CN108353538B - Component mounting apparatus - Google Patents

Abstract

The invention provides an object to be mounted operation device (100) which is provided with an object to be mounted conveying part (2) for conveying an object to be mounted (P), an object to be mounted holding part (3) for holding the object to be mounted, and a head unit (4) for operating the object to be mounted. The mounted object conveying unit has a pair of conveyor units (221). The pair of conveyor sections are configured to be movable independently of each other in a direction orthogonal to the conveying direction.

Description

Component mounting apparatus

Technical Field

The present invention relates to an object mounting work apparatus, and more particularly to an object mounting work apparatus including an object mounting transport unit that transports an object to be mounted with components.

Background

Conventionally, an object to be mounted working apparatus including an object to be mounted conveying unit that conveys an object to be mounted to which components are to be mounted is known. For example, the publication of patent No. 5721469 discloses a method for producing a semiconductor device.

The above-mentioned patent 5721469 discloses a component mounting apparatus (mounted object operation apparatus) including a substrate conveying apparatus (mounted object conveying unit) for conveying a substrate (mounted object) to which components are to be mounted in a conveying direction. The substrate has an uneven component mounting surface. In addition, in the component mounting apparatus, a substrate holding device that holds a substrate and rotates is provided in order to mount a component on the substrate having an uneven component mounting surface. In this component mounting apparatus, the substrate is transferred from the substrate transport apparatus to the substrate holding apparatus. In this component mounting apparatus, the substrate transfer apparatus is roughly configured by a pair of guide rails and a pair of conveyor belts. The substrate conveying device is configured to convey the substrate in a conveying direction by a pair of guide rails and a pair of conveyors.

Documents of the prior art

Patent document

Patent document 1: patent 5721469 gazette

Disclosure of Invention

Problems to be solved by the invention

However, the above-mentioned patent 5721469 discloses only the conveyance of the substrate in the conveyance direction, and does not disclose any movement of the pair of conveyor sections (the pair of guide rails and the pair of conveyor belts) in the direction orthogonal to the conveyance direction. Therefore, the following problems are considered to exist: there are cases where the pair of conveyor sections cannot be driven to appropriately transfer the substrate (mounted object) from the substrate conveying device (mounted object conveying section) to the substrate holding device (mounted object holding section).

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an attached object working apparatus capable of appropriately transferring an attached object from an attached object conveying unit to an attached object holding unit.

Means for solving the problems

An object working device according to an aspect of the present invention includes: an object-to-be-mounted carrying unit for carrying an object to be mounted on which components are to be mounted; an attached object holding section that delivers and holds an attached object from the attached object conveying section at the delivery position and tilts the held attached object; and a working section for working the mounted object held by the mounted object holding section, wherein the mounted object conveying section has a pair of conveyor sections for supporting the mounted object from both sides in a direction orthogonal to the conveying direction and conveying the mounted object in the conveying direction, the pair of conveyor sections are configured to be movable independently of each other in the direction orthogonal to the conveying direction, and the pair of conveyor sections are configured to perform an operation of transferring the mounted object from the mounted object conveying section to the mounted object holding section by moving the pair of conveyor sections in the direction orthogonal to the conveying direction.

In the work device for an object to be mounted according to the aspect of the present invention, as described above, the pair of conveyor sections are configured to be movable independently of each other in the direction orthogonal to the conveying direction. The pair of conveyor units are configured to move in a direction orthogonal to the conveying direction to transfer the mounted object from the mounted object conveying unit to the mounted object holding unit. Thus, the width between the pair of conveyor sections can be changed according to the width of the mounted object, and therefore, the mounted objects having different widths can be delivered. Further, the mounted object can be transferred by moving the mounted object in a direction orthogonal to the conveying direction by the pair of conveyor units. Further, the pair of conveyor sections can be moved away from each other in a direction orthogonal to the conveying direction to transfer the mounted object. As a result, the degree of freedom in driving the pair of conveyor sections can be increased, and therefore the pair of conveyor sections can be driven to appropriately transfer the mounted object from the mounted object conveying section to the mounted object holding section.

In the above-described object-to-be-mounted-work apparatus, it is preferable that the control unit further includes a control unit configured to, when the operation of delivering the object to be mounted from the object-to-be-mounted-transport unit to the object-to-be-mounted-holding unit is performed, perform the following control after the object to be mounted is held by the object-to-be-mounted-holding unit: the pair of conveyor sections are moved in a direction orthogonal to the conveying direction to expand the width between the pair of conveyor sections. With this configuration, unlike the case where one conveyor unit is fixed, the mounted object can be delivered from the mounted object conveying unit to the mounted object holding unit only by increasing the width between the pair of conveyor units in a state where the mounted object is held by the mounted object holding unit. As a result, the mounted object can be delivered from the mounted object conveying unit to the mounted object holding unit with a simple configuration, as compared with the case where a dedicated mounted object delivery device is additionally provided.

In this case, it is preferable that the control unit is configured to tilt the mounted object by the mounted object holding unit and to perform the work on the mounted object by the working unit in a state where the width between the pair of conveyor units is increased. With this configuration, when the object to be mounted is tilted by the object holding portion and the operation portion performs an operation on the object to be mounted, the pair of conveyor portions can be retracted in advance, and therefore, the pair of conveyor portions can be prevented from interfering with the object holding portion and the object to be mounted.

In the configuration in which the control unit performs control for moving the pair of conveyor units in the direction orthogonal to the conveying direction to widen the width between the pair of conveyor units, the control unit is preferably configured to perform the following control when the control unit performs the operation by the working unit in a state in which the mounted object is tilted by the mounted object holding unit and then performs the operation for receiving the mounted object from the mounted object holding unit by the mounted object conveying unit: the pair of conveyor sections are moved in a direction orthogonal to the conveying direction to narrow the width between the pair of conveyor sections. With this configuration, the mounted object can be received from the mounted object holding portion by the mounted object conveying portion only by narrowing the width between the pair of conveyor portions in a state where the mounted object is held by the mounted object holding portion. As a result, the mounted object can be received from the mounted object holding portion by the mounted object conveying portion with a simple configuration, as compared with a case where a dedicated mounted object receiving device is additionally provided. This allows both the transfer of the mounted object from the mounted object conveying unit to the mounted object holding unit and the reception of the mounted object from the mounted object holding unit by the mounted object conveying unit to be performed with a simple configuration.

In the configuration in which the control unit performs control for moving the pair of conveyor units in the direction orthogonal to the conveying direction to widen the width between the pair of conveyor units, the control unit is preferably configured to perform the following control when performing an operation for delivering the mounted object from the mounted object conveying unit to the mounted object holding unit: the object is moved in the conveying direction by the pair of conveyor sections, and the object is positioned at the delivery position by moving the pair of conveyor sections in a direction orthogonal to the conveying direction while maintaining the width between the pair of conveyor sections. With this configuration, even when the mounted object holding section is disposed at a position offset in a direction orthogonal to the conveying direction, the mounted object can be easily positioned at the delivery position by driving the pair of conveyor sections.

In the configuration in which the control section performs the control of moving the pair of conveyor sections in the direction orthogonal to the conveying direction to expand the width between the pair of conveyor sections, it is preferable that the object to be mounted has a horizontal work surface and an inclined work surface inclined with respect to the horizontal work surface, and the control section is configured to perform the work by the work section on the horizontal work surface of the object to be mounted in the state held by the object to be mounted conveying section before the object to be mounted is delivered to the object to be mounted holding section by the object to be mounted conveying section or after the object to be mounted is received from the object to be mounted holding section by the object to be mounted conveying section. With this configuration, when the force of holding the mounted object by the mounted object conveying unit is greater than that of the mounted object holding unit, the operation unit performs the operation on the horizontal work surface of the mounted object held by the mounted object conveying unit, and thus the operation by the operation unit can be performed with high accuracy on the horizontal work surface.

In the above-described object to be mounted working apparatus, it is preferable that the object to be mounted is conveyed by the object to be mounted conveying portion in a state of being held by the object to be mounted holding member, and is held by the object to be mounted holding portion via the object to be mounted holding member, the object to be mounted holding member has a single held portion for holding the object to be mounted holding portion, and the object to be mounted holding portion is configured as a single held portion for holding the object to be mounted holding member. With this configuration, when the mounted object is delivered from the mounted object conveying unit to the mounted object holding unit at the delivery position, only the single mounted object holding unit may be held by the mounted object holding unit. As a result, as compared with a case where a plurality of mounted object holding portions need to be held by the mounted object holding portion, the mounted object holding portion and the held portion can be easily aligned, and therefore, the mounted object can be easily transferred from the mounted object conveying portion to the mounted object holding portion at the transfer position.

Effects of the invention

According to the present invention, as described above, it is possible to provide an object to be mounted working apparatus capable of appropriately transferring an object to be mounted from an object to be mounted conveying unit to an object to be mounted holding unit.

Drawings

Fig. 1 is a schematic front view showing an overall configuration of an object working apparatus according to an embodiment of the present invention.

Fig. 2 is a schematic plan view showing an overall configuration of an object working apparatus according to an embodiment.

Fig. 3 is a schematic side view showing an overall configuration of an object working apparatus according to an embodiment.

Fig. 4 is a diagram showing an object to be mounted operated by an object to be mounted working apparatus according to an embodiment, fig. 4(a) is a schematic plan view showing the object to be mounted, fig. 4(B) is a schematic front view showing the object to be mounted, and fig. 4(C) is a schematic side view showing the object to be mounted.

Fig. 5 is a perspective view showing an attached object holding portion of an attached object working apparatus according to an embodiment.

Fig. 6 is a block diagram showing a control structure of the mounted object working apparatus according to the embodiment.

Fig. 7 is a diagram for explaining the operation of the pair of conveyor portions of the mounted object conveying portion according to the embodiment, fig. 7(a) is a diagram showing a state where the pair of conveyor portions are located at the conveying position, fig. 7(B) is a diagram showing an operation where the pair of conveyor portions synchronously move in a direction orthogonal to the conveying direction, and fig. 7(C) is a diagram showing an operation where the pair of conveyor portions move in directions away from each other.

Fig. 8 is a diagram for explaining the operation of the mounted object working apparatus according to the embodiment, fig. 8(a) is a schematic side view showing a state in which a mounted object is carried in and moved in the conveying direction, and fig. 8(B) is a schematic plan view showing a state in which a mounted object is carried in and moved in the conveying direction.

Fig. 9 is a diagram for explaining the operation of the mounted object working apparatus according to the embodiment, fig. 9(a) is a schematic side view showing a state in which a mounted object moves in a direction orthogonal to the conveying direction, and fig. 9(B) is a schematic plan view showing a state in which a mounted object moves in a direction orthogonal to the conveying direction.

Fig. 10 is a diagram for explaining the operation of the mounted object working apparatus according to the embodiment, fig. 10(a) is a schematic side view showing a state where the mounted object is delivered from the mounted object conveying unit to the mounted object holding unit, and fig. 10(B) is a schematic plan view showing a state where the mounted object is delivered from the mounted object conveying unit to the mounted object holding unit.

Fig. 11 is a diagram for explaining an operation of mounting the object working apparatus to the inclined mounting surface according to the embodiment.

Fig. 12 is a diagram for explaining an operation of the mounted object working apparatus according to the embodiment, fig. 12(a) is a schematic side view showing a state where the pair of conveyor sections move in a direction to approach each other, and fig. 12(B) is a schematic plan view showing a state where the pair of conveyor sections move in a direction to approach each other.

Fig. 13 is a diagram for explaining the operation of the mounted object working apparatus according to the embodiment, fig. 13(a) is a schematic side view showing a state in which the mounted object conveying unit receives a mounted object from the mounted object holding unit, and fig. 13(B) is a schematic plan view showing a state in which the mounted object conveying unit receives a mounted object from the mounted object holding unit.

Fig. 14 is a diagram for explaining the operation of the mounted object working apparatus according to the embodiment, fig. 14(a) is a schematic side view showing a state where a mounted object is moved in the conveying direction and carried out, and fig. 14(B) is a schematic plan view showing a state where a mounted object is moved in the conveying direction and carried out.

Fig. 15 is a flowchart for explaining the operation processing from the loading to the unloading of the mounted object by the mounted object working apparatus according to the embodiment.

Fig. 16 is a flowchart for explaining a process of mounting work on an inclined work surface by the work apparatus for mounting an object according to the embodiment.

Detailed Description

Hereinafter, a specific embodiment of the present invention will be described with reference to the drawings.

[ one embodiment ]

(construction of work device for work to be attached)

The structure of an object working apparatus 100 according to an embodiment of the present invention will be described with reference to fig. 1 to 6.

As shown in fig. 1 to 3, the object working apparatus 100 is an element mounting apparatus for mounting an element E (electronic element) such as an IC, a transistor, a capacitor, and a resistor on an object P such as a printed circuit board.

As shown in fig. 4(a) to (C), the mounted object P is a substrate having one horizontal work surface (horizontal mounted surface) P1 and a plurality of (4) inclined work surfaces (inclined mounted surfaces) P2 inclined with respect to the horizontal work surface P1. The plurality of inclined work planes P2 include a pair of inclined work planes P2a and P2b provided on both sides in the Y direction of the horizontal work plane P1 and a pair of inclined work planes P2c and P2d provided on both sides in the X direction of the horizontal work plane P1. The inclined work surfaces P2a, P2b, P2c, and P2d are inclined so as to descend toward the horizontal work surface P1. That is, the object P is a substrate having a shape in which the horizontal work plane P1 is recessed downward with respect to the surrounding inclined work planes P2a, P2b, P2c, and P2 d.

Position recognition marks (reference marks) FM picked up by a board recognition camera 7 described later are marked on the horizontal work plane P1 and the inclined work planes P2, respectively. Each of the horizontal work plane P1 and the inclined work planes P2 is a flat surface on which the element E is mounted by the head unit 4 described later. The horizontal work surface P1 is a work surface of the mounted object P that is parallel to a horizontal plane (XY plane) in a state where the mounted object conveying unit 2 is conveyed in the conveying direction, which will be described later.

As shown in fig. 1 to 3, the work apparatus 100 for an object to be mounted conveys and mounts the object P having the horizontal work plane P1 and the inclined work plane P2.

The mounted object working apparatus 100 includes a base 1, a mounted object conveying unit 2, a mounted object holding unit 3, a head unit 4, a support unit 5, a pair of rail units 6, a component recognition camera 7, a substrate recognition camera 8, a height measurement unit 9, and a control device 10 (see fig. 6). The head unit 4 is an example of the "working unit" according to the present invention. The control device 10 is an example of the "control unit" according to the present invention.

Feeder placement portion 12 for placing a plurality of tape feeders 11 is provided at the end of base 1 on the Y2 side. Feeder placement unit 12 is not provided at the end of base 1 on the Y1 side, and tape feeder 11 is not placed.

The tape feeder 11 holds a reel 11a (see fig. 3) on which a tape holding a plurality of components E at predetermined intervals is wound. The tape feeder 11 is configured to feed out a tape holding the component E by rotating a tape reel 11a, and to feed the component E from the tip.

Each tape feeder 11 is disposed on feeder disposition portion 12 in a state of being electrically connected to control device 10 via a connector, not shown, provided on feeder disposition portion 12. Thus, each tape feeder 11 is configured to feed the component E while feeding the tape from the tape reel 11a based on a control signal from the control device 10. At this time, each tape feeder 11 is configured to supply the component E in accordance with the mounting work of the head unit 4.

The mounted object conveying unit 2 is configured to carry in the mounted object P, convey the mounted object P in a conveying direction (X direction), and carry out the mounted object P. In the mounted object working apparatus 100, a single conveyance path is formed by the mounted object conveying unit 2.

As shown in fig. 1 to 3, the mounted object P is conveyed by the mounted object conveying unit 2 while being held by the mounted object holding member 90. The mounted object holding member 90 is a member for conveying the mounted object P having a plate shape. The object holding member 90 having a plate shape has a slightly adhesive layer formed on the upper surface (surface on the Z1 side). The mounted object holding member 90 is configured to detachably hold and fix the mounted object P on the upper surface by bonding the mounted object P to the adhesive layer. Further, a single held portion 90a for holding the mounted object holding portion 3 is provided on the lower surface (surface on the Z2 side) of the mounted object holding member 90. The held portion 90a is formed to protrude downward (in the direction Z2) from the lower surface of the mounted object holding member 90. The object P is held by the object holding portion 3 via the object holding member 90.

The mounted object conveying unit 2 includes an upstream conveying unit 21, a central conveying unit 22, and a downstream conveying unit 23.

The upstream conveying unit 21 is a conveying unit provided on the upstream side (X1 side) in the conveying direction (X direction). The upstream conveying unit 21 is configured to convey the mounted object P before mounting from a conveying path not shown and to convey the conveyed mounted object P to the central conveying unit 22. The upstream conveying unit 21 includes a pair of conveyor units 211. Each of the pair of conveyor sections 211 is formed to extend in the conveying direction (X direction). The pair of conveyor sections 211 are disposed so as to face each other in a direction (Y direction) orthogonal to the conveying direction with a predetermined interval therebetween. The pair of conveyor sections 211 is configured to be adjustable in the interval in the direction (Y direction) orthogonal to the conveying direction. Specifically, the conveyor unit 211 on the Y1 side is configured to be movable in a direction orthogonal to the conveying direction, and the conveyor unit 211 on the Y2 side is fixed. This allows the width (Y-direction width) between the pair of conveyor sections 211 to be adjusted according to the size of the object P to be mounted.

In addition, the pair of conveyor sections 211 each include a conveyor guide 211a and a conveyor belt 211 b. The upstream conveying unit 21 is configured to support the object P from both sides in the Y direction by supporting both ends in the Y direction of the object holding member 90 from below by the pair of conveyor belts 211 b. The upstream conveying unit 21 is configured to convey the mounted object P in the conveying direction (X direction) by driving (rotating) the conveyor belts 211b by a driving motor (not shown) in a state where the mounted object P is supported by the pair of conveyor belts 211b from both sides in the Y direction.

The central conveying unit 22 is a conveying unit provided between the upstream conveying unit 21 and the downstream conveying unit 23. The central conveying unit 22 is configured to receive the mounted object P before mounting from the upstream conveying unit 21 and convey the received mounted object P to the downstream conveying unit 23. The central conveyance unit 22 includes a pair of conveyor units 221. The pair of conveyor sections 221 are each formed to extend in the conveying direction (X direction). The pair of conveyor sections 221 are disposed so as to face each other in a direction (Y direction) orthogonal to the conveying direction with a predetermined interval therebetween.

In addition, the pair of conveyor sections 221 each include a conveyor guide 221a and a conveyor belt 221 b. The central conveying section 22 is configured to support both ends of the mounted object holding member 90 in the Y direction from below by the pair of conveyors 221b, thereby supporting the mounted object P from both sides in the Y direction. The central conveyance unit 22 is configured to convey the mounted object P in the conveyance direction by driving (rotating) the conveyor belts 221b by a drive motor (not shown) while supporting the mounted object P from both sides in the Y direction by the pair of conveyor belts 221 b.

Here, in the present embodiment, the pair of conveyor sections 221 are configured to be movable independently of each other in a direction (Y direction) orthogonal to the conveying direction. In the mounted object working apparatus 100, the operation of delivering the mounted object P from the mounted object conveying unit 2 to the mounted object holding unit 3 is performed by moving the pair of conveyor units 221 in the direction orthogonal to the conveying direction. In the mounted object working apparatus 100, the operation of receiving the mounted object P from the mounted object holding unit 3 by the mounted object conveying unit 2 is performed by moving the pair of conveyor units 221 in the direction orthogonal to the conveying direction. Details of the handover operation and the reception operation will be described later.

The conveyor section 221 on the Y1 side is provided with a drive mechanism section 224 for moving the conveyor section 221 on the Y1 side in a direction (Y direction) orthogonal to the conveying direction. The driving mechanism 224 includes a ball screw shaft 224a extending in a direction orthogonal to the conveying direction and a drive motor 224b for rotating the ball screw shaft 224 a. The conveyor section 221 on the Y1 side is provided with a ball nut (not shown) to which the ball screw shaft 224a is engaged (screwed). The conveyor unit 221 on the Y1 side is configured to be movable along the ball screw shaft 224a in a direction orthogonal to the conveying direction together with the ball nut engaged (screwed) with the ball screw shaft 224a by rotating the ball screw shaft 224a by the drive motor 224 b.

The conveyor section 221 on the Y2 side is provided with a drive mechanism section 225 for moving the conveyor section 221 on the Y2 side in a direction (Y direction) orthogonal to the conveying direction. The drive mechanism section 225 includes a ball screw shaft 225a extending in a direction orthogonal to the conveying direction and a drive motor 225b for rotating the ball screw shaft 225 a. The conveyor section 221 on the Y2 side is provided with a ball nut (not shown) to which the ball screw shaft 225a is engaged (screwed). The conveyor unit 221 on the Y2 side is configured to be movable along the ball screw shaft 225a in a direction orthogonal to the conveying direction by rotating the ball screw shaft 225a by the drive motor 225b together with the ball nut engaged (screwed) with the ball screw shaft 225 a.

The pair of conveyor sections 221 are provided with a clamping mechanism section 226 (see fig. 2 and 3). The clamp mechanism portion 226 is configured to hold and fix the object P to be mounted at the pair of conveyor portions 221 of the central conveyance portion 22. The clamping mechanism portion 226 is configured to hold and fix the object P to be mounted in the pair of conveyor portions 221 by sandwiching both ends in the Y direction of the object holding member 90 between the pair of conveyor guides 221a (see fig. 8 and 14). Fig. 2 and 3 show the clamping mechanism 226 before the object holding member 90 is clamped between both ends in the Y direction. The clamping mechanism 226 is fixed to the object P to be mounted when the object P is mounted on the horizontal work plane P1.

The downstream-side conveying unit 23 is a conveying unit provided on the downstream side (X2 side) in the conveying direction (X direction). The downstream conveying unit 23 is configured to receive the mounted object P from the central conveying unit 22 and to convey the mounted object P along a conveying path, not shown. The downstream conveying unit 23 includes a pair of conveyor units 231. The pair of conveyor sections 231 are each formed to extend in the conveying direction (X direction). The pair of conveyor sections 231 are disposed so as to face each other in a direction (Y direction) orthogonal to the conveying direction with a predetermined gap therebetween. The pair of conveyor units 231 is configured to be adjustable in interval in a direction (Y direction) orthogonal to the conveying direction. Specifically, the conveyor unit 231 on the Y1 side is configured to be movable in a direction orthogonal to the conveying direction, and the conveyor unit 231 on the Y2 side is fixed. This allows the width (Y-direction width) between the pair of conveyor sections 231 to be adjusted according to the size of the object P to be mounted.

In addition, each of the pair of conveyor sections 231 includes a conveyor guide 231a and a conveyor belt 231 b. The downstream conveying unit 23 is configured to support both ends of the mounted object holding member 90 in the Y direction from below by the pair of conveyors 231b, thereby supporting the mounted object P from both sides in the Y direction. The downstream conveying unit 23 is configured to convey the mounted object P in the conveying direction by driving (rotating) the conveyor 231b by a driving motor (not shown) in a state where the mounted object P is supported by the pair of conveyors 231b from both sides in the Y direction.

The mounted object holding unit 3 is configured to receive and deliver the mounted object P from the mounted object conveying unit 2 at a delivery position M (see fig. 9) and hold the mounted object P. Specifically, the mounted object holding portion 3 is configured to hold the mounted object P via the mounted object holding member 90.

The mounted object holding unit 3 is configured to move the held mounted object P in the vertical direction (Z direction). The mounted object holding unit 3 is configured to incline the held mounted object P. The mounted object holding unit 3 is configured to rotate the held mounted object P. The object holding portion 3 is configured to be able to adjust the posture of the object P by moving, tilting, or rotating the object P in the vertical direction. Thus, for example, the posture of the object P can be adjusted so that the inclined work plane P2 (see fig. 4) of the object P is parallel to the horizontal plane (XY plane). Further, for example, the posture of the object P can be adjusted so that the horizontal work plane P1 (see fig. 4) of the object P is parallel to the horizontal plane (XY plane).

As shown in fig. 5, the object holding portion 3 includes three shaft mechanism portions, i.e., a first shaft mechanism portion 31, a second shaft mechanism portion 32, and a third shaft mechanism portion 33, a holding portion 34, and a fixing portion 35. In fig. 1 to 3 and 8 to 14, the mounted object holding portion 3 shown in fig. 5 is simplified.

The first shaft mechanism 31 is an up-down shaft mechanism for moving the object P held by the holding portion 34 in the up-down direction. The first shaft mechanism 31 includes a drive motor 311, a pulley mechanism 312, a ball screw shaft 313, and an attachment portion 314.

The drive motor 311 is configured to generate a drive force for rotating the ball screw shaft 313. The pulley mechanism 312 is configured to transmit a driving force (rotational force) generated by the drive motor 311 to the ball screw shaft 313. The ball screw shaft 313 is configured to rotate in the vertical direction by the driving force of the drive motor 311 transmitted via the pulley mechanism 312.

The mounting portion 314 is a member for mounting the second shaft mechanism portion 32, the third shaft mechanism portion 33, and the holding portion 34 to the first shaft mechanism portion 31. Specifically, the second shaft mechanism 32 is attached to the Y1 side of the attachment portion 314. Further, the third shaft mechanism 33 and the holding portion 34 are attached to the second shaft mechanism 32 on the X2 side. That is, the second shaft mechanism portion 32 is attached to the attachment portion 314, and the third shaft mechanism portion 33 and the holding portion 34 are attached to the attachment portion 314 via the second shaft mechanism portion 32. Further, a ball nut 314a engaged (screwed) with the ball screw shaft 313 is provided in the mounting portion 314.

The mounting portion 314 is configured to be movable in the vertical direction along the ball screw shaft 313 by rotating the ball screw shaft 313 by the drive motor 311 together with the ball nut 314a engaged (screwed) with the ball screw shaft 313. Thus, the first shaft mechanism 31 is configured to move the second shaft mechanism 32, the third shaft mechanism 33, the holding portion 34, and the object P held by the holding portion 34 in the vertical direction (Z direction) together with the mounting portion 314. Fig. 5 shows a state in which the mounting portion 314 is disposed at the lower end.

The second shaft mechanism 32 is a tilting shaft mechanism for tilting the mounted object P held by the holding unit 34. The second shaft mechanism 32 includes a drive motor 321, a pulley mechanism 322, and a rotation shaft 323.

The drive motor 321 is configured to generate a driving force for rotating the rotating shaft 323. The drive motor 321 is configured to be capable of forward rotation (clockwise rotation) and reverse rotation (counterclockwise rotation). The pulley mechanism 322 is configured to transmit a driving force (rotational force) generated by the drive motor 321 to the rotational shaft 323. The rotating shaft portion 323 is configured to rotate about a rotation axis a1 (indicated by a dashed-dotted line) that is parallel to the conveyance direction (X direction) and passes through the center of the rotating shaft portion 323 by the driving force of the drive motor 321 transmitted via the pulley mechanism portion 322.

The third shaft mechanism 33 and the holding portion 34 are attached to the end of the rotation shaft 323 on the X2 side. The third shaft mechanism 33 and the holding portion 34 are configured to be rotatable together with the rotating shaft portion 323 about the rotation axis a1 by rotating the rotating shaft portion 323 by the drive motor 321. Thus, the second shaft mechanism 32 is configured to rotate the third shaft mechanism 33, the holding portion 34, and the object P held by the holding portion 34 about the rotation axis a1 and to tilt in the YZ plane (see fig. 11). Specifically, the second shaft mechanism 32 is configured to incline the third shaft mechanism 33, the holding portion 34, and the mounted object P held by the holding portion 34 from the reference state toward the Y1 direction side or the Y2 direction side orthogonal to the conveying direction, when the state in which the rotation axis a2 described later is parallel to the vertical direction is the reference state. At this time, the second shaft mechanism 32 is configured to be able to tilt the third shaft mechanism 33, the holding portion 34, and the mounted object P held by the holding portion 34 from the reference state to the Y1 direction side or the Y2 direction side orthogonal to the conveying direction within an angular range of 0 degrees or more and 90 degrees or less, respectively.

The third shaft mechanism 33 is a rotation shaft mechanism for rotating the object P held by the holding portion 34. The third shaft mechanism portion 33 has a drive motor 331 and a pulley mechanism portion 332.

The drive motor 331 is configured to generate a drive force for rotating the holding portion 34. The drive motor 331 is configured to be capable of forward rotation (clockwise rotation) and reverse rotation (counterclockwise rotation). The pulley mechanism 332 is configured to transmit a driving force (rotational force) generated by the drive motor 331 to the holding portion 34. The holding portion 34 is configured to rotate about a rotation axis a2 (indicated by a one-dot chain line) passing through the center of the holding portion 34 and perpendicular to the rotation axis a1 by the driving force of the drive motor 331 transmitted via the pulley mechanism portion 332. Thus, the third shaft mechanism 33 is configured to rotate the holding portion 34 and the object P held by the holding portion 34 about the rotation axis a 2.

The holding portion 34 is configured to hold and fix the object P via the object holding member 90. The holding portion 34 fixes the object P to be mounted when the object P is mounted on the inclined work plane P2. The holding portion 34 includes a main body portion 341 having a cylindrical shape and a plurality of (3) claw portions 342. The plurality of (3) claw portions 342 are arranged at equal angular intervals (120-degree intervals) on the upper surface of the main body portion 341. Each of the plurality of claw portions 342 is configured to be movable in a radial direction of rotation of the holding portion 34.

Specifically, when the held portion 90a (see fig. 1 to 3) of the mounted object holding member 90 is held, each of the plurality of claw portions 342 moves in the radial direction toward the rotation center of the holding portion 34 (i.e., in the direction toward the rotation axis a 2) on the upper surface of the main body portion 341. As a result, the held portion 90a of the mounted object holding member 90 is gripped by the plurality of claw portions 342, and the mounted object P is held and fixed by the mounted object holding portion 3 via the mounted object holding member 90.

When the held portion 90a (see fig. 1 to 3) of the object holding member 90 is released from holding, the plurality of claw portions 342 are moved in the radial direction away from the rotation center of the holding portion 34 (i.e., in the direction away from the rotation axis a 2) on the upper surface of the main body portion 341. As a result, the gripping of the held portion 90a of the mounted object holding member 90 by the plurality of claw portions 342 is released, and the holding of the mounted object P by the mounted object holding portion 3 via the mounted object holding member 90 is released.

The fixing portion 35 is a member for attaching and fixing the object holding portion 3 to the base 1. As shown in fig. 1 to 3, the object holding portion 3 is fixed to the base 1 via a fixing portion 35, for example, by screws or the like. The mounted object holding unit 3 is fixed to the position of the holding unit 34 shifted toward the Y1 side with respect to the center of the single conveyance path formed by the mounted object conveying unit 2.

Further, an opening 1a having a rectangular shape in a plan view is provided in a central portion of the base 1. A housing portion 1b is attached to the opening 1a of the base 1, and the housing portion 1b has a concave shape recessed downward (Z2 direction) from the upper surface (surface on the Z1 side) of the base 1. The mounted object holding portion 3 is disposed so as to be at least partially housed in the housing portion 1 b. Thereby, at least a part of the mounted object holding portion 3 is disposed below the upper surface of the base 1. As a result, the mounted object holding portion 3 can be more easily disposed on the upper surface of the base 1 than in the case where the mounted object working apparatus 100 is disposed on the upper surface.

As shown in fig. 1 to 3, the head unit 4 is provided at a position above the base 1 via a support portion 5 and a pair of rail portions 6. The head unit 4 is provided above the mounted object conveying unit 2, the mounted object holding unit 3, and the tape feeder 11 (in the Z1 direction), and is configured to be movable in the horizontal direction.

The head unit 4 is configured to perform mounting work of the component E on the mounted object P held by the mounted object holding portion 3. The head unit 4 is configured to perform mounting work of the component E on the mounted object P held by the mounted object conveying unit 2. Specifically, the head unit 4 is configured to suck the component E supplied from the tape feeder 11 and mount the sucked component E on the object P.

The head unit 4 is provided with a plurality of (6) mounting heads 41, a plurality of (6) ball screw shafts 42 provided for each mounting head 41, a plurality of (6) Z-axis motors 43 provided for each ball screw shaft 42, and a plurality of (6) R-axis motors 44 provided for each mounting head 41 (see fig. 6).

The mounting heads 41 are arranged in a line along the conveying direction (X direction). A suction nozzle 41a (see fig. 1 and 3) is attached to the tip of each mounting head 41. The mounting head 41 is configured to be capable of sucking and holding the component E supplied from the tape feeder 11 by a negative pressure generated at the tip of the suction nozzle 41a by a negative pressure generator not shown.

Each ball screw shaft 42 is formed to extend in the vertical direction. Each Z-axis motor 43 is configured to rotate the corresponding ball screw shaft 42. Each of the mounting heads 41 is provided with a ball nut 41b (see fig. 3) that engages (screws) with the corresponding ball screw shaft 42. The mounting head 41 is configured to be movable in the vertical direction along the ball screw shaft 42 together with the ball nut 41b engaged (screwed) with the ball screw shaft 42 by rotating the ball screw shaft 42 by the Z-axis motor 43. Thus, the mounting head 41 is configured to be movable in the vertical direction between a height position in a lowered state where suction, mounting (mounting), and the like of the component E are possible, and a height position in a raised state where movement of the mounting head 41 in the horizontal direction is possible.

Each R-axis motor 44 is configured to rotate the corresponding mounting head 41 about the central axis (about the Z direction) of the suction nozzle 41 a.

The support portion 5 is configured to move the head unit 4 in the conveyance direction (X direction). The support portion 5 includes a ball screw shaft 51 extending in the X direction, an X-axis motor 52 for rotating the ball screw shaft 51, and a guide rail, not shown, extending in the X direction. The head unit 4 is provided with a ball nut 45 (see fig. 3) to which the ball screw shaft 51 is engaged (screwed). The head unit 4 is configured to be movable in the conveyance direction (X direction) along the support portion 5 by rotating the ball screw shaft 51 by the X-axis motor 52, together with the ball nut 45 engaged (screwed) with the ball screw shaft 51.

The pair of guide rail portions 6 are fixed to the base 1 at both ends of the base 1 in the X direction. The pair of rail portions 6 is configured to move the support portion 5 in a direction (Y direction) orthogonal to the conveying direction. The pair of guide rail portions 6 each include a pair of ball screw shafts 61 extending in the Y direction and a plurality of (two) Y-axis motors 62 provided corresponding to each ball screw shaft 61. Each Y-axis motor 62 is configured to rotate a corresponding ball screw shaft 61. Further, a ball nut (not shown) to which the ball screw shaft 61 is engaged (screwed) is provided on the support portion 5. The support portion 5 is configured to be movable in a direction (Y direction) orthogonal to the conveying direction along the pair of guide rail portions 6 together with the ball nuts engaged (screwed) with the ball screw shafts 61 by synchronously rotating the ball screw shafts 61 by the Y-axis motors 62.

With such a configuration, the head unit 4 is configured to be movable in the horizontal direction (X direction and Y direction) on the base 1. Thus, the head unit 4 can move, for example, above the tape feeder 11 and suck the component E supplied from the tape feeder 11. The head unit 4 can move, for example, above the object P held by the object holding unit 3 or above the object P held by the object transport unit 2, and can mount the sucked component E on the object P.

The component recognition camera 7 is fixed to the upper surface of the base 1 in the vicinity of the tape feeder 11, and is configured to photograph the component E sucked by the suction nozzle 41a of the mounting head 41 before the component E is mounted. The component recognition camera 7 is configured to take an image of the component E sucked by the suction nozzle 41a of the mounting head 41 from below (direction Z2). The imaging result is acquired by the control device 10. The control device 10 is configured to recognize and correct the suction state (the rotation posture and the suction position of the suction nozzle 41a with respect to the mounting head 41) of the component E viewed from below based on the imaging result of the component E sucked by the suction nozzle 41a of the mounting head 41.

The board recognition camera 8 is configured to photograph the position recognition mark FM marked on the mounted object P before the mounting of the component E. The position identification mark FM is a mark for identifying the position of the mounted object P. The imaging result of the position recognition mark FM is acquired by the control device 10. Then, based on the imaging result of the position recognition mark FM, the accurate position and orientation of the mounted object P held by the mounted object holding unit 3 or held by the mounted object conveying unit 2 can be recognized and corrected by the control device 10.

In addition, the board recognition camera 8 is mounted on the head unit 4. Specifically, the board recognition camera 8 is attached to the head unit 4 at the side portion on the Y1 side at the center of the array of the attachment nozzles aligned in the X direction. Thus, the substrate recognition camera 8 is configured to be movable on the base 1 in the horizontal direction (X direction and Y direction) together with the head unit 4. The board recognition camera 8 is configured to move horizontally on the base 1 and photograph the position recognition mark FM marked on the mounted object P from above the mounted object P (Z1 direction).

The height measuring unit 9 is constituted by a laser displacement meter that measures the height position of the component mounting position in the object P before the mounting of the component E. The height measuring unit 9 is configured to measure the height position of the component mounting position on the object P by irradiating the component mounting position on the object P with laser light and receiving reflected light reflected from the component mounting position. The measurement result of the height position is obtained by the control device 10. Then, based on the measurement result of the height position, the height position of the component mounting position in the object P to be mounted can be recognized and corrected by the control device 10.

Further, the height measuring unit 9 is attached to the head unit 4. Specifically, the height measuring unit 9 is mounted between the mounting head 42 and the board recognition camera 8 at a position substantially in the center of the array of the mounting nozzles arranged in parallel in the X direction. Thus, the height measuring unit 9 is configured to be movable together with the head unit 4 in the horizontal direction (X direction and Y direction) on the base 1. The height measuring unit 9 is configured to move horizontally on the base 1 and irradiate the object P with laser light from above the component mounting position.

As shown in fig. 6, the control device 10 includes a cpu (central Processing unit), a rom (rom) (readonly memory), a ram (random Access memory), and the like, and controls the operation of the object operating device 100. Specifically, the control device 10 controls the mounted object conveying unit 2, the mounted object holding unit 3, the head unit 4, the support unit 5, the pair of rail units 6, the component recognition camera 7, the substrate recognition camera 8, the height measuring unit 9, the tape feeders 11, and the like according to a program stored in advance, and mounts the component E on the mounted object P.

(configuration of control device relating to operation of conveyor section)

Next, the configuration of the control device 10 relating to the operation of the pair of conveyor sections 221 of the central conveying section 22 will be described with reference to fig. 7(a) to (C).

As shown in fig. 7 a, the control device 10 is configured to control the pair of conveyor sections 221 that position the central conveyor section 22 at a position where the object P can be carried in or out, when the object P is conveyed in the conveying direction (X direction). Specifically, the control device 10 is configured to perform control for moving and positioning the pair of conveyor portions 221 of the center conveyor portion 22 in the Y direction to a position where the width between the pair of conveyor portions 211 of the upstream side conveyor portion 21 (the width in the Y direction) or the width between the pair of conveyor portions 231 of the downstream side conveyor portion 23 substantially matches the width between the pair of conveyor portions 221 of the center conveyor portion 22.

As shown in fig. 7B, the control device 10 is configured to perform control for moving the pair of conveyor sections 221 of the central conveyor section 22 in the direction orthogonal to the conveying direction while maintaining the width (width in the Y direction) between the pair of conveyor sections 221 when moving the mounted object P in the direction orthogonal to the conveying direction. That is, the control device 10 is configured to perform control of moving the pair of conveyor sections in the direction orthogonal to the conveying direction by synchronizing the Y1-side drive motor 225b that moves the conveyor section 221 on the Y1 side with the Y2-side drive motor 225b that moves the conveyor section 221 on the Y2 side.

As shown in fig. 7C, the control device 10 is configured to perform control for moving the pair of conveyor portions 221 in a direction orthogonal to the conveying direction so as to increase the width (the width in the Y direction) between the pair of conveyor portions 221 of the central conveying portion 22 when an operation for delivering the mounted object P from the mounted object conveying portion 2 to the mounted object holding portion 3 is performed. That is, the control device 10 is configured to perform control for moving the pair of conveyor sections 221 in the direction orthogonal to the conveying direction so as to separate the pair of conveyor sections 221 of the central conveying section 22 from each other in the direction orthogonal to the conveying direction.

Further, the control device 10 is configured to perform control of moving the pair of conveyor portions in a direction orthogonal to the conveying direction so as to narrow the width (width in the Y direction) between the pair of conveyor portions 221 of the central conveying portion 22 when receiving the mounted object P from the mounted object holding portion 3 by the mounted object conveying portion 2. That is, the control device 10 is configured to perform control of moving the pair of conveyor sections 221 in a direction orthogonal to the conveying direction so that the pair of conveyor sections 221 of the central conveying section 22 approach each other in the direction orthogonal to the conveying direction.

(Structure of control device for movement from carry-in to carry-out of mounted object)

Next, the configuration of the control device 10 relating to the operation from the loading to the unloading of the mounted object P will be described with reference to fig. 8 to 14.

As shown in fig. 8, first, the control device 10 is configured to perform control of moving (conveying) the loaded mounted object P in the conveying direction (X direction) by the pair of conveyor sections 221 of the central conveying section 22 and positioning the mounted object P at a predetermined position in the conveying direction. Thereby, the object P is positioned at the horizontal mounting position N. At this time, for example, the object P or the X2-side end portion of the object holding member 90 can be detected by the board recognition camera 8 or the height measurement unit 9, and the object P can be positioned at the horizontal mounting position N. Further, for example, a stopper member (not shown) may be provided on the downstream side (X2 side) of the central conveyance unit 22 to position the mounted object P at the horizontal mounting position N.

Further, when the object P is positioned at the horizontal mounting position N, the control device 10 is configured to perform control of holding and fixing the positioned object P by the clamp mechanism 226. That is, both ends of the mounted object holding member 90 in the Y direction are sandwiched between the clamping mechanism portion 226 and the pair of conveyor guides 221 a. This causes the mounted object P to be held by the mounted object conveying unit 2 via the mounted object holding member 90.

The controller 10 is configured to perform the mounting operation of the component E by the head unit 4 on a horizontal work plane P1 (see fig. 4) of the mounted object P held by the mounted object conveying unit 2. That is, before the mounted object P is delivered from the mounted object conveying unit 2 to the mounted object holding unit 3, the mounting operation of the component E is performed by the head unit 4 on the horizontal mounted work plane P1 of the mounted object P. When the mounting work is performed on the horizontal work plane P1, the component recognition camera 7 appropriately images the component E, the substrate recognition camera 8 appropriately images the position recognition mark FM, and the height measuring unit 9 appropriately measures the height position of the component mounting position in the mounted object P.

Before the mounted object P is delivered from the mounted object conveying unit 2 to the mounted object holding unit 3, a mounting operation of the component E that can be mounted before mounting on the mounted object P held by the mounted object holding unit 3 is performed. That is, the mounting work of the small-sized components E (the small-sized components E, the components E having a small weight, and the like) is performed, which is difficult to cause a positional deviation from a position where the mounted object P is tilted.

The control device 10 is configured to perform control to release the holding of the object P by the clamping mechanism 226 when the mounting of the component E that can be mounted before the mounting of the object P held by the object holding portion 3 is completed. That is, the clamping of both ends of the mounted object holding member 90 in the Y direction between the clamping mechanism portion 226 and the pair of conveyor guides 221a is released.

As shown in fig. 9, the control device 10 is configured to perform control of moving the pair of conveyor portions 221 in the Y1 direction orthogonal to the conveying direction and positioning the mounted object P at a predetermined position in the direction orthogonal to the conveying direction while maintaining the width (width in the Y direction) between the pair of conveyor portions 221 of the central conveying portion 22. Thereby, the mounted object P is positioned at the delivery position M. The delivery position M is a position at which the single held portion 90a of the mounted object holding member 90 holding the mounted object P is disposed substantially directly above the single holding portion 34 of the mounted object holding portion 3.

As shown in fig. 10, the controller 10 is configured to control the single held portion 90a in which the holding portion 34 is moved upward by the first shaft mechanism portion 31 of the mounted object holding portion 3 and the mounted object holding member 90 is held by the holding portion 34. At this time, the control device 10 is configured to perform control for moving the holding portion 34 from a position where it does not interfere with the pair of conveyor portions 221 to a position where the mounted object P can be held, when the pair of conveyor portions 221 move in a direction orthogonal to the conveying direction. At this time, the control device 10 is configured to control the holding portion 34 to move to a position where the mounted object holding member 90 (mounted object P) is floated from the conveyor belts 221b of the pair of conveyor portions 221.

In the present embodiment, the control device 10 is configured to perform control of moving the pair of conveyor sections 221 in the direction orthogonal to the conveying direction so as to widen the width (the width in the Y direction) between the pair of conveyor sections 221 of the central conveying section 22 after the mounted object P is held by the mounted object holding section 3. Specifically, the control device 10 is configured to perform control for moving the pair of conveyor sections 221 from the position capable of supporting the mounted object P in the direction orthogonal to the conveying direction to the position in the state where the pair of conveyor sections do not interfere with the mounted object P and the mounted object holding section 3 when the pair of conveyor sections are mounted on the mounted object P held by the mounted object holding section 3. Thereby, the object P is held by the object holding portion 3, and the object P is delivered from the object conveying portion 2 to the object holding portion 3. In this case, the width (width in the Y direction) between the pair of conveyor sections 221 of the central conveying section 22 is sufficiently larger than the width of the object P in the direction orthogonal to the conveying direction.

In the present embodiment, as shown in fig. 11, the control device 10 is configured to tilt the mounted object P by the mounted object holding portion 3 and perform the mounting operation of the component E on the tilted work surface P2 of the mounted object P by the head unit 4 in a state where the width between the pair of conveyor portions 221 of the central conveying portion 22 is sufficiently wider than the width of the mounted object P in the direction orthogonal to the conveying direction. At this time, the posture of the mounted object P is adjusted so that the inclined working plane P2 (see fig. 4) of the mounted object P is parallel to the horizontal plane (XY plane) by moving the mounted object P in the vertical direction by the first shaft mechanism unit 31, inclining the mounted object P by the second shaft mechanism unit 32, or rotating the mounted object P by the third shaft mechanism unit 33. Then, the head unit 4 performs the mounting operation on each inclined work plane P2(P2a to P2d) in a state parallel to the horizontal plane. When mounting work is performed on the inclined work plane P2, the component recognition camera 7 images the component E, the board recognition camera 8 images the position recognition mark FM, and the height measuring unit 9 measures the height position of the component mounting position in the object P, as appropriate.

As shown in fig. 12, when the mounting of the object P held by the object holding unit 3 is completed (that is, the mounting of the object P on the inclined work plane P2 is completed), the controller 10 is configured to adjust the posture of the object holding unit 3 so that the object P can be received by the object conveying unit 2. In the present embodiment, the controller 10 is configured to adjust the posture of the mounted object holding unit 3 so that the horizontal work plane P1 of the mounted object P is parallel to the horizontal plane (XY plane).

In the present embodiment, as shown in fig. 12 and 13, the control device 10 is configured to perform control of moving the pair of conveyor portions 221 in a direction orthogonal to the conveying direction so as to narrow the width (width in the Y direction) between the pair of conveyor portions 221 of the central conveying portion 22 when the operation of mounting the component E by the head unit 4 is performed in a state where the mounted object P is tilted by the mounted object holding portion 3 and then the operation of receiving the mounted object P from the mounted object holding portion 3 by the mounted object conveying portion 2 is performed. Specifically, the control device 10 is configured to perform control for moving the pair of conveyor sections 221 from a position in a state where they do not interfere with the mounted object P and the mounted object holding section 3 when mounted on the mounted object P held by the mounted object holding section 3, to a position in a state where they can support the mounted object P in a direction orthogonal to the conveying direction.

Further, when the pair of conveyor sections 221 are moved to the positions capable of supporting the object P to be mounted, the control device 10 is configured to perform control of releasing the holding of the held portion 90a of the object holding member 90 by the holding portion 34 and moving the holding portion 34 downward by the first shaft mechanism portion 31 of the object holding portion 3 in a state where the object holding member 90 (object P to be mounted) is not in contact with the conveyor belts 221b of the pair of conveyor sections 221. At this time, the control device 10 is configured to perform control for moving the holding portion 34 from a position at which the mounted object P can be held to a position at which the pair of conveyor portions 221 do not interfere with the pair of conveyor portions 221 when moving in a direction orthogonal to the conveying direction. Thereby, the mounted object P is received from the mounted object holding portion 3 by the mounted object conveying portion 2.

As shown in fig. 14, the control device 10 is configured to perform control for positioning the pair of conveyor portions 221 at positions where the mounted object P can be carried in or out by moving the pair of conveyor portions 221 in the Y2 direction orthogonal to the conveying direction while maintaining the width (width in the Y direction) between the pair of conveyor portions 221 of the central conveying portion 22. Thereby, the object P is positioned at the horizontal mounting position N.

The control device 10 is configured to control the clamping mechanism 226 to hold and fix the mounted object P after positioning the mounted object P at the horizontal mounting position N. That is, both ends of the mounted object holding member 90 in the Y direction are sandwiched between the clamping mechanism portion 226 and the pair of conveyor guides 221 a. Thereby, the mounted object P is held by the mounted object conveying unit 2 via the mounted object holding member 90.

The controller 10 is configured to perform the mounting operation of the component E on a horizontal work plane P1 (see fig. 4) of the mounted object P held by the mounted object conveying unit 2 by using the head unit 4. That is, after the mounted object P is received from the mounted object holding unit 3 by the mounted object conveying unit 2, the mounting operation of the component E is performed on the horizontal mounted work plane P1 of the mounted object P by the head unit 4. When the mounting work is performed on the horizontal work plane P1, the component recognition camera 7 images the component E, the board recognition camera 8 images the position recognition mark FM, and the height measuring unit 9 measures the height position of the component mounting position in the mounted object P, as appropriate.

After the mounted object P is received from the mounted object holding unit 3 by the mounted object conveying unit 2, the mounting work of the component E to be mounted after the mounted object P held by the mounted object holding unit 3 is performed. That is, the mounting work of the large-sized element E (the large-sized element E, the heavy-weight element E, or the like) which is likely to be displaced from the position where the object P is mounted when the object P is tilted is performed.

The control device 10 is configured to perform control for releasing the holding of the mounted object P by the clamp mechanism 226 when the mounting of the component E to be mounted after the mounting of the mounted object P held by the mounted object holding portion 3 is completed. That is, the clamping mechanism 226 and the pair of conveyor guides 221a release the clamping between the two ends of the mounted object holding member 90 in the Y direction.

The control device 10 is configured to perform control of delivering the mounted object P from the central conveying unit 22 to the downstream conveying unit 23 and discharging the mounted object P by the downstream conveying unit 23.

(operation of carrying in and out of an object to be mounted)

Next, the operation processing from the loading to the unloading of the mounted object P in the present embodiment will be described based on a flowchart mainly referring to fig. 15. The operation processing from the loading to the unloading of the mounted object P is performed by the control device 10.

As shown in fig. 15, first, in step S1, the object P is carried in by the upstream side conveying unit 21 of the object conveying unit 2.

Then, in step S2, the mounted object P is positioned in the conveying direction. That is, in step S2, the loaded mounted object P is moved (conveyed) in the conveying direction (X direction) by the pair of conveyor sections 221 of the central conveying section 22 and positioned at a predetermined position in the conveying direction. Thereby, as shown in fig. 8, the object P is positioned at the horizontal mounting position N.

Then, in step S3, the mounting work by the head unit 4 is performed on the horizontal work plane P1 of the mounted object P before the mounted object P is delivered from the mounted object conveying unit 2 to the mounted object holding unit 3. At this time, as shown in fig. 8, the object P is held and fixed by the clamp mechanism portion 226. In the mounting operation before the mounted object P is delivered from the mounted object conveying unit 2 to the mounted object holding unit 3, the relatively small component E is mounted on the horizontal mounted surface P1 of the mounted object P.

Then, in step S4, positioning is performed in a direction orthogonal to the conveyance direction of the mounted object P. That is, in step S4, the pair of conveyor sections 221 are moved in the Y1 direction orthogonal to the conveying direction while maintaining the width (width in the Y direction) between the pair of conveyor sections 221 of the central conveying section 22, and the mounted object P is positioned at a predetermined position in the direction orthogonal to the conveying direction. Thereby, as shown in fig. 9, the mounted object P is positioned at the delivery position M.

Then, in step S5, the mounted object holding unit 3 holds the mounted object P. That is, in step S5, the holding portion 34 is moved upward by the first shaft mechanism portion 31 of the mounted object holding portion 3, and the held portion 90a of the mounted object holding member 90 is held by the moved holding portion 34.

Then, in step S6, the pair of conveyor sections 221 are moved in the direction orthogonal to the conveying direction so that the width between the pair of conveyor sections 221 of the central conveying section 22 is widened. That is, in step S6, as shown in fig. 10, the pair of conveyor sections 221 are moved in the direction orthogonal to the conveying direction to positions where they do not interfere with the mounted object P and the mounted object holding section 3 when mounted on the mounted object P held by the mounted object holding section 3.

Then, in step S7, a mounting work process is performed on each inclined work plane P2(P2a to P2d) of the mounted object P. The mounting work process on the inclined work surfaces P2(P2a to P2d) of the mounted object P will be described later.

Then, in step S8, the posture of the mounted object holding unit 3 is adjusted so that the mounted object holding unit 3 can receive the mounted object P. That is, in step S8, as shown in fig. 12, the posture of the mounted object holding section 3 is adjusted so that the horizontal work plane P1 of the mounted object P is parallel to the horizontal plane (XY plane).

Then, in step S9, the pair of conveyor sections 221 are moved in the direction orthogonal to the conveying direction so as to narrow the width between the pair of conveyor sections 221 of the central conveying section 22. That is, in step S9, as shown in fig. 12 and 13, the pair of conveyor sections 221 are moved in a direction orthogonal to the conveying direction to a position where the mounted object P can be supported.

Then, in step S10, the mounted object P is released from being held by the mounted object holding unit 3. That is, in step S10, as shown in fig. 13, the holding of the held portion 90a of the mounted object holding member 90 by the holding portion 34 is released, and the holding portion 34 is moved downward by the first shaft mechanism portion 31.

Then, in step S11, the pair of conveyor sections 221 of the central conveyance section 22 are moved to positions where the mounted object P can be carried out and positioned. Thereby, as shown in fig. 14, the object P is positioned at the horizontal mounting position N.

Then, in step S12, the mounting work by the head unit 4 is performed on the horizontal work plane P1 of the mounted object P after the mounted object P is received from the mounted object holding unit 3 by the mounted object conveying unit 2. At this time, as shown in fig. 14, the object P is held and fixed by the clamp mechanism portion 226. In the mounting work after the mounted object P is received from the mounted object holding unit 3 by the mounted object conveying unit 2, the relatively large component E is mounted on the horizontal work surface P1 of the mounted object P.

Then, in step S13, the mounted object P is carried out by the downstream side conveying unit 23 of the mounted object conveying unit 2. Then, the operation processing from the loading to the unloading of the mounted object P is completed.

(work of mounting on inclined work surface)

Next, the mounting work process to the inclined work plane P2 according to the present embodiment will be described based on a flowchart with reference to fig. 16. The mounting work process to the inclined work plane P2 is performed by the control device 10.

As shown in fig. 16, first, in step S21, the components E supplied from the tape feeders 11 are sucked by the mounting head 41 of the head unit 4.

Then, in step S22, the component recognition camera 7 is used to photograph the suction state of the component E sucked by the mounting head 41 from below. As a result, the suction state of the component E sucked by the mounting head 41 is recognized.

Then, in step S23, the object holding unit 3 makes the inclined work plane P2 of the object P to be mounted on which the mounting work is performed parallel to the horizontal plane (XY plane). Specifically, in step S23, the object P held by the holding portion 34 of the object holding portion 3 is moved in the vertical direction by the first shaft mechanism portion 31, tilted by the second shaft mechanism portion 32, or rotated by the third shaft mechanism portion 33. Thus, the inclined work plane P2 of the object P to be mounted is parallel to the horizontal plane (XY plane).

Then, in step S24, the mounting head 42 having the component E sucked thereon is raised to a height position in a raised state capable of horizontal movement.

Then, in step S25, the head unit 4 is moved in the horizontal direction toward the object P.

Then, in step S26, the substrate recognition camera 8 images the position recognition mark FM on the inclined work plane P2 of the mounted object P subjected to the mounting work. As a result, the position of the mounted object P held by the mounted object holding unit 3 is recognized.

Then, in step S27, the height measuring unit 9 is moved to a position above the component mounting position in the object P.

Then, in step S28, the height of the inclined work plane P2 is measured by the height measuring unit 9. Specifically, in step S28, the height measuring unit 9 measures the height position of the component mounting position of the inclined work plane P2 of the object P to be mounted for mounting work. The height of the inclined work plane P2 is measured for each component E to be mounted.

Then, in step S29, the mounting head 41 is moved to a position above the component mounting position. Then, in step S30, the component E is mounted to the component mounting position of the mounted object P by the mounting head 41. In the processing of steps S29 and S30, the posture and the component mounting position (the position in the horizontal direction and the position in the vertical direction) of the sucked component E are appropriately corrected based on the imaging result by the component recognition camera 7 in step S22, the imaging result by the substrate recognition camera 8 in step S26, and the measurement result by the height measurement unit 9 in step S28, and the component E is mounted. Then, the mounting work process to the inclined work plane P2 is ended.

(Effect of the present embodiment)

In the present embodiment, the following effects can be obtained.

In the present embodiment, as described above, the pair of conveyor sections 221 are configured to be movable independently of each other in a direction orthogonal to the conveying direction. The pair of conveyor sections 221 is configured to move in a direction orthogonal to the conveying direction to transfer the mounted object P from the mounted object conveying section 2 to the mounted object holding section 3. This allows the width between the pair of conveyor sections 221 to be changed according to the width of the mounted object P, and therefore, mounted objects P having different widths can be delivered. The mounted object P can be transferred by moving the mounted object P in a direction orthogonal to the conveying direction by the pair of conveyor sections 221. The pair of conveyor sections 221 can be moved so as to be separated from each other in a direction orthogonal to the conveying direction, and can deliver and receive the mounted object P. As a result, the degree of freedom in driving the pair of conveyor sections 221 can be increased, and therefore the pair of conveyor sections 221 can be driven to appropriately transfer the mounted object P from the mounted object conveying section 2 to the mounted object holding section 3.

In the present embodiment, as described above, the control device 10 is configured to perform control for expanding the width between the pair of conveyor portions 221 by moving the pair of conveyor portions 221 in the direction orthogonal to the conveying direction after the mounted object P is held by the mounted object holding portion 3 when the operation of delivering the mounted object P from the mounted object conveying portion 2 to the mounted object holding portion 3 is performed. Thus, unlike the case where the one-side conveyor section 221 is fixed, the mounted object P can be delivered from the mounted object conveying section 2 to the mounted object holding section 3 only by widening the width between the pair of conveyor sections 221 in a state where the mounted object P is held by the mounted object holding section 3. As a result, the mounted object P can be delivered from the mounted object conveying unit 2 to the mounted object holding unit 3 with a simple configuration, as compared with the case where a dedicated mounted object delivery device is additionally provided.

In the present embodiment, as described above, the controller 10 is configured to tilt the object P by the object holding portion 3 and perform work on the object P by the head unit 4 while the width between the pair of conveyor portions 221 is increased. Thus, when the object P is tilted by the object holding portion 3 and the head unit 4 performs work on the object P, the pair of conveyor portions 211 can be retracted in advance, and therefore the pair of conveyor portions 221 can be prevented from interfering with the object holding portion 3 and the object P.

In the present embodiment, as described above, the control device 10 is configured to perform control for moving the pair of conveyor portions 221 in the direction orthogonal to the conveying direction to narrow the width between the pair of conveyor portions 221 when the operation is performed by the head unit 4 in a state where the object P is tilted by the object holding portion 3 and then the operation for receiving the object P from the object holding portion 3 by the object conveying portion 2 is performed. Thus, the mounted object P can be received from the mounted object holding unit 3 by the mounted object conveying unit 2 only by narrowing the width between the pair of conveyor units 221 in a state where the mounted object P is held by the mounted object holding unit 3. As a result, the mounted object P can be received from the mounted object holding portion 3 by the mounted object conveying portion 2 with a simple configuration, as compared with a case where a dedicated mounted object receiving device is additionally provided. This allows both the transfer of the mounted object P from the mounted object conveying unit 2 to the mounted object holding unit 3 and the reception of the mounted object P from the mounted object holding unit 3 by the mounted object conveying unit 2 to be performed with a simple configuration.

In the present embodiment, as described above, the control device 10 is configured to perform the following control when the operation of delivering the mounted object P from the mounted object conveying unit 2 to the mounted object holding unit 3 is performed: the object P is moved in the conveying direction by the pair of conveyor sections 221, and the object P is positioned at the delivery position M by moving the pair of conveyor sections 221 in a direction orthogonal to the conveying direction while maintaining the width between the pair of conveyor sections 221. Thus, even when the mounted object holding unit 3 is disposed at a position offset in a direction orthogonal to the conveying direction (in the present embodiment, a position offset in the Y1 direction with respect to the conveying path), the mounted object P can be easily positioned at the delivery position M by driving the pair of conveyor units 221.

In the present embodiment, as described above, the control device 10 is configured to perform the operation by the head unit 4 on the horizontal work surface P1 of the mounted object P held by the mounted object conveying unit 2 both before the mounted object P is delivered from the mounted object conveying unit 2 to the mounted object holding unit 3 and after the mounted object P is received by the mounted object conveying unit 2 from the mounted object holding unit 3. Thus, when the holding force of the mounted object conveying unit 2 on the mounted object P is greater than that of the mounted object holding unit 3 as in the present embodiment, the mounting work can be performed by the head unit 4 with respect to the horizontal mounted object P1 of the mounted object P held by the mounted object conveying unit 2, and the mounting work by the head unit 4 can be performed with high accuracy with respect to the horizontal mounted object P1.

In the present embodiment, as described above, the mounted object P is configured to be conveyed by the mounted object conveying unit 2 while being held by the mounted object holding member 90, and to be held by the mounted object holding unit 3 via the mounted object holding member 90. The object holding member 90 is provided with a single held portion 90a for holding the object holding portion 3. The mounted object holding portion 3 is configured as a single held portion 90a that holds the mounted object holding member 90. Thus, when the mounted object P is delivered from the mounted object conveying unit 2 to the mounted object holding unit 3 at the delivery position M, the single held unit 90a may be held by the mounted object holding unit 3. As a result, as compared with the case where the plurality of mounted object holding portions 90a need to be held by the mounted object holding portion 3, the mounted object holding portion 3 and the held portion 90a can be easily aligned, and therefore the mounted object P can be easily delivered from the mounted object conveying portion 2 to the mounted object holding portion 3 at the delivery position M.

[ modified examples ]

The embodiments disclosed herein are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the claims rather than the description of the above embodiments, and further includes all modifications (variations) equivalent in meaning and scope to the claims.

For example, in the above-described embodiment, the example in which the present invention is applied to the mounted object working apparatus as the component mounting apparatus which performs the work of mounting the component on the mounted object is shown, but the present invention is not limited to this. The present invention can be applied to an object working apparatus other than the component mounting apparatus.

For example, the present invention can be applied to an object working apparatus as a viscous material application apparatus for performing an operation of applying a viscous material such as solder to an object to be mounted. In this case, instead of the head unit of the above embodiment, a viscous material application unit for applying a viscous material to an object to be mounted is provided in the viscous material application device. The object to be mounted held by the object holding portion may be tilted to apply the adhesive material to the object to be mounted by the adhesive material application unit. In this case, the viscous material application unit is an example of the "work section" of the technical solution.

The present invention is also applicable to an object working apparatus as a reflow apparatus for performing a work of reflowing an adhesive material such as solder on an object to be mounted. In this case, instead of the head unit of the above embodiment, a laser irradiation unit that irradiates a laser beam to reflow the viscous material on the mounted object is provided in the reflow apparatus. The work of inclining the object to be mounted held by the object-to-be-mounted holding section and irradiating the laser beam with the laser beam irradiation means to reflow the adhesive material on the object to be mounted may be performed. In this case, the laser irradiation unit is an example of the "working section" of the technical solution.

The present invention is also applicable to an object working apparatus as an object inspection apparatus that performs an operation of inspecting an object to be mounted using visible light, infrared light, X-rays, or the like. In this case, instead of the head unit of the above embodiment, an inspection unit that irradiates the mounted object with visible light, infrared light, X-rays, or the like to perform imaging is provided in the mounted object inspection apparatus. The object held by the object holding portion may be tilted, and the inspection unit may perform an operation of irradiating the object with visible light, infrared light, X-ray, or the like to image and inspect the object. In this case, the inspection means is an example of the "work section" of the technical solution.

In the above-described embodiment, the example in which the object to be mounted has a flat work surface (horizontal work surface and inclined work surface) is shown, but the present invention is not limited to this. In the present invention, the object to be mounted may have an uneven work surface (a work surface that is a curved surface). Further, both a flat work surface and an uneven work surface may be provided.

In the above-described embodiment, the example in which the object to be mounted has one horizontal work surface and four inclined work surfaces is shown, but the present invention is not limited to this. In the present invention, the object to be mounted may have two or more horizontal work surfaces. In the present invention, the object to be mounted may have one or a plurality of inclined work surfaces other than four.

In the above-described embodiment, the example in which the mounted object is conveyed by the mounted object conveying unit via the mounted object holding member and is held by the mounted object holding unit has been described, but the present invention is not limited to this. In the present invention, the mounted object may be directly conveyed by the mounted object conveying unit as long as the mounted object can be conveyed. In the present invention, the object to be mounted may be directly held by the object holding portion as long as the object can be held.

In the above-described embodiment, the example in which the mounted object holding section is configured to move, tilt, and rotate the mounted object in the vertical direction has been described, but the present invention is not limited to this. In the present invention, the object holding portion may be configured to be at least capable of tilting the object.

In the above-described embodiment, the example in which the control device performs the control of moving the pair of conveyor sections in the direction orthogonal to the conveying direction to widen the width between the pair of conveyor sections after the mounted object is held by the mounted object holding section has been described, but the present invention is not limited to this. In the present invention, before the mounted object is held by the mounted object holding portion, the control device may be configured to perform control for moving the pair of conveyor portions in a direction orthogonal to the conveying direction to widen the width between the pair of conveyor portions. For example, in the case where a dedicated delivery device for delivering the mounted object from the mounted object conveying section (the pair of conveyor sections) to the mounted object holding section is provided, the control device may be configured to perform control for moving the pair of conveyor sections in a direction orthogonal to the conveying direction to expand the width between the pair of conveyor sections before the mounted object is held by the mounted object holding section and when the mounted object is delivered to the delivery device.

In the above-described embodiment, the control device performs the mounting operation of the component by the head unit on the horizontal work surface of the mounted object both before the mounted object is delivered from the mounted object conveying unit to the mounted object holding unit and after the mounted object is received by the mounted object conveying unit from the mounted object holding unit, but the present invention is not limited to this. In the present invention, the control device may be configured to perform the mounting operation of the component by the head unit on the horizontal work surface of the mounted object at least one of before the mounted object is delivered from the mounted object conveying unit to the mounted object holding unit and after the mounted object is received from the mounted object holding unit by the mounted object conveying unit.

In the above-described embodiment, the mounting work is performed on the horizontal work surface of the mounted object while being held by the mounted object conveying unit, and the mounting work is performed on the inclined work surface of the mounted object while being held by the mounted object holding unit. In the present invention, the mounting work may be performed on both the horizontal work surface of the mounted object and the inclined work surface of the mounted object while being held by the mounted object holding portion.

In the above-described embodiment, the example in which the single held portion is provided in the mounted object holding member is shown, but the present invention is not limited to this. In the present invention, the object holding member may be provided with a plurality of held portions.

In the above-described embodiment, the example in which the object holding portion is configured to hold the object by gripping has been described, but the present invention is not limited to this. In the present invention, the object holding portion may be configured to hold the object by a method other than gripping. For example, the mounted object holding portion may be configured to hold the mounted object by sucking the mounted object by negative pressure.

In the above-described embodiment, the feeder arrangement portion is provided only at the end portion of one side (Y2 side) of the base and the tape feeder is arranged. In the present invention, the feeder arrangement portions may be provided at both end portions (both sides in the Y direction) of the base, and the tape feeders may be arranged separately.

In the above-described embodiment, the height of the inclined work surface is measured for each component to be mounted, and the height position of each component mounting position on the inclined work surface is obtained by this measurement. In the present invention, as long as the height position of each component mounting position on the inclined work surface can be obtained, the height of the inclined work surface may not be measured for each component mounting. For example, when the inclined work surface is a flat surface, the height position of each component mounting position on the inclined work surface may be obtained by the following method. That is, first, the height measurement unit measures the heights of a plurality of positions at 3 or more positions on the inclined work surface. Then, a least square plane (a plane obtained by the least square method) is calculated by the control device based on the height measurement results of the plurality of positions on the inclined work plane. Further, the height position of each component mounting position on the inclined work surface may be acquired by the control device based on the calculated least square plane.

In the above-described embodiment, for convenience of explanation, the processing operation of the control device is described using a flow-driven flowchart in which processing is performed sequentially along the flow of processing, but the present invention is not limited to this. In the present invention, the processing operation of the control device may be performed by an event-driven process that executes the process on an event-by-event basis. In this case, the event may be performed by a complete event-driven type, or may be performed by combining event-driven and flow-driven types.

Description of the reference numerals

2 mounted object conveying part

3 mounted object holding part

4-head unit (operation part)

10 control device (control unit)

90 mounted object holding member

90a held portion

100 work device for mounted object

221 conveyor part

E element

P mounted object

P1 horizontal work surface

P2, P2a, P2b, P2c and P2d inclined work surface

M handover location.

Claims (12)

1. A component mounting apparatus includes:

a mounted object conveying part (2) for conveying a mounted object (P) for mounting the element (E);

an attached object holding unit (3) that holds the attached object by delivering the attached object from the attached object conveying unit at a delivery position (M) and tilts the held attached object;

a working unit (4) for performing the mounting operation of the component on the mounted object held by the mounted object holding unit; and

a control part (10),

the object carrying unit has a pair of conveyor units (221) for supporting the object from both sides in a direction orthogonal to a carrying direction and carrying the object in the carrying direction,

the pair of conveyor sections are configured to be movable independently of each other in a direction orthogonal to the conveying direction, and are configured to perform an operation of delivering the mounted object from the mounted object conveying section to the mounted object holding section by moving the pair of conveyor sections in the direction orthogonal to the conveying direction,

the object to be mounted has a horizontal work surface and an inclined work surface inclined with respect to the horizontal work surface,

the control unit is configured to perform the mounting operation of the component on the horizontal work surface of the mounted object by the operation unit in a state where the mounted object is held horizontally by the mounted object conveying unit at least one of before the mounted object is delivered from the mounted object conveying unit to the mounted object holding unit and after the mounted object is received from the mounted object holding unit by the mounted object conveying unit, and to perform the mounting operation of the component on the inclined work surface of the mounted object by the operation unit in a state where the mounted object is held by the mounted object holding unit and the mounted object is inclined.

2. The component mounting apparatus according to claim 1,

the control unit is configured to, when the operation of delivering the mounted object from the mounted object conveying unit to the mounted object holding unit is performed, perform control such that, after the mounted object is held by the mounted object holding unit: the pair of conveyor sections are moved in a direction orthogonal to the conveying direction to expand the width between the pair of conveyor sections.

3. The component mounting apparatus according to claim 2,

the control unit is configured to incline the object to be mounted by the object-to-be-mounted holding unit and perform work on the object to be mounted by the working unit in a state where the width between the pair of conveyor units is increased.

4. The component mounting apparatus according to claim 2,

the control unit is configured to perform the following control when the operation is performed by the operation unit in a state where the object to be mounted is tilted by the object to be mounted holding unit and then the operation of receiving the object to be mounted from the object to be mounted holding unit by the object to be mounted conveying unit is performed: the pair of conveyor sections are moved in a direction orthogonal to the conveying direction to narrow a width between the pair of conveyor sections.

5. The component mounting apparatus according to claim 3,

the control unit is configured to perform the following control when the operation is performed by the operation unit in a state where the object to be mounted is tilted by the object to be mounted holding unit and then the operation of receiving the object to be mounted from the object to be mounted holding unit by the object to be mounted conveying unit is performed: the pair of conveyor sections are moved in a direction orthogonal to the conveying direction to narrow a width between the pair of conveyor sections.

6. A component mounting apparatus according to any one of claims 2 to 5,

the control unit is configured to perform, when an operation of delivering the mounted object from the mounted object conveying unit to the mounted object holding unit is performed, control as follows: the object to be mounted is moved in the conveying direction by the pair of conveyor sections, and the object to be mounted is positioned at the delivery position by moving the pair of conveyor sections in a direction orthogonal to the conveying direction while maintaining the width between the pair of conveyor sections.

7. A component mounting apparatus according to any one of claims 2 to 5,

the control unit is configured to perform work by the working unit on the horizontal work surface of the mounted object held by the mounted object conveying unit at least one of before the mounted object is delivered from the mounted object conveying unit to the mounted object holding unit and after the mounted object is received from the mounted object holding unit by the mounted object conveying unit.

8. The component mounting apparatus according to claim 6,

the control unit is configured to perform work by the working unit on the horizontal work surface of the mounted object held by the mounted object conveying unit at least one of before the mounted object is delivered from the mounted object conveying unit to the mounted object holding unit and after the mounted object is received from the mounted object holding unit by the mounted object conveying unit.

9. A component mounting apparatus according to any one of claims 1 to 5,

the object to be mounted is configured to be conveyed by the object to be mounted conveying part in a state of being held by an object to be mounted holding member (90) and to be held by the object to be mounted holding part via the object to be mounted holding member,

the object holding member has a single held portion (90a) for holding the object holding portion,

the object holding portion is configured to hold a single object holding portion of the object holding member.

10. The component mounting apparatus according to claim 6,

the object to be mounted is configured to be conveyed by the object to be mounted conveying part in a state of being held by an object to be mounted holding member (90) and to be held by the object to be mounted holding part via the object to be mounted holding member,

the object holding member has a single held portion (90a) for holding the object holding portion,

the object holding portion is configured to hold a single object holding portion of the object holding member.

11. The component mounting apparatus according to claim 7,

the object to be mounted is configured to be conveyed by the object to be mounted conveying part in a state of being held by an object to be mounted holding member (90) and to be held by the object to be mounted holding part via the object to be mounted holding member,

the object holding member has a single held portion (90a) for holding the object holding portion,

the object holding portion is configured to hold a single object holding portion of the object holding member.

12. The component mounting apparatus according to claim 8,

the object to be mounted is configured to be conveyed by the object to be mounted conveying part in a state of being held by an object to be mounted holding member (90) and to be held by the object to be mounted holding part via the object to be mounted holding member,

the object holding member has a single held portion (90a) for holding the object holding portion,

the object holding portion is configured to hold a single object holding portion of the object holding member.

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