JP6166278B2 - Component mounter - Google Patents

Description

  The present invention relates to a component mounter that mounts electronic components on a substrate, and more particularly to control of the moving speed of a mounting nozzle that performs a component mounting operation.

  There are solder printing machines, component mounting machines, board inspection machines, reflow machines, etc. as equipment for producing boards with a large number of electronic components mounted, and these can be connected by a board transfer device to build a board production line It has become common. Among these, in the component mounting machine, first, the board transfer device carries the board along the transfer path, and the board holding device positions and holds the board. Next, when the mounting nozzle of the component transfer device picks up the electronic component and moves to the camera device and the pickup state is confirmed, the electronic component is mounted on the substrate. When the mounting of a predetermined number of electronic components of a predetermined type is completed, the substrate transfer device carries out the substrate. This completes one tact of electronic component mounting, and the next board is carried in.

  The above-described component transfer apparatus generally includes a mounting nozzle that sucks and mounts an electronic component, and an X-axis driving mechanism and a Y-axis driving mechanism that move the mounting nozzle in a horizontal XY plane. The mounting nozzle moves from the suction position of the component supply device to the mounting position of the substrate via the imaging position of the camera device. Since the suction position and the mounting position change depending on the type of electronic component to be mounted, the driving operation of the X-axis driving mechanism and the Y-axis driving mechanism changes in each component mounting operation. In recent years, the mounting nozzle has been moved at a high speed in order to shorten the mounting tact time. Furthermore, on-the-fly imaging (On The Fly imaging), in which the mounting nozzle moves without stopping above the camera device and performs imaging while moving, is also becoming widespread.

  The electronic component mounting machine of Patent Document 1 is an example of an apparatus that performs on-the-fly imaging. In Patent Document 1, when imaging is performed while moving the transfer head at a specific constant speed, if the transfer head is at a position farther than the preparation distance required to reach the constant speed, the transfer head is temporarily stopped. The transfer head is driven without taking an image. Also, if the transfer head is in a close position, the transfer head is moved to a predetermined shooting movement start position where acceleration to a constant speed is possible, and is temporarily stopped. Thereafter, the constant speed is reached by acceleration / deceleration. Then take an image. Thus, it is described that the mounting tact can be improved (the mounting tact time can be shortened).

JP 2007-201284 A

  By the way, in Patent Document 1, since a fixed condition such as a constant speed or a predetermined photographing movement start position is used, the effect of shortening the mounting tact time is limited. In other words, it is expected that mounting tact time will be further shortened by individually controlling the moving speed and moving path of the mounting nozzle according to the combination of the suction position and mounting position that changes depending on the type of electronic component. it can. Further, in the control by the conventional X-axis drive mechanism and Y-axis drive mechanism, the control for associating the X-axis speed and the Y-axis speed of the mounted nozzle is not necessarily rationalized. For example, when the mounting nozzle passes the imaging position of the camera device, it may be necessary to stop or decelerate in the middle of another axis due to restrictions on the position or speed in a specific axis direction, reducing the time required for movement. The effect was reduced.

  The present invention has been made in view of the problems of the background art described above, and provides a component mounting machine that can reduce the mounting tact time required from the adsorption of an electronic component to the mounting on a substrate through imaging. It is a problem to be solved.

The invention of a component mounting machine according to claim 1 for solving the above-described problem is a plurality of electronic components mounted on the substrate in parallel with a substrate holding device for positioning and holding the substrate and a plurality of types of electronic components mounted on the substrate. respectively supplying component feeding device to the suction position, is moved from a plurality of said suction position mounting nozzle for mounting the mounting position of the substrate held by suction the electronic component, the mounting nozzle to said first axial direction A component transfer apparatus having a first axis drive mechanism, a second axis drive mechanism for moving the mounting nozzle in a second axis direction perpendicular to the first axis direction, and the substrate holding apparatus in the second axis direction; the juxtaposed between the component supply device, a camera device for imaging by the imaging position the electronic component sucked to the mounting nozzle, the first axis of the mounting nozzle by controlling the first axial drive mechanism Directional moving speed A first axis control means for controlling a first axis speed as a component; a second axis for controlling a second axis speed as a moving speed component of the mounting nozzle in the second axis direction by controlling the second axis drive mechanism; Control including axis control means, and link control means for controlling the first axis control means and the second axis control means in association with each other and moving the mounting nozzle from the suction position to the mounting position via the imaging position. The linkage controller is configured to control the first axis direction by the control of the first axis controller while the mounting nozzle moves from the suction position to the imaging position. If it can be predicted that the time required for movement in the second axis direction by the control of the second axis control means is shorter than the time required for movement of the first axis control means, the control of the first axis control means is preceded and the mounting nozzle is moved to the first position. 1 axis direction Start, so that the control of the second axis control means by the trailing start the mounting nozzle on the second axial direction, and the mounting nozzle with respect to the second axis direction passes through the imaging position nonstop Control.

The invention of the component mounting machine according to claim 2 supplies a substrate holding device for positioning and holding the substrate and a plurality of types of electronic components mounted on the substrate to a plurality of suction positions arranged in parallel in the first axis direction. a component supply device for mounting the nozzle for mounting a plurality of the suction position to the mounting position of the substrate held by suction the electronic component, the first axial drive mechanism for moving the mounted nozzle to said first axial direction And a component transfer device having a second axis drive mechanism that moves the mounting nozzle in a second axis direction perpendicular to the first axis direction, and the substrate holding device and the component supply device in the second axis direction. juxtaposed between a camera device for imaging by the imaging position the electronic component sucked to the mounting nozzle, the moving speed component of the first axis direction of the mounting nozzle by controlling the first axial drive mechanism The first axis First axis control means for controlling the degree, second axis control means for controlling the second axis drive mechanism to control a second axis speed which is a moving speed component of the mounting nozzle in the second axis direction, and the And a control device including association control means for controlling the first axis control means and the second axis control means in association with each other and moving the mounting nozzle from the suction position to the mounting position via the imaging position. In the component mounting machine, the linkage control unit is configured so that the movement time in the first axis direction is controlled by the control of the first axis control unit while the mounting nozzle moves from the suction position to the imaging position. unpredictable and travel time of the second axial direction by the control of the second axis control means is large, and, while the said attachment nozzle is moved to the mounting position from the imaging position, said first axial Move If it can be predicted that the travel time of the than main time second axial small, opposite from the imaging position while said mounting nozzles is moved from the suction position to the imaging position in a direction toward the mounting position overrun on the side, and the mounting nozzle have a first axial speed during direction of the image pickup toward the mounting position from the imaging position when passing through the imaging position, and the from the attachment nozzle the imaging position The first axis control means is controlled so as not to overrun during the movement to the mounting position .

The invention of a component mounting machine according to claim 3 supplies a substrate holding device for positioning and holding a substrate and a plurality of types of electronic components mounted on the substrate to a plurality of suction positions arranged in parallel in the first axis direction. a component supply device for mounting the nozzle for mounting a plurality of the suction position to the mounting position of the substrate held by suction the electronic component, the first axial drive mechanism for moving the mounted nozzle to said first axial direction And a component transfer device having a second axis drive mechanism that moves the mounting nozzle in a second axis direction perpendicular to the first axis direction, and the substrate holding device and the component supply device in the second axis direction. juxtaposed between a camera device for imaging by the imaging position the electronic component sucked to the mounting nozzle, the moving speed component of the first axis direction of the mounting nozzle by controlling the first axial drive mechanism The first axis First axis control means for controlling the degree, second axis control means for controlling the second axis drive mechanism to control a second axis speed which is a moving speed component of the mounting nozzle in the second axis direction, and the And a control device including association control means for controlling the first axis control means and the second axis control means in association with each other and moving the mounting nozzle from the suction position to the mounting position via the imaging position. In the component mounting machine, the linkage control unit is configured so that the movement time in the first axis direction is controlled by the control of the first axis control unit while the mounting nozzle moves from the suction position to the imaging position. unpredictable and travel time of the second axial direction by the control of the second axis control means is small, and, while the said attachment nozzle is moved to the mounting position from the imaging position, said first axial Move If it can be predicted that the travel time of the than main time second axial large, not overrun between said mounting nozzles is moved from the suction position to the imaging position, and the mounting nozzle the imaging The first imaging speed in the direction from the suction position toward the imaging position when passing through the position, and the imaging from the suction position while the mounting nozzle moves from the imaging position to the mounting position. The first axis control means is controlled so as to overrun in the direction toward the position.

  According to a fourth aspect of the present invention, in any one of the first to third aspects, the first axis control means keeps the first axis speed constant during imaging when the mounting nozzle passes through the imaging position. The second axis control means keeps the second axis speed during imaging when the mounting nozzle passes through the imaging position constant.

  According to a fifth aspect of the present invention, in the fourth aspect cited in the first aspect, the first axis control means maintains the first axis speed at the time of imaging at zero.

The invention of the component mounting machine according to claim 6 supplies a substrate holding device for positioning and holding the substrate and a plurality of types of electronic components mounted on the substrate to a plurality of suction positions arranged in parallel in the first axis direction. A component supply device, a mounting nozzle that mounts the electronic component from a plurality of the suction positions to the mounting position of the substrate held by suction, and a first axis drive mechanism that moves the mounting nozzle in the first axis direction And a component transfer device having a second axis drive mechanism that moves the mounting nozzle in a second axis direction perpendicular to the first axis direction, and the substrate holding device and the component supply device in the second axis direction. And a camera device that images the electronic component adsorbed by the mounting nozzle at an imaging position, and a moving speed component of the mounting nozzle in the first axis direction by controlling the first axis driving mechanism. The first axis First axis control means for controlling the degree, second axis control means for controlling the second axis drive mechanism to control a second axis speed which is a moving speed component of the mounting nozzle in the second axis direction, and the And a control device including association control means for controlling the first axis control means and the second axis control means in association with each other and moving the mounting nozzle from the suction position to the mounting position via the imaging position. In the component mounting machine, the first axis control means keeps the first axis speed during imaging when the mounting nozzle passes the imaging position, and the second axis control means The second axis speed during imaging when passing through the imaging position is kept constant, and maximum acceleration is performed in the second axis direction while the mounting nozzle starts the suction position and moves to the imaging position. When the imaging position Suction side maximum second axis speed and maximum on the mounting side at the imaging position when the mounting nozzle moves from the imaging position and stops at the mounting position to perform maximum deceleration in the second axis direction. comparing the second shaft speed includes image capture speed determining means for the smaller the imaging time second shaft speed, in response to the combination of the suction position and the mounting position varies depending on the kind of the electronic component The imaging speed determination means is individually performed.

The invention according to claim 7 is the invention according to claim 6 , wherein when the imaging speed determination means sets the suction side maximum second axis speed as the imaging second axis speed, the second axis control means After the mounting nozzle passes through the imaging position, the second axis speed is controlled to be larger than the second axis speed during imaging within a range where the maximum deceleration can be performed and the mounting position can be stopped.

According to an eighth aspect of the present invention, in the sixth aspect , when the imaging speed determining means sets the mounting-side maximum second axis speed as the imaging second axis speed, the second axis control means Before the mounting nozzle passes through the imaging position, the second axis speed is set to be higher than the second axis speed during imaging within a range in which the maximum deceleration is performed and the imaging position can pass at the second axis speed during imaging. Also greatly control.

The invention according to claim 9 is the electronic device according to any one of claims 4 to 8, wherein the component transfer device sucks the electronic component in addition to the first shaft drive mechanism and the second shaft drive mechanism. The apparatus further includes an other axis drive mechanism that moves or rotates the mounting nozzle, and the control device includes: an other axis control unit that controls the other axis drive mechanism; and the first axis control unit and the second axis control unit. The other-axis drive mechanism moves or rotates the mounting nozzle under the control of the other-axis control means than the movement time required for the mounting nozzle to move from the start of the suction position to the imaging position under control. When the operation time required for this is long, the apparatus further comprises other axis standby means for delaying the start timing of the mounted nozzle by a standby time from the operation start timing of the other axis drive mechanism.

The invention according to claim 10, in claim 9, wherein the other shaft standby unit holds the greater than the operating difference time obtained by subtracting the travel time from the time variable the waiting time of the database, or variable an arithmetic expression for obtaining the waiting time.

According to an eleventh aspect of the present invention, in the ninth or tenth aspect, the other-axis drive mechanism moves the mounting nozzle in a third axis direction perpendicular to the first axis direction and the second axis direction. drive mechanism, at least one of the nozzle rotation drive mechanism for rotating the mounted nozzle about the third axis, and the holder rotating mechanism for rotating a plurality of the nozzle holder holding the mounting nozzle about said third axis Including.

  In the invention of the component mounting machine according to claim 1, when it can be predicted that the required movement time in the second axis direction is shorter than the required movement time in the second axis direction while the mounting nozzle moves from the suction position to the imaging position. Then, the control of the first axis control means is preceded, the mounting head is started in the first axis direction, and the control of the second axis control means is delayed. The magnitude relationship between the movement required times in the first axis direction and the second axis direction described above represents a first specific case in which the suction position is far from the imaging position in the first axis direction. When the control of this aspect is performed in the first specific case, the position of the mounting nozzle in the second axis direction can be controlled so as not to coincide with the imaging position before the position in the first axis direction. Therefore, when the mounting nozzle passes through the imaging position, it can move non-stop in the second axis direction from the component supply device toward the substrate, which means that midway stop or midway deceleration in the second axis direction is unnecessary.

  On the other hand, in the conventional control, the first axis speed and the second axis speed are generated at the same time when the mounting nozzle starts regardless of where the suction position is. And the speed of the said axial direction was dropped to zero with the axis | shaft by which the position of a mounting nozzle matched previously with an imaging position. When conventional control is performed in the first specific case described above, the position of the mounting nozzle in the second axis direction first matches the imaging position, and the position in the first axis direction later matches the imaging position. Therefore, when the mounting nozzle passes through the imaging position, the second axis speed falls to zero, and after passing through the imaging position, a large acceleration is required in the second axis direction. This means that the mounting nozzle passes through the movement path refracted at the imaging position, and the mounting nozzle stops and re-accelerates in the second axis direction from the component supply device toward the substrate.

  Therefore, according to the present invention, the mounted nozzle is moved in the second axis direction by causing the control in the second axis direction having sufficient time to move from the suction position to the imaging position to follow the first axis direction. You can move at the stop. Thereby, the total movement time required for the mounting nozzle to move from the suction position to the mounting position can be shortened compared to the conventional case. That is, the mounting tact time can be shortened compared to the conventional case.

  In the invention of the component mounting machine according to claim 2, the time required for movement in the second axis direction is larger than the time required for movement in the second axis direction while the mounting nozzle moves from the suction position to the imaging position, and the mounting nozzle When the time required for movement in the second axis direction is shorter than the time required for movement in the second axis while moving from the imaging position to the mounting position, the mounting nozzle moves from the imaging position while moving from the suction position to the imaging position. The first axis velocity during imaging is overrun in the direction opposite to the direction toward the mounting position and when the mounting nozzle passes through the imaging position in the direction from the imaging position toward the mounting position. The magnitude relationship between the time required for movement in the first axis direction and the second axis direction described above is that the suction position is close to the imaging position in the first axis direction and the mounting position is far from the imaging position in the first axis direction. It represents a specific case. When the control of the present invention is performed in the second specific case, the mounting nozzle reaches the imaging position while making a large turn away from the mounting position after starting the suction position. Furthermore, the mounting nozzle passes through the imaging position with a first axis speed during imaging in the direction toward the mounting position.

  On the other hand, when the conventional control is performed in the second specific case, the mounting nozzle does not rotate. That is, when the mounting nozzle passes through the imaging position, the first axis speed becomes zero, and it is necessary to greatly accelerate in the first axis direction after passing. For this reason, in the present invention, the movement time from the imaging position to the mounting position can be shortened as compared with the conventional method by the amount that the mounting nozzle has the first axis speed during imaging and passes through the imaging position. In addition, since the time required for movement in the second axis direction is longer than the time required for movement in the first axis direction from the suction position to the imaging position, a time loss occurs even if the mounting nozzle makes a large turn in the first axis direction. Does not occur. Therefore, according to the present invention, the total movement time from the suction position of the mounting nozzle to the mounting position can be reduced as compared with the conventional case, and the mounting tact time can be reduced as compared with the conventional case.

  In the invention of the component mounting machine according to claim 3, the time required for movement in the second axis direction is smaller than the time required for movement in the second axis direction while the mounting nozzle moves from the suction position to the imaging position, and the mounting nozzle When the time required for movement in the second axis direction is longer than the time required for movement in the second axis during the movement from the imaging position to the mounting position, the suction nozzle moves from the suction position to the imaging position when the mounting nozzle passes the imaging position. It has a first axis speed at the time of imaging in the direction to go, and overruns in the direction from the suction position to the imaging position while the mounting nozzle moves from the imaging position to the mounting position. The magnitude relationship between the movement required times in the first axis direction and the second axis direction described above is that the suction position is far from the imaging position in the first axis direction and the mounting position is close to the imaging position in the first axis direction. It represents a specific case. When the control of the present invention is performed in the third specific case, the mounting nozzle has the first axial speed at the time of imaging in the direction in which the suction position is started and passes through the imaging position and passes through the imaging position. It reaches the mounting position while making a large turn away from.

  On the other hand, when the conventional control is performed in the third specific case, the mounting nozzle does not rotate. That is, the first axis speed when the mounting nozzle passes the imaging position becomes zero, and it is necessary to greatly reduce the speed while moving from the suction position to the imaging position. For this reason, in this invention, the movement time from an adsorption | suction position to an imaging position can be shortened compared with the past, so that a mounting nozzle has the 1st axis speed at the time of imaging, and can pass an imaging position. In addition, since the time required for movement in the second axis direction is longer than the time required for movement in the first axis direction from the imaging position to the mounting position, a time loss occurs even if the mounting nozzle rotates in the first axis direction. Does not occur. Therefore, according to the present invention, the total movement time from the suction position of the mounting nozzle to the mounting position can be reduced as compared with the conventional case, and the mounting tact time can be reduced as compared with the conventional case.

  In the invention according to claim 4, the first axis speed during imaging and the second axis speed during imaging when the mounting nozzle passes through the imaging position are kept constant. That is, the mounting nozzle skews the imaging position, but the moving speed is constant, and satisfactory imaging conditions suitable for on-the-fly imaging are satisfied. For this reason, the tip of the mounting nozzle does not shake due to acceleration / deceleration. Therefore, the camera apparatus can stably obtain clear imaging data at an appropriate imaging timing, and can determine the component adsorption state with high accuracy.

  In the invention according to claim 5, the first axis speed during imaging when the mounting nozzle passes through the imaging position is kept at zero, and the second axis speed during imaging is kept constant. That is, the movement speed of the mounting nozzle is a constant speed only in the second axis direction, and extremely good imaging conditions suitable for on-the-fly imaging are satisfied. Therefore, the camera device can reliably obtain clear imaging data and can reliably determine the component suction state with high accuracy.

  In the invention according to claim 6, the second axis control means compares the suction-side maximum second axis speed with the attachment-side maximum second axis speed and determines the smaller one during imaging to determine the second axis speed during imaging. The imaging speed determination means is individually performed in correspondence with the combination of the suction position and the mounting position that varies depending on the type of electronic component. That is, the maximum second axis speed that can be realized is individually determined according to the type of electronic component to be mounted. As a result, the movement time in the second axis direction can be shortened for each type of electronic component, and the mounting tact time can be shortened as compared with the conventional case.

  Even if an excessive speed exceeding the second axis speed at the time of imaging determined in this mode is set, the actual control does not follow and a problem occurs. In other words, even if the mounted nozzle starts the suction position and moves to the imaging position, even if the maximum acceleration is performed, the set excessive speed cannot be reached, or if the mounted nozzle passes the imaging position at the set excessive speed, the maximum is reached. Even if the vehicle is decelerated for a limited time, a problem occurs that the vehicle cannot pass at the mounting position and passes by. On the other hand, if an underspeed smaller than the second axis speed at the time of imaging determined in this mode is set, the mounting tact time is extended by an amount corresponding to the decrease in speed.

  In the invention according to claim 7, when the suction-side maximum second axis speed is set to the second axis speed during imaging, the second axis control means performs the second axis speed after the mounting nozzle has passed the imaging position. Is controlled to be larger than the second axis speed during imaging. That is, when the second axis speed at the time of imaging is determined by the acceleration-side acceleration limiting condition, there is a margin in speed control on the mounting side, so that the mounting nozzle can be moved even faster. Thereby, the mounting tact time can be further shortened.

  In the invention according to claim 8, when the mounting-side maximum second axis speed is set to the second axis speed during imaging, the second axis control means sets the second axis speed before the mounting nozzle passes through the imaging position. Control is performed to be larger than the second axis speed during imaging. In other words, contrary to claim 7, when the second axis speed at the time of imaging is determined by the restriction condition of deceleration on the mounting side, there is a margin in speed control on the suction side, so the mounting nozzle is moved even faster. it can. Thereby, the mounting tact time can be further shortened.

  In the invention according to claim 9, the other axis drive mechanism moves or rotates the attachment nozzle by the control of the other axis control means than the movement time required for the attachment nozzle to move from the suction position to the imaging position. When the operation time required for this is long, the start timing of the mounted nozzle is delayed by the standby time from the operation start timing of the other-axis drive mechanism. If the mounted nozzle is in the middle of being driven by the other-axis drive mechanism when it reaches the imaging position, the camera device cannot obtain clear imaging data. In this aspect, since the standby time is provided, the other-axis driving is already finished when the mounted nozzle reaches the imaging position, and the camera device can obtain clear imaging data. In addition, the mounting nozzle does not need to wait until the other-axis driving is finished after stopping at the imaging position, and can be stopped non-stop or decelerated by passing through the imaging position non-stop. Therefore, the mounting tact time can be shortened, and in addition, a power saving effect is produced.

  In the invention according to claim 10, the other-axis standby means has an arithmetic expression for holding a variable standby time in a database or obtaining a variable standby time. The operation time of the other-axis drive mechanism can vary depending on various factors. On the other hand, the movement time of the mounting nozzle also varies depending on the suction position and the mounting position. By accurately estimating and optimizing the standby time corresponding to such a change using a database or an arithmetic expression, the effect of claim 9 becomes significant.

  In the invention according to claim 11, the other shaft drive mechanism includes at least one of a third shaft drive mechanism, a nozzle rotation drive mechanism, and a holder rotation drive mechanism. If any of the other-axis driving mechanisms is in the middle of driving when the mounting nozzle reaches the imaging position, the camera device cannot obtain clear imaging data. In this aspect in which the standby time is provided, when the mounted nozzle reaches the imaging position, the driving operation for all the other axes has already been completed, and the camera device can obtain clear imaging data.

It is the perspective view which showed the apparatus structure of the component mounting machine of 1st Embodiment. It is a functional block diagram explaining the control function relevant to the component mounting operation | work of a control computer (control apparatus). It is the top view which showed typically a part relevant to component mounting work among the component mounting machines of 1st Embodiment. It is a top view explaining typically the movement control method of the mounting nozzle in the 1st specific case of a 1st embodiment. It is a speed time characteristic figure used for control in the 2nd specific case of a 1st embodiment. It is a speed time characteristic figure used for the conventional control in the 2nd specific case. It is a top view which illustrates typically the movement control method of the mounting nozzle in the 2nd specific case of 1st Embodiment. It is a speed time characteristic figure used for control in the 2nd specific case of a 1st embodiment. It is a speed time characteristic figure used for the conventional control in the 2nd specific case. It is a top view which illustrates typically the movement control method of the mounting nozzle performed in the 3rd specific case of 1st Embodiment. It is a speed time characteristic figure used for control in the 3rd specific case of a 1st embodiment. It is a functional block diagram explaining the control function relevant to the component mounting operation | work of the control computer (control apparatus) of 2nd Embodiment. It is a Y-axis speed time characteristic figure of the 1st example explaining the function of the speed determination means at the time of imaging of a 2nd embodiment. It is the 1st modification which changed the Y-axis velocity time characteristic figure of the 1st example of Drawing 13. It is the 2nd modification which modified the Y-axis velocity time characteristic figure of the 1st example of Drawing 13. It is a Y-axis speed time characteristic figure of the 2nd example explaining the function of the speed determination means at the time of imaging of a 2nd embodiment. It is the 3rd modification which changed the Y-axis velocity time characteristic figure of the 2nd example of Drawing 16. It is a Y-axis speed time characteristic figure used for conventional control. It is an operation time characteristic view explaining the function of other axis waiting means of the component mounting machine of a 2nd embodiment. It is an operation time characteristic view explaining the function of other axis operation by conventional control.

  A component mounter 1 according to a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a perspective view showing a device configuration of a component mounter 1 according to the first embodiment. FIG. 1 shows two component mounters 1 arranged side by side on a common base 90. Hereinafter, one unit will be described. The component mounting machine 1 is configured by assembling a board carrier device 2, a component supply device 3, a component transfer device 4, a camera device 5, a control computer 6 (shown in FIG. 2), and the like on a machine base 91 (reference numerals). It is attached only to the component mounting machine 1 on the right front side). As shown by the XYZ coordinate axes in the upper right of FIG. 1, the horizontal width direction of the component mounting machine 1 (the direction from the upper left to the lower right in FIG. 1) is the X axis direction, and the horizontal longitudinal direction of the component mounting machine 1 (FIG. 1). (The direction from the lower left to the upper right) is the Y-axis direction, and the vertical height direction is the Z-axis direction. The X axis direction, the Y axis direction, and the Z axis direction correspond to the first axis direction, the second axis direction, and the third axis direction of the present invention.

  The board transfer device 2 is provided in the middle of the component mounter 1 in the longitudinal direction. The substrate transfer device 2 is a so-called double conveyor type device in which a first transfer device 21 and a second transfer device 22 are arranged in parallel. The first and second transport devices 21 and 22 operate the two substrates K in parallel to carry them in the X-axis direction, position them, and carry them out. Each of the first and second transfer devices 21 and 22 has a pair of conveyor rails (reference numerals omitted) spaced apart on the machine base 91 and arranged in parallel in the X-axis direction. Each conveyor rail forms a conveyance path, and a conveyor belt (not shown) is mounted so as to be able to rotate. The conveyor belt conveys the placed substrate K by rotating. Each of the first and second transfer devices 21 and 22 includes a substrate holding device (not shown) that pushes up the substrate K transferred to the component mounting position from the machine base 91 side and holds it. On the surface of the substrate K, a different mounting position P3 is set for each type of electronic component.

  The component supply device 3 is a feeder-type device, and is provided at the front portion in the longitudinal direction of the component mounter 1 (the left front side in FIG. 1). The component supply device 3 is configured by arranging a plurality of cassette-type feeders 31 in parallel in the X-axis direction on a machine base 91. Each cassette type feeder 31 includes a main body 32 that is detachably attached to the machine base 91, a supply reel 33 that is rotatably and detachably attached to a rear portion of the main body 32 (a front side of the component mounting machine 1), and a main body 32. And a component supply unit 34 provided at the front end (near the center of the component mounter 1). The supply reel 33 is a medium for supplying electronic components, and is wound with a carrier tape (not shown) holding a large number of electronic components at regular intervals. The leading end of the carrier tape is pulled out to the component supply unit 34, and different types of electronic components are supplied for each carrier tape. The position where the electronic component is supplied corresponds to the suction position P1 of the present invention. The plurality of suction positions P1 are juxtaposed in the X-axis direction, and the suction positions P1 are different if the type of electronic component is different.

  The component transfer device 4 is a so-called XY robot type device that can move in the X-axis direction and the Y-axis direction. The component transfer device 4 is disposed from the rear portion in the longitudinal direction of the component mounter 1 (the right back side in FIG. 1) to the upper portion of the front component supply device 3. The component transfer device 4 includes a head drive mechanism 41, a mounting head 45, and the like. The head drive mechanism 41 includes an X-axis drive mechanism 42 (shown in FIG. 2) that drives the mounting head 45 in the X-axis direction, and a Y-axis drive mechanism 43 (shown in FIG. 2) that drives the mounting head 45 in the Y-axis direction. It is out. The X-axis drive mechanism 42 and the Y-axis drive mechanism 43 correspond to the first axis drive mechanism and the second axis drive mechanism of the present invention. As the X-axis drive mechanism 42 and the Y-axis drive mechanism 43, for example, a linear motor mechanism or a ball screw feed mechanism can be used.

  A nozzle holder 46 is provided below the mounting head 45. The nozzle holder 46 holds a plurality of mounting nozzles for sucking and mounting components using negative pressure. The mounting head 45 has an R-axis rotation drive mechanism 47 (shown in FIG. 2) that rotationally drives the nozzle holder 46 around the Z-axis. The mounting head 45 further includes a Z-axis drive mechanism 48 (shown in FIG. 2) that extends the selected mounting nozzle downward in the Z-axis direction and retracts the selected mounting nozzle upward in the Z-axis direction, and moves the selected mounting nozzle around the Z-axis. A θ-axis rotation drive mechanism 49 (shown in FIG. 2) that rotates is provided. The R-axis rotation drive mechanism 47, the Z-axis drive mechanism 48, and the θ-axis rotation drive mechanism 49 correspond to the other-axis drive mechanism of the present invention. These other shaft drive mechanisms 47 to 49 can be configured using a servo motor as a drive source, for example.

  The camera device 5 images the electronic component sucked by the mounting nozzle from below. The camera device 5 is arranged in parallel between the substrate holding device of the substrate transport device 2 and the component supply device 3 in the Y-axis direction. Specifically, the camera device 5 is disposed upward on a machine base 91 near the component supply unit 34 of the component supply device 3. An imaging position P2 is set in the upper space of the camera device 5.

  The control computer 6 is connected to the substrate transfer device 2, the component supply device 3, the component transfer device 4, and the camera device 5 by a communication cable. The control computer 6 obtains necessary information from each of the devices 2 to 5, performs calculations and determinations, and issues appropriate commands to control the operations of the devices 2 to 5. In order for the operator to check the information output from the control computer 6 and to perform necessary operations and settings, a display operation device 93 is provided on the upper front side of the upper cover 92.

  In the component mounter 1 according to the first embodiment, a series of component mounting operations from adsorption to mounting of electronic components is performed as follows. That is, first, the head drive mechanism 41 of the component transfer apparatus 4 moves the mounting head 45 to above the component supply unit 34 of the cassette type feeder 31 to which the electronic component to be mounted is supplied. Next, the mounting nozzle uses the negative pressure at the suction position P1 to suck the electronic component at the lower end. Next, the head drive mechanism 41 moves the mounting head 45 to the imaging position P <b> 2 above the camera device 5. The camera device 5 captures an image of the state where the mounting nozzle is sucking the electronic component from below, and confirms the component suction state. Next, the head driving mechanism 41 moves the mounting head 45 to above the positioned substrate K. Next, the mounting nozzle is extended downward in the Z-axis direction, and the electronic component comes into contact with the mounting position P3 of the substrate K, and the negative pressure is eliminated and the electronic component is mounted. In addition, although the detailed description about the other-axis drive mechanisms 47-49 is abbreviate | omitted, these also operate | move suitably.

  The above-described component mounting operation is executed and controlled by a control computer 6 corresponding to the control device of the present invention. FIG. 2 is a functional block diagram illustrating control functions related to component mounting work of the control computer 6 (control device). The control computer 6 includes X-axis control means 61, Y-axis control means 62, and linkage control means 63. The X-axis control means 61 corresponds to the first axis control means of the present invention, and controls the X-axis drive mechanism 42 to control the X-axis speed Vx that is the moving speed component of the mounted nozzle in the X-axis direction. The Y-axis control means 62 corresponds to the second axis control means of the present invention, and controls the Y-axis drive mechanism 43 to control the Y-axis speed Vy that is the moving speed component of the mounted nozzle in the Y-axis direction. The linkage control unit 63 controls the X axis control unit 61 and the Y axis control unit 62 in association with each other, and moves the mounting nozzle from the suction position P1 to the mounting position P3 via the imaging position P2.

  The control computer 6 also includes an R-axis control means 64 for controlling the R-axis rotation drive mechanism 47, a Z-axis control means 65 for controlling the Z-axis drive mechanism 48, and a θ-axis control means for controlling the θ-axis rotation drive mechanism 49. 66. The R-axis control means 64, the Z-axis control means 65, and the θ-axis control means 66 correspond to other axis control means of the present invention. Further, the control computer 6 includes on-the-fly imaging control means 67 that causes the camera device 5 to perform imaging in anticipation of imaging timing when the mounted nozzle passes the imaging position P2.

  Next, a mounting nozzle movement control method during component mounting work by the control computer 6 will be described. For the sake of simplicity, hereinafter, it is assumed that the number of mounting nozzles held by the nozzle holder 46 is one, and the substrate K on the first transfer device 21 is considered. FIG. 3 is a plan view schematically showing a part related to the component mounting work in the component mounter 1 of the first embodiment. FIG. 3 shows the suction position P1 of the component supply device 3, the imaging position P2 of the camera device 5, and the mounting position P3 of the substrate K held by the first transport device 21. The suction position P1 and the mounting position P3 change in position according to the type of electronic component, and the imaging position P2 is a fixed position.

  The right direction in FIG. 3 is the + X axis direction, the opposite left direction is the −X axis direction, the upward direction from the component supply device 3 toward the substrate K is the + Y axis direction, and the opposite downward direction is the −Y axis direction. Further, as shown in the figure, the first X-axis distance Dx and the first Y-axis distance Dy from the suction position P1 to the imaging position P2 are used, and the second X-axis distance Lx and the second Y-axis distance Ly from the imaging position P2 to the mounting position P3. And The mounting nozzle moves in the + X-axis direction and the -X-axis direction between the time when the electronic component is sucked and mounted, and moves in the + Y-axis direction in superposition with the movement in the X-axis direction, and moves in the -Y-axis direction. do not do. Of course, after the mounting of the electronic component is completed, the mounting nozzle moves in the −Y-axis direction to move to the next electronic component.

In the first embodiment, the control computer 6 performs new movement control different from the conventional control in the three specific cases. The first specific case is a case where it can be predicted that the required movement time in the Y-axis direction is shorter than the required movement time in the X-axis direction while the mounting nozzle moves from the suction position P1 to the imaging position P2. Here, for example, when the X-axis drive mechanism 42 and the Y-axis drive mechanism 43 have the same speed performance, the magnitude relationship of the required travel time can be replaced with the magnitude relationship of the travel distance. That is, if the following inequality (1) holds, it corresponds to the first specific case.
(First X-axis distance Dx)> (first Y-axis distance Dy) (1)
Further, even when the speed performance is different between the X-axis drive mechanism 42 and the Y-axis drive mechanism 43, since the movement distance is determined in advance, the required movement time in the X-axis direction and the Y-axis direction can be predicted. Thereby, it can be determined whether it corresponds to a 1st specific case.

  In the first specific case, the linkage control means 63 starts the mounting head in the X-axis direction from the suction position P1 with the operation of the X-axis drive mechanism 42 by the X-axis control means 61 in advance, and the Y-axis control means 62 The operation of the Y-axis drive mechanism 43 is followed. FIG. 4 is a plan view schematically illustrating the mounting nozzle movement control method in the first specific case of the first embodiment.

  FIG. 4 illustrates the case where the inequality (1) is established and the second X-axis distance Lx = 0. In FIG. 4, the thick solid line indicates the mounting nozzle movement path Tr1 by the control of the first embodiment, and the middle thick broken line indicates the mounting nozzle movement path Tr2 by the conventional control. FIG. 5 is a speed-time characteristic diagram used for control in the first specific case of the first embodiment, and FIG. 6 is a speed-time characteristic diagram used for conventional control in the first specific case. 5 and 6, the horizontal axis is a common time axis t, and the positions P1, P2, P3, Q1, and Q2 of the mounting nozzles shown in FIG. 4 are written together.

  In the control of the first embodiment shown in FIG. 5, only the X-axis speed Vx is generated when the mounting nozzle starts from the suction position P1 at time t1. The mounting nozzle moves in the + X-axis direction from the suction position P1 as indicated by the movement path Tr1 in FIG. The Y-axis speed Vy is superimposed at time t3 when the mounting nozzle reaches midway position Q1. Then, the moving path Tr1 of the mounting nozzle is directed in the direction of the imaging position P2 while being bent. As the mounting nozzle approaches the imaging position P2, the X-axis speed Vx is decelerated. The mounting nozzle has only the Y-axis speed Vy at time t4 and passes the imaging position P2 in the + Y-axis direction. In addition, the mounting nozzle is imaged by the camera device 5 at the passing timing. Thereafter, the mounting nozzle goes straight in the + Y-axis direction, and when approaching the mounting position P3, the Y-axis speed Vy is decelerated. At time t5, the mounting nozzle reaches the mounting position P3 and stops.

  On the other hand, in the conventional control shown in FIG. 6, the X-axis speed Vx and the Y-axis speed Vy are generated simultaneously when the mounting nozzle starts from the suction position P1 at time t1. The mounting nozzle moves obliquely from the suction position P1 as indicated by the movement path Tr2. When the Y-axis direction position of the mounting nozzle approaches the imaging position P2, the Y-axis speed Vy is decelerated. After the position in the Y-axis direction of the mounting nozzle coincides with the imaging position P2 at the midway position Q2 at time t2, the mounting nozzle has only the X-axis speed Vx and moves in the + X-axis direction. As the mounting nozzle approaches the imaging position P2, the X-axis speed Vx is decelerated. When the mounted nozzle reaches the imaging position P2 at time t4, it is instantaneously stopped. At this timing, the mounted nozzle is imaged by the camera device 5. Thereafter, the mounting nozzle advances straight in the + Y-axis direction as the Y-axis speed Vy is accelerated. When the mounting nozzle approaches the mounting position P3, the Y-axis speed Vy is decelerated. At time t6, the mounting nozzle reaches the mounting position P3 and stops.

  Comparing FIG. 5 and FIG. 6, the time characteristics of the X-axis velocity Vx coincide with each other, and the moving time (t1 to t4) from the suction position P1 to the imaging position P2 does not change. However, in the conventional control of FIG. 6, the Y-axis speed Vy = 0 when the mounted nozzle passes the imaging position P2, and acceleration after the passage is necessary. On the other hand, in the control of the first embodiment in FIG. 5, the mounted nozzle has the Y-axis speed Vy when passing the imaging position P2, and is not decelerated in the Y-axis direction. Therefore, according to the control of the first embodiment, the mounting nozzle precedes the conventional control by an amount corresponding to the movement distance indicated by the broken line hatching H1 in FIG. Corresponding to the preceding portion, time t5 when the mounting nozzle reaches the mounting position P3 is advanced (t5 <t6).

  In the first specific case of the first embodiment, the mounted nozzle is moved to + Y by causing the control in the Y-axis direction with sufficient time for movement from the suction position P1 to the imaging position P2 to follow the X-axis direction. Can be moved non-stop in the axial direction. Thereby, the total movement time required for the mounting nozzle to move from the suction position P1 to the mounting position P3 can be shortened compared to the conventional case. That is, the mounting tact time can be shortened compared to the conventional case. Further, while the conventional control in FIG. 6 stops halfway in the Y-axis direction, the control in the first embodiment in FIG. Therefore, with respect to the Y-axis direction, waste of drive energy during deceleration is suppressed and a power saving effect is produced.

Next, in the second specific case, the time required for movement in the Y-axis direction is larger than the time required for movement in the X-axis direction while the mounting nozzle moves from the suction position P1 to the imaging position P2, and the mounting nozzle captures an image. This is a case where the required movement time in the Y-axis direction is shorter than the required movement time in the X-axis direction during the movement from the position P2 to the mounting position P3. Here, for example, when the X-axis drive mechanism 42 and the Y-axis drive mechanism 43 have the same speed performance, the magnitude relationship of the required travel time can be replaced with the magnitude relationship of the travel distance. That is, if both the following inequalities (2) and (3) hold, this corresponds to the second specific case.
(First X-axis distance Dx) <(first Y-axis distance Dy) (2)
(Second X-axis distance Lx)> (Second Y-axis distance Ly) (3)
Further, even when the speed performance is different between the X-axis drive mechanism 42 and the Y-axis drive mechanism 43, since the movement distance is determined in advance, the required movement time in the X-axis direction and the Y-axis direction can be predicted. Thereby, it can be determined whether it corresponds to a 2nd specific case.

  In the second specific case, the linkage control unit 63 overruns the mounting nozzle from the suction position P1 to the imaging position P2 to the opposite side in the direction from the imaging position P2 to the mounting position P3. In addition, the linkage control means 63 performs control so that the first nozzle speed (X-axis speed Vx) is in the direction from the imaging position P2 toward the mounting position P3 when the mounting nozzle passes the imaging position P2. FIG. 7 is a plan view schematically illustrating the mounting nozzle movement control method in the second specific case of the first embodiment.

  In FIG. 7, inequalities (2) and (3) are both established, and the case where the first X-axis distance Dx = 0 is illustrated. In FIG. 7, the thick solid line shows the mounting nozzle movement path Tr3 by the control of the first embodiment, and the middle thick broken line shows the mounting nozzle movement path Tr4 by the conventional control. FIG. 8 is a speed-time characteristic diagram used for control in the second specific case of the first embodiment, and FIG. 9 is a speed-time characteristic diagram used for conventional control in the second specific case. 8 and 9, the horizontal axis is a common time axis t, and the mounting nozzle positions P1, P2, P3, Q3, Q4, and Q5 shown in FIG. 7 are also shown.

  In the control of the first embodiment shown in FIG. 8, the linkage control means simultaneously generates the Y-axis speed Vy and the X-axis speed Vx in the + X-axis direction when the mounting nozzle starts from the suction position P1 at time t11. Let Here, the X-axis speed Vx in the + X-axis direction is on the opposite side of the −X-axis direction from the imaging position P2 toward the mounting position P3. As shown in the movement path Tr3 of FIG. 7, the mounting nozzle overruns obliquely from the suction position P1 to the direction opposite to the mounting position P3, and then makes a large turn away from the mounting position P3. When the mounting nozzle reaches a midway position Q3 near the middle between the suction position P1 and the imaging position P2 at time t12, the X-axis speed Vx changes in the −X-axis direction. Thereafter, the overrun on the opposite side gradually decreases, and the mounting nozzle moves toward the imaging position P2. Then, the overrun is eliminated before the mounting nozzle reaches the imaging position P2 at time t13. That is, in the time characteristics of the X-axis velocity Vx in FIG. 8, the area of hatching H2 (corresponding to the movement distance) is equal to the area of hatching H3.

  The mounting nozzle has an X-axis speed Vx and a Y-axis speed Vy in the −X-axis direction at time t13 and passes through the imaging position P2 obliquely. Further, the mounting nozzle is imaged by the camera device 5 at the timing of passing. The X-axis speed Vx in the −X-axis direction at this time corresponds to the first axis speed during imaging according to the present invention. Thereafter, the mounting nozzle moves diagonally. When the Y-axis direction position of the mounting nozzle approaches the mounting position P3, the Y-axis speed Vy is decelerated. After the position in the Y-axis direction of the mounting nozzle coincides with the mounting position P3 at the midway position Q4 at time t14, the mounting nozzle has only the X-axis speed Vx and moves in the −X-axis direction. When the mounting nozzle approaches the mounting position P3, the X-axis speed Vx is decelerated. The mounting nozzle reaches the mounting position P3 at time t15 and stops.

  On the other hand, in the conventional control shown in FIG. 9, the mounting nozzle does not rotate greatly. That is, when the mounting nozzle starts from the suction position P1 at time t11, only the Y-axis speed Vy is generated. The mounting nozzle moves in the + Y-axis direction from the suction position P1, as indicated by the movement path Tr4. The mounting nozzle passes through the imaging position P2 in the + Y-axis direction at time t13. Further, the mounting nozzle is imaged by the camera device 5 at the timing of passing. The mounting nozzle is accelerated in the −X-axis direction immediately after passing the imaging position P2, and moves while gradually changing the direction. When the Y-axis direction position of the mounting nozzle approaches the mounting position P3, the Y-axis speed Vy is decelerated. After the position in the Y-axis direction of the mounting nozzle coincides with the mounting position P3 at the intermediate position Q5 at time t14, the mounting nozzle has only the X-axis speed Vx and moves in the −X-axis direction. The midway position Q5 is farther from the mounting position P3 than the midway position Q4 of the first embodiment. When the mounting nozzle approaches the mounting position P3, the X-axis speed Vx is decelerated. The mounting nozzle reaches the mounting position P3 at time t16 and stops.

  Comparing FIG. 8 and FIG. 9, the time characteristics of the Y-axis speed Vy are the same, and the moving time (t11 to t13) from the suction position P1 to the imaging position P2 does not change. However, in the conventional control of FIG. 9, the X-axis speed Vx = 0 when the mounted nozzle passes the imaging position P2, and acceleration after passing is necessary. On the other hand, in the control of the first embodiment shown in FIG. 8, the X-axis speed Vx in the −X-axis direction is obtained when passing through the imaging position P2. Therefore, according to the control of the first embodiment, the mounting nozzle precedes the conventional control by the moving distance indicated by the broken line hatching H4 in FIG. Corresponding to the preceding portion, time t15 when the mounting nozzle reaches the mounting position P3 is advanced (t15 <t16).

  In the second specific case of the first embodiment, the movement time from the imaging position P2 to the mounting position P3 is the same as the mounting nozzle has the X-axis velocity Vx in the −X-axis direction and passes the imaging position P2. It can be shortened than before. In addition, since the time required for movement in the Y-axis direction (t11 to t13) is longer than the time required for movement in the X-axis direction between the suction position P1 and the imaging position P2, even if the mounting nozzle rotates much in the X-axis direction. There is no time loss. Therefore, the total moving time from the suction position P1 of the mounting nozzle to the mounting position P3 can be shortened compared to the conventional case, and the mounting tact time can be shortened compared to the conventional case.

Next, in the third specific case, the time required for movement in the Y-axis direction is shorter than the time required for movement in the X-axis direction while the mounting nozzle moves from the suction position P1 to the imaging position P2, and the mounting nozzle captures an image. This is a case where the required movement time in the Y-axis direction is longer than the required movement time in the X-axis direction during the movement from the position P2 to the mounting position P3. Here, for example, when the X-axis drive mechanism 42 and the Y-axis drive mechanism 43 have the same speed performance, the magnitude relationship of the required travel time can be replaced with the magnitude relationship of the travel distance. That is, if both of the following inequalities (4) and (5) hold, this corresponds to the third specific case.
(First X-axis distance Dx)> (first Y-axis distance Dy) (4)
(Second X-axis distance Lx) <(Second Y-axis distance Ly) (5)
Further, even when the speed performance is different between the X-axis drive mechanism 42 and the Y-axis drive mechanism 43, since the movement distance is determined in advance, the required movement time in the X-axis direction and the Y-axis direction can be predicted. Thereby, it can be determined whether it corresponds to a 3rd specific case.

  In the third specific case, the linkage control means 63 has the first axial speed (X-axis speed Vx) during imaging in the direction from the suction position P1 toward the imaging position P2 when the mounting nozzle passes the imaging position P2. To control. Further, the linkage control means 63 overruns in the direction from the suction position P1 to the imaging position P2 while the mounting nozzle moves from the imaging position P2 to the mounting position P3. FIG. 10 is a plan view schematically illustrating the mounting nozzle movement control method performed in the third specific case of the first embodiment.

  In FIG. 10, the inequalities (4) and (5) are both established, and the arrangement of the suction position P1, the imaging position P2, and the mounting position P3 is the same as in the first specific case shown in FIG. ing. In FIG. 10, the thick solid line shows the mounting nozzle movement path Tr5 by the control in the third specific case, and the middle thick broken line redisplays the mounting nozzle movement path Tr1 by the control in the first specific case. FIG. 11 is a speed-time characteristic diagram used for control in the third specific case of the first embodiment. In FIG. 11, the horizontal axis is a common time axis t, and the mounting nozzle positions P1, P2, P3, Q6, and Q7 shown in FIG.

  In the control in the third specific case of the first embodiment shown in FIG. 11, the linkage control means 63 generates only the X-axis speed Vx when the mounting nozzle starts from the suction position P1 at time t21. The mounting nozzle moves in the + X-axis direction from the suction position P1 as indicated by the movement path Tr5 in FIG. The Y-axis speed Vy is superimposed at time t22 when the mounting nozzle reaches midway position Q6. As shown in the drawing, the midway position Q6 is closer to the suction position P2 than the midway position Q1 in the first specific case. That is, the time t22 when the Y-axis speed Vy is superimposed is earlier than the time t3 in the first specific case (t22 <t3). The movement path Tr5 of the mounting nozzle is directed in the direction of the imaging position P2 while being bent. Even when the mounting nozzle approaches the imaging position P2, the X-axis speed Vx is not decelerated, unlike the first specific case. The mounting nozzle has an X-axis speed Vx and a Y-axis speed Vy at time t23 and passes through the imaging position P2 obliquely. In addition, the mounting nozzle is imaged by the camera device 5 at the passing timing. The X-axis speed Vx at this time corresponds to the first axis speed during imaging according to the present invention.

  Thereafter, the mounting nozzle overruns in the + X-axis direction while moving from the imaging position P2 to the mounting position P3, and makes a large turn away from the suction position P1. When the mounting nozzle reaches a midway position Q7 near the middle between the imaging position P2 and the mounting position P3 at time t24, the X-axis speed Vx changes in the −X-axis direction. After this, the overrun gradually decreases and the mounting nozzle moves toward the mounting position P3. When the mounting nozzle approaches the mounting position P3, the X-axis speed Vx and the Y-axis speed Vy are decelerated. The mounting nozzle reaches the mounting position P3 at time t25 and stops.

  When FIG. 11 is compared with FIG. 5, the trapezoidal shape of the time characteristic of the Y-axis speed Vy is identical, but in FIG. 11, the position of the trapezoidal shape precedes the time in FIG. That is, the time t25 when the mounting nozzle reaches the mounting position P3 is further advanced (t25 <t5). This effect occurs due to the presence or absence of the X-axis speed Vx when the mounting nozzle passes the imaging position P2. In order to explain this on FIG. 11, the time t4 when the mounting nozzle passes the imaging position P2 in the first specific case is transcribed in FIG. This passage time t4 is delayed from the passage time t23 in the third specific case by the amount of deceleration of the X-axis speed Vx (shown by a broken line). Therefore, in the third specific case, the time t22 at which the Y-axis speed Vy is superimposed can be advanced by this difference Δt (= t4−t23). As a result, the total movement time from the suction position P1 of the mounting nozzle to the mounting position P3 is shortened by the difference Δt compared to the first specific case.

  In the third specific case of the first embodiment, the movement time from the suction position P1 to the imaging position P2 is controlled by the conventional control or the first as much as the mounting nozzle has the X-axis speed Vx and can pass the imaging position P2. It can be shorter than the specific case. In addition, since the time required for movement in the Y-axis direction is longer than the time required for movement in the X-axis direction between the imaging position P2 and the mounting position P3, there is a time loss even if the mounting nozzle rotates in the X-axis direction. Does not occur. Therefore, the total moving time from the suction position P1 of the mounting nozzle to the mounting position P3 can be further shortened compared to the conventional control and the first specific case, and the mounting tact time can be further shortened. In addition, as shown in FIG. 11, in the Y-axis direction, the Y-axis speed Vy is not decelerated halfway, and waste of drive energy during deceleration is suppressed, resulting in a power saving effect.

  The mounting nozzle movement control according to the first embodiment can also be performed when mounting a plurality of electronic components collectively using a plurality of mounting nozzles held by the nozzle holder 46. In this case, the suction position P1 where the electronic component is finally sucked by the component supply device 3 and the mounting position P3 where the electronic component is first mounted on the substrate K may be considered. Moreover, although the speed time characteristic of the mounting nozzle in the first embodiment is illustrated in the drawing as a trapezoidal shape including a constant acceleration acceleration period, a constant speed period, and a constant deceleration speed deceleration period, it is not limited to this. That is, the temporal characteristics of the X-axis speed Vx and the Y-axis speed Vy can be appropriately variably controlled according to the combination of the suction position P1 and the mounting position P3 of the electronic component to be mounted. Further, when the combination of the suction position P1 and the mounting position P3 does not correspond to the three specific cases, the conventional control method can be used.

  By the way, as shown in FIGS. 5, 8, and 11, the time characteristics of the Y-axis speed Vy of the mounted nozzle are one trapezoidal shape in each of the three specific cases, and it is necessary to stop or decelerate halfway. There is no. If the acceleration performance and deceleration performance of the Y-axis drive mechanism are extremely high, such control can be performed, and a constant upper limit speed can be maintained during the constant speed period. However, in practice, the distance between the suction position P1 and the mounting position P3 is limited, and the time characteristics of the Y-axis speed Vy tend to be limited by the limits of acceleration performance and deceleration performance. For this reason, it becomes difficult to pass the imaging position P2 during the constant speed period. If imaging is performed while the mounting nozzle is accelerating or decelerating, there is a risk that clear imaging data cannot be obtained. For example, since stress is generated in the mounted nozzle during acceleration or deceleration, the tip of the nozzle may shake due to this, and the accuracy of the imaging data tends to decrease. In addition, it is difficult to determine the imaging timing during acceleration or deceleration of the mounting nozzle, and there is a possibility that synchronization between the drive mechanism and the camera device cannot be maintained.

  Further, if the mounted nozzle is in the middle of being driven by the other-axis drive mechanisms 47 to 49 when it reaches the imaging position P2, the camera device 5 cannot obtain clear imaging data. At this time, the mounting nozzle stops at the imaging position P2, the camera device 5 performs imaging after waiting for the end of the other axis drive, and then the mounting nozzle restarts. As a result, the moving time of the mounting nozzle may be extended.

  The component mounter according to the second embodiment eliminates the fear described above. A component mounter according to a second embodiment will be described with reference to FIGS. The apparatus configuration of the component mounter of the second embodiment is the same as that of the first embodiment, and the control function of the control computer 6 is different. FIG. 12 is a functional block diagram illustrating control functions related to component mounting work of the control computer 6A (control apparatus) according to the second embodiment. The control computer 6A of the second embodiment includes an imaging speed determining means 68 in the Y-axis control means 62 in addition to the means 61 to 67 of the first embodiment, and further includes another axis standby means 69. Contains.

  FIG. 13 is a Y-axis speed time characteristic diagram of the first example for explaining the function of the imaging speed determining means 68 of the second embodiment. In FIG. 13, the horizontal axis indicates the time axis t, and the vertical axis indicates the Y-axis speed Vy. The imaging speed determining means 68 sets an imaging position P2 having a predetermined range around the imaging center position PM of the camera device 5. The imaging speed determination means 68 keeps the imaging Y-axis speed VyS (second imaging speed) constant within the range of the imaging position P2.

  In FIG. 13, the imaging speed determining means 68 first performs maximum acceleration in the Y-axis direction while the mounting nozzle starts the suction position P1 at time t51 and moves to the beginning of the imaging position P2 at time t52. The suction side maximum Y-axis speed Vya (attraction side maximum second axis speed) at the start of the imaging position P2 when performing is calculated. This calculation is performed based on the first Y-axis distance Dy determined by the electronic component to be mounted and the acceleration performance of the Y-axis drive mechanism 43. Next, the imaging speed determination unit 68 moves the mounting nozzle from the end of the imaging position P2 at time t54 and stops at the mounting position P3, and the imaging position P2 when performing maximum deceleration in the Y-axis direction. The mounting side maximum Y-axis speed Vyd (mounting side maximum second-axis speed) at the end of is calculated. This calculation is performed based on the second Y-axis distance Ly determined by the electronic component to be mounted and the deceleration performance of the Y-axis drive mechanism 43. Third, the imaging speed determination means 68 compares the suction side maximum Y-axis speed Vya and the mounting side maximum Y-axis speed Vyd, and sets the smaller one as the imaging Y-axis speed VyS. In the first example of FIG. 13, the suction side maximum Y-axis speed Vya is the Y-axis speed VyS during imaging.

  Thereby, the Y-axis speed time characteristic in the first example of the Y-axis control means 62 is determined. That is, the Y-axis control means 62 performs maximum acceleration immediately after the mounting nozzle starts the suction position P1 at time t51. The mounting nozzle is accelerated to the Y-axis speed VyS at the time of imaging at time t52 and just reaches the start end of the imaging position P2. Thereafter, the Y-axis control means 62 keeps the Y-axis speed VyS during imaging within the range of the imaging position P2, and the attached nozzle passes the imaging center position PM at time t53. At this timing, the mounting nozzle is imaged by the camera device 5. Even after the imaging is finished, the Y-axis control means 62 keeps the Y-axis speed VyS at the time of imaging constant, and the mounted nozzle reaches the end of the imaging position P2 at time t54. Thereafter, the Y-axis control means 62 decelerates at a substantially constant deceleration, and the mounting nozzle reaches the mounting position P3 and stops at time t55.

  In FIG. 13, since the Y-axis speed VyS during imaging is determined by the acceleration-side acceleration limiting condition, there is a margin in speed control on the mounting side. Therefore, the Y-axis speed / time characteristic diagram of the first example of the second axis control means can be modified as shown in FIGS. 14 is a first modification obtained by modifying the Y-axis speed / time characteristic diagram of the first example of FIG. 13, and FIG. 15 is a second modification of the Y-axis speed / time characteristic diagram of the first example of FIG. is there.

  In the first modified example of FIG. 14, the Y-axis control means 62 maintains the Y-axis speed VyS during imaging even after the mounted nozzle reaches the end of the imaging position P2 at time t54. The Y-axis control means 62 performs maximum deceleration after time t56, and the mounting nozzle reaches the mounting position P3 and stops at time t57. In the second modified example of FIG. 15, the Y-axis control means 62 reaccelerates the Y-axis speed Vy immediately after the mounting nozzle reaches the end of the imaging position P2 at time t54. This re-acceleration is performed within a range in which the maximum deceleration can be performed to stop at the mounting position P3. The Y-axis control means 62 switches from acceleration to deceleration at time t58, and thereafter performs maximum deceleration, and the mounting nozzle reaches the mounting position P3 and stops at time t59. In the first modification, the time t57 when the mounting nozzle reaches the mounting position P3 is earlier than the arrival time t55 of FIG. In the second modified example, the time t59 when the mounting nozzle reaches the mounting position P3 is earlier than the arrival time t57 of the first modified example.

  Next, FIG. 16 is a Y-axis speed / time characteristic diagram of a second example for explaining the function of the imaging speed determining means 68 of the second embodiment. In FIG. 16, the horizontal axis indicates the time axis t, and the vertical axis indicates the Y-axis speed Vy. Similar to the first example, the imaging speed determination means 68 sets an imaging position P2 having a predetermined range around the imaging center position PM of the camera device 5. The imaging speed determination means 68 keeps the imaging Y-axis speed VyS (second imaging speed) constant within the range of the imaging position P2.

  In FIG. 16, the imaging speed determining means 68 first performs the maximum acceleration in the Y-axis direction while the mounting nozzle starts the suction position P1 and moves to the beginning of the imaging position P2 at time t62. The suction side maximum Y-axis speed Vya (attraction side maximum second axis speed) at the start end of the imaging position P2 is calculated. Next, the imaging speed determination unit 68 moves the mounting nozzle from the end of the imaging position P2 at time t64 and stops at the mounting position P3, and then the imaging position P2 when performing maximum deceleration in the Y-axis direction. The mounting side maximum Y-axis speed Vyd (mounting side maximum second-axis speed) at the end of is calculated. Third, the imaging speed determining means 68 compares the suction side maximum Y-axis speed Vya and the mounting side maximum Y-axis speed Vyd, and sets the smaller one as the imaging Y-axis speed VyS. In the second example of FIG. 16, the mounting side maximum Y-axis speed Vyd is set to the imaging Y-axis speed VyS.

  Thereby, the Y-axis speed time characteristic in the second example of the Y-axis control means 62 is determined. That is, the Y-axis control means 62 performs maximum acceleration immediately after the mounting nozzle starts the suction position P1 at time t61. The mounting nozzle is accelerated to the Y-axis speed VyS at the time of imaging before the imaging position P2 at time t62, and thereafter maintains the Y-axis speed VyS at the time of imaging. The mounting nozzle reaches the start end of the imaging position P2 at time t63. Thereafter, the Y-axis control means 62 keeps the Y-axis speed VyS during imaging within the range of the imaging position P2, and the attached nozzle passes the imaging center position PM at time t64. At this timing, the mounting nozzle is imaged by the camera device 5. Even after the imaging is finished, the Y-axis control means 62 keeps the Y-axis speed VyS at the time of imaging constant. The mounting nozzle reaches the end of the imaging position P2 at time t65. Thereafter, the Y-axis control means 62 decelerates at the maximum deceleration, the mounting nozzle reaches the mounting position P3 at time t66, and the Y-axis speed becomes exactly zero and stops.

  In FIG. 16, since the Y-axis speed VyS during imaging is determined according to the deceleration restriction condition on the mounting side, there is a margin in speed control on the suction side. Therefore, the Y-axis speed / time characteristic diagram of the second example of the Y-axis control means 62 can be modified as shown in FIG. FIG. 17 is a third modified example in which the Y-axis velocity time characteristic diagram of the second example of FIG. 16 is modified.

  In the third modified example of FIG. 17, the Y-axis control means 62 performs the maximum acceleration immediately after the start by delaying the time t67 when the mounting nozzle starts the suction position P1 from the time t61 of FIG. This acceleration is performed within a range where the image pickup position P2 can pass at the Y-axis speed VyS during imaging by performing maximum deceleration. The Y-axis speed Vy of the mounting nozzle exceeds the Y-axis speed VyS during imaging, and the Y-axis control means 62 switches from acceleration to deceleration at time t68 and decelerates with the maximum deceleration. As a result, the mounting nozzle is decelerated to the Y-axis speed VyS at the time of imaging at time t63, and just reaches the start end of the imaging position P2. Thereafter, the Y-axis speed / time characteristics are the same as those in FIG. In the third modification, the time t67 at which the mounting nozzle starts the suction position P1 is later than the start time t61 in FIG.

  In the second embodiment, the Y-axis control means 62 performs the imaging speed determination means 68 individually corresponding to the combination of the suction position P1 and the mounting position P3 that change depending on the type of electronic component. That is, the Y-axis control means 62 of the second embodiment creates the Y-axis speed / time characteristic diagram illustrated in FIGS. 13 to 17 for each type of electronic component, and controls the movement of the mounting nozzle based on this. . Therefore, the Y-axis speed VyS at the time of imaging differs for each type of electronic component.

  Next, the effect of the imaging speed determining means 68 will be described in comparison with the conventional control. FIG. 18 is a Y-axis velocity time characteristic diagram used for conventional control. In FIG. 18, the suction side maximum Y-axis speed Vya determined by the electronic component suction position P1 changes from the maximum value Vya-max to the minimum value Vya-min. Further, the mounting side maximum Y-axis speed Vyd determined by the mounting position P3 of the electronic component changes from the maximum value Vyd-max to the minimum value Vyd-min. In the conventional control, the smallest value among these is generally set as the Y-axis speed VyS-cnv during imaging. In the example of FIG. 18, the minimum value Vya-min on the suction side is set as the Y-axis speed VyS-cnv at the time of imaging. In the conventional control, the Y-axis speed VyS-cnv during imaging is applied to all electronic components.

  In the example of the conventional control of FIG. 18, the maximum acceleration is performed immediately after the mounting nozzle starts the suction position P1 at time t71. When the mounted nozzle reaches the Y-axis speed VyS-cnv at the time of imaging before the imaging position P2 at time t72, the Y-axis speed VyS-cnv at the time of imaging is maintained without acceleration / deceleration thereafter. Then, even when the mounting nozzle passes the imaging position P2, the imaging Y-axis speed VyS-cnv is maintained, and the speed is reduced after time t73. The mounting nozzle reaches the mounting position P3 at time t74 and stops. In the conventional control, although there is room for acceleration both before and after the imaging position P2, the Y-axis speed Vy is limited to the uniform imaging Y-axis speed VyS-cnv.

  On the other hand, the imaging speed determination unit 68 of the second embodiment determines the imaging Y-axis speed VyS for each type of electronic component. Therefore, when the suction position P1 or the mounting position P3 is away from the imaging position P2, the Y-axis control unit 62 can use the Y-axis speed VyS at the time of imaging that is significantly higher than that of the conventional control. Accordingly, the movement time of the mounting nozzle in the Y-axis direction can be shortened corresponding to the type of electronic component, and the mounting tact time can be shortened as compared with the conventional case. Further, in the modified examples of FIGS. 15 and 17, the Y-axis control means 62 makes the Y speed Vy of the mounted nozzle larger than the Y-axis speed VyS during imaging either before or after the imaging position P2. Therefore, the mounting tact time can be further shortened.

  In addition, when the imaging speed determining means 68 is used together in the first specific case of the first embodiment, the X-axis speed Vx (first axis speed at imaging) when the attached nozzle passes the imaging position P2 is kept at zero. As a result, the Y-axis speed Vy (second axis speed during imaging) is kept constant. That is, the moving speed of the mounting nozzle is a constant speed only in the Y-axis direction, and extremely good imaging conditions suitable for on-the-fly imaging are satisfied. Accordingly, in addition to the effect of shortening the mounting tact time, the camera device 5 can reliably obtain clear imaging data and can reliably determine the component suction state with high accuracy.

  Further, when the imaging speed determining means 68 is used in combination in the second and third specific cases of the first embodiment, the X-axis speed Vx (the first axis speed at imaging) when the mounting nozzle passes the imaging position P2 and The Y-axis speed Vy (second axis speed during imaging) is kept constant. That is, the mounting nozzle skews the imaging position, but the moving speed is constant, and satisfactory imaging conditions suitable for on-the-fly imaging are satisfied. For this reason, the tip of the mounting nozzle does not shake due to acceleration / deceleration. Therefore, in addition to the effect of shortening the mounting tact time, the camera device 5 can stably obtain clear imaging data at an appropriate imaging timing, and can determine the component adsorption state with high accuracy.

  Next, the other axis standby means 69 will be described. FIG. 19 is an operation time characteristic diagram illustrating the function of the other-axis standby unit 69 of the component mounter according to the second embodiment. In FIG. 19, the horizontal axis is a common time axis t, the upper graph shows the time characteristics of the operation of the other-axis drive mechanism, and the lower graph shows the time characteristics Chr1 of the X-axis speed Vx and the Y-axis speed Vy. ing. The other-axis drive mechanism may be any of the R-axis rotation drive mechanism 47, the Z-axis drive mechanism 48, and the θ-axis rotation drive mechanism 49, or may be plural.

The other axis standby unit 69 controls the other axis more than the moving time Tmove required for the mounted nozzle to move from the suction position P1 to the imaging position P2 under the control of the X axis control unit 61 and the Y axis control unit 62. When the operation time Tact required for the other-axis drive mechanisms 47-49 to move or rotate the mounted nozzles by the control of the means 64-66 is large, the mounted nozzle start timing t82 is started to operate the other-axis drive mechanisms 47-49 . The waiting time Twait is delayed from the time t81.

  In the example of FIG. 19, the mounting nozzle finishes sucking the electronic component at time t <b> 81 and is in a movable state. Here, as a preparation for imaging at the imaging position P2, the mounted nozzle may be driven by the operation of the other-axis drive mechanisms 47-49. In this case, the other-axis standby unit 69 compares the movement time Tmove of the mounting nozzle with the operation time Tact of the other-axis drive mechanisms 47 to 49. When the operation time Tact is longer than the movement time Tmove, the other-axis standby unit 69 immediately operates the other-axis drive mechanisms 47 to 49. The other-axis standby unit 69 starts the control of the X-axis control unit 61 and the Y-axis control unit 62 at time t82 delayed by the standby time Twait.

  As a result, the end of the driving operation of the other-axis driving mechanisms 47 to 49 and the arrival of the mounting nozzle at the start position of the imaging position P2 substantially coincide at time t83. Therefore, the camera device 5 can obtain clear image data without waiting for the imaging timing. In addition, as a preparation for mounting after imaging, the mounting nozzle may be driven by the operation of the other-axis driving mechanisms 47 to 49. In this case, the other-axis drive mechanisms 47 to 49 are operated at time t84 immediately after the mounting nozzle passes the imaging position P2. At time t85, the driving operation of the other-axis drive mechanisms 47 to 49 ends, and at time t86, the mounting nozzle reaches the mounting position P3 and stops.

  Here, the operation time Tact of the other-axis drive mechanisms 47 to 49 can vary depending on various factors. For example, the operating time Tact changes when the mounting nozzle is replaced, and may change even when the nozzle holder 46 holding a plurality of mounting nozzles is replaced. Furthermore, the operation time Tact varies depending on whether all of the plurality of mounting nozzles adsorb components or only a part adsorbs components, and the operation time Tact varies depending on the size and shape of the adsorbed components. It is also possible to do. On the other hand, the movement time Tmove of the mounting nozzle also changes depending on the suction position P1. In order to cope with such a change, the other-axis standby unit 69 accurately estimates and optimizes the standby time Twait using a database or an arithmetic expression.

  Next, the effect of the other axis standby means 69 will be described in comparison with the conventional control. FIG. 20 is an operation time characteristic diagram for explaining the function of the other-axis operation by the conventional control. The display format of FIG. 20 matches that of FIG. FIG. 20 shows the time characteristics Chr2 of the X-axis speed Vx and the Y-axis speed Vy by the conventional control, and the time characteristics Chr1 of the X-axis speed Vx and the Y-axis speed Vy shown in FIG. It is displayed.

  In the conventional control, when the operation of the other-axis drive mechanisms 47 to 49 is necessary after the mounting nozzle finishes the suction of the electronic components, the other-axis drive mechanisms 47 to 49, the X-axis control means 61, and the Y-axis at the time t81. The control means 62 was started at the same time, and the X-axis control means 61 and the Y-axis control means 62 accelerated the mounting nozzle in accordance with the drive operation of the other-axis drive mechanisms 47-49. That is, as indicated by the time characteristic Chr2 in FIG. 20, the X-axis control unit 61 and the Y-axis control unit 62 capture the image of the mounted nozzle at time t83 when the driving operation of the other-axis driving mechanisms 47 to 49 ends. Control was performed so as to reach the position P2. For this reason, in the conventional control, the moving speeds Vx and Vy when the mounting nozzle passes the imaging position P2 are small, and the time t87 at which the mounting nozzle reaches the mounting position P3 is reached as shown in FIG. It is later than the time t86.

  Further, in the conventional control, the other-axis drive mechanisms 47 to 49, the X-axis control means 61, and the Y-axis control means 62 are simultaneously started at the time t81, and the mounted nozzle is accelerated to the maximum. . In this case, the mounting nozzle reaches the start end of the imaging position P2 before the driving operation of the other-axis driving mechanisms 47 to 49 is completed. For this reason, the mounting nozzle temporarily stops at the imaging center position PM and the driving operation of the other-axis driving mechanisms 47 to 49 is completed, and is restarted after the imaging by the camera device 5 is completed. Therefore, the arrival of the mounting nozzle to the mounting position P3 is further delayed than in the case of FIG.

  On the other hand, the other-axis standby unit 69 of the second embodiment has a waiting time Twait, so that the other-axis drive is already finished when the mounted nozzle reaches the imaging position P2. Further, the other-axis standby unit 69 accurately estimates and optimizes the standby time Twait corresponding to the change in the operation time Tact of the other-axis drive mechanisms 47 to 49 and the movement time Tmove of the mounted nozzle using a database or an arithmetic expression. . Therefore, the arrival of the mounting nozzle at the imaging position P2 and the end of driving of the other-axis drive mechanisms 47 to 49 can be matched in timing, and the mounting nozzle temporarily stops at the imaging position P2 and the other-axis driving ends. However, it is not necessary to wait until the camera device 5 performs imaging, and the camera device 5 can pass through the imaging position P2 at a high speed. This significantly reduces the mounting tact time. On the other hand, since the camera device 5 can image the mounted nozzle that passes at a constant speed after the other-axis driving is completed, clear imaging data can be obtained.

Note that the imaging speed determination unit 68 of the second embodiment may determine the imaging Y-axis speed VyS in consideration of a certain degree of margin in consideration of calculation errors and control errors. The other-axis standby unit 69 estimates the operation time Tact of the other-axis drive mechanisms 47 to 49 and the movement time Tmove of the mounted nozzle using various estimation methods, and subtracts the movement time Tmove from the operation time Tact. The waiting time Twait may be obtained. Various other applications and modifications are possible for the present invention.

1: Component mounter 2: Board transfer device 3: Component supply device 4: Component transfer device 41: Head drive mechanism 42: X axis drive mechanism 43: Y axis drive mechanism 45: Component mount head 46: Nozzle holder 47: R Axis rotation drive mechanism 48: Z-axis drive mechanism 49: θ-axis rotation drive mechanism 5: Camera device 6, 6A: Control computer 61: X-axis control means 62: Y-axis control means 63: Linkage control means 64: R-axis control means 65: Z-axis control means 66: θ-axis control means 67: On-the-fly imaging control means 68: Imaging speed determination means 69: Other axis standby means K: Substrate P1: Adsorption position P2: Imaging position P3: Mounting position PM: Imaging center position Q1 to Q7: intermediate position Vx: X axis velocity Vy: Y axis velocity Tr1～Tr5: moving path of the mounting nozzle Tact: operation time Tmove: travel time Twait: wait Between

Claims (11)

A substrate holding device for positioning and holding the substrate;
A component supply device for supplying a plurality of types of electronic components to be mounted on the substrate to a plurality of suction positions arranged in parallel in the first axial direction;
Mounting nozzle for mounting a plurality of the suction position to the mounting position of the substrate held by suction the electronic component, the first axial drive mechanism moves the mounting nozzle to the first axis direction, and the mounting nozzle A component transfer device having a second axis drive mechanism for moving in a second axis direction perpendicular to the first axis direction;
A camera device that is arranged, for imaging the electronic component sucked to the mounting nozzle imaging position between the second axial direction as the substrate holding device and the component feeding device,
A first axis control means for controlling the first axis drive mechanism to control a first axis speed which is a moving speed component of the mounting nozzle in the first axis direction, and a second axis drive mechanism for controlling the attachment. A second axis control means for controlling a second axis speed which is a moving speed component of the nozzle in the second axis direction, and the first axis control means and the second axis control means are controlled in association with each other to control the mounting nozzle. A component mounting machine comprising: a control device including linkage control means for moving from a suction position to the mounting position via the imaging position;
The linkage control means includes
While the mounting nozzle moves from the suction position to the imaging position, the second axis controlled by the second axis control means is shorter than the time required for movement in the first axis direction controlled by the first axis control means. If you can predict that the direction travel time will be small,
Prior to the control of the first axis control means, the mounting nozzle is started in the first axis direction, and the control of the second axis control means is delayed to start the mounting nozzle in the second axis direction. The component mounter that controls the mounting nozzle to pass through the imaging position in a non-stop manner with respect to the second axis direction . A substrate holding device for positioning and holding the substrate;
A component supply device for supplying a plurality of types of electronic components to be mounted on the substrate to a plurality of suction positions arranged in parallel in the first axial direction;
Mounting nozzle for mounting a plurality of the suction position to the mounting position of the substrate held by suction the electronic component, the first axial drive mechanism moves the mounting nozzle to the first axis direction, and the mounting nozzle A component transfer device having a second axis drive mechanism for moving in a second axis direction perpendicular to the first axis direction;
A camera device that is arranged, for imaging the electronic component sucked to the mounting nozzle imaging position between the second axial direction as the substrate holding device and the component feeding device,
A first axis control means for controlling the first axis drive mechanism to control a first axis speed which is a moving speed component of the mounting nozzle in the first axis direction, and a second axis drive mechanism for controlling the attachment. A second axis control means for controlling a second axis speed which is a moving speed component of the nozzle in the second axis direction, and the first axis control means and the second axis control means are controlled in association with each other to control the mounting nozzle. A component mounting machine comprising: a control device including linkage control means for moving from a suction position to the mounting position via the imaging position;
The linkage control means includes
While the mounting nozzle moves from the suction position to the imaging position, the second axis controlled by the second axis control means is shorter than the time required for movement in the first axis direction controlled by the first axis control means. unpredictable and movement time required is large, and, while the said attachment nozzle is moved to the mounting position from the imaging position, the movement of the first said than the axial direction of the travel time second axial If you can predict that the time required will be small,
While the mounting nozzle moves from the suction position to the imaging position, the imaging position is overrun to the opposite side of the direction from the imaging position to the mounting position, and the mounting nozzle passes the imaging position. the have a first shaft speed during imaging in a direction toward the mounting position from and to control the first axis control means so as not to overrun between said mounting nozzle is moved to the mounting position from the imaging position components Mounting machine. A substrate holding device for positioning and holding the substrate;
A component supply device for supplying a plurality of types of electronic components to be mounted on the substrate to a plurality of suction positions arranged in parallel in the first axial direction;
Mounting nozzle for mounting a plurality of the suction position to the mounting position of the substrate held by suction the electronic component, the first axial drive mechanism moves the mounting nozzle to the first axis direction, and the mounting nozzle A component transfer device having a second axis drive mechanism for moving in a second axis direction perpendicular to the first axis direction;
A camera device that is arranged, for imaging the electronic component sucked to the mounting nozzle imaging position between the second axial direction as the substrate holding device and the component feeding device,
A first axis control means for controlling the first axis drive mechanism to control a first axis speed which is a moving speed component of the mounting nozzle in the first axis direction, and a second axis drive mechanism for controlling the attachment. A second axis control means for controlling a second axis speed which is a moving speed component of the nozzle in the second axis direction, and the first axis control means and the second axis control means are controlled in association with each other to control the mounting nozzle. A component mounting machine comprising: a control device including linkage control means for moving from a suction position to the mounting position via the imaging position;
The linkage control means includes
While the mounting nozzle moves from the suction position to the imaging position, the second axis controlled by the second axis control means is shorter than the time required for movement in the first axis direction controlled by the first axis control means. unpredictable and movement time required is small, and, while the said attachment nozzle is moved to the mounting position from the imaging position, the movement of the first said than the axial direction of the travel time second axial If you can predict that the time required will be large,
The first axis during imaging in the direction from the suction position to the imaging position when the mounting nozzle passes through the imaging position without overrun while the mounting nozzle moves from the suction position to the imaging position. A component mounting machine that has a speed and controls the first axis control means so as to overrun in a direction from the suction position toward the imaging position while the mounting nozzle moves from the imaging position to the mounting position. . In any one of Claims 1-3,
The first axis control means keeps the first axis speed during imaging when the mounting nozzle passes through the imaging position,
The second axis control means is a component mounter that keeps the second axis speed constant during imaging when the mounting nozzle passes through the imaging position.   5. The component mounter according to claim 4, wherein the first axis control means maintains the first axis speed at the time of imaging. A substrate holding device for positioning and holding the substrate;
A component supply device for supplying a plurality of types of electronic components to be mounted on the substrate to a plurality of suction positions arranged in parallel in the first axial direction;
A mounting nozzle for mounting the electronic component from a plurality of the suction positions to the mounting position of the substrate held by suction, a first axis driving mechanism for moving the mounting nozzle in the first axis direction, and the mounting nozzle; A component transfer device having a second axis drive mechanism for moving in a second axis direction perpendicular to the first axis direction;
A camera device arranged in parallel between the substrate holding device and the component supply device in the second axis direction and imaging the electronic component sucked by the mounting nozzle at an imaging position;
A first axis control means for controlling the first axis drive mechanism to control a first axis speed which is a moving speed component of the mounting nozzle in the first axis direction, and a second axis drive mechanism for controlling the attachment. A second axis control means for controlling a second axis speed which is a moving speed component of the nozzle in the second axis direction, and the first axis control means and the second axis control means are controlled in association with each other to control the mounting nozzle. A component mounting machine comprising: a control device including linkage control means for moving from a suction position to the mounting position via the imaging position;
The first axis control means keeps the first axis speed during imaging when the mounting nozzle passes through the imaging position,
The second axis control means includes
While maintaining the second axis speed during imaging when the mounting nozzle passes through the imaging position,
The suction side maximum second axis speed at the imaging position when the mounting nozzle starts the suction position and moves to the imaging position to maximize acceleration in the second axis direction, and the mounting nozzle Compared with the mounting-side maximum second axis speed at the imaging position when performing maximum deceleration in the second axis direction while moving from the imaging position and stopping at the mounting position, Including an imaging speed determination means as a second axis speed;
Mounter for performing the imaging at speed determining means separately said in response to the combination of the suction position and the mounting position varies depending on the kind of the electronic component. The imaging speed determining means according to claim 6 , wherein the suction side maximum second axis speed is the imaging second axis speed.
The second axis control means sets the second axis speed within a range in which the second nozzle speed can be stopped at the mounting position by performing a maximum deceleration after the mounting nozzle passes the imaging position. A component mounter that can be controlled to a greater extent. The imaging speed determination means according to claim 6 , when the mounting-side maximum second axis speed is the imaging second axis speed.
The second axis control means performs the maximum deceleration before the mounting nozzle passes the imaging position, and the second axis speed is within a range in which the imaging position can pass at the second axis speed during imaging. Is a component mounter that controls the speed larger than the second axis speed during imaging. In any one of Claims 4-8,
The component transfer device, in addition to the first axis driving mechanism and the second shaft driving mechanism further includes a cross-axis drive mechanism for moving or rotating the mounting nozzle having adsorbed the electronic component,
The controller is
Other axis control means for controlling the other axis drive mechanism;
By the control of the other axis control means, the moving time required for the mounting nozzle to move to the imaging position after starting the suction position by the control of the first axis control means and the second axis control means is controlled. Another shaft standby means for delaying the start timing of the mounting nozzle by a standby time from the operation start timing of the other shaft drive mechanism when the operation time required for the other shaft drive mechanism to move or rotate the mounting nozzle is large; , Further comprising a component mounting machine. According to claim 9, wherein the other shaft standby means, said holding from operating time the greater than the travel time by subtracting the difference between the time variable of the waiting time in the database, or arithmetic expression for obtaining a variable of the waiting time A component mounting machine. 11. The third shaft drive mechanism according to claim 9, wherein the other-axis drive mechanism moves the mounting nozzle in a third axis direction perpendicular to the first axis direction and the second axis direction. nozzle rotation drive mechanism for rotating about the three axes, and the component mounting machine comprising at least one of the plurality of the mounting nozzle holder rotation drive mechanism for rotating the nozzle holder holding around the third axis.

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