between the introduction position and the discharge position, and a control section configured to control the XY-robot and the articulated robot, the rail device being bridged between the first conveyance section and the second conveyance section, and attached on a rail attachment section provided in the first conveyance section and the second conveyance section when the first conveyance section and the second conveyance section convey the board which can be conveyed, the rail device comprising: a moving section configured to support and move the board, the moving section including a plurality of rollers and a belt bridged over the plurality of rollers; and a fixing section configured to grip and fix the board, the fixing section including a fixing plate, first and second air supply sections, and a structure bridging the first conveyance section and the second conveyance section, the fixing plate being movable up and down in the structure based on air supplied by the first air supply section or the second air supply section, wherein the structure includes attachment sections formed on both ends of the structure, the attachment sections presenting a shape configured to be fitted into unevenness of the rail attachment sections of the first and second conveyance sections.