JP2006210705A - Electronic component mounting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To discriminate the kind of a nozzle without executing special work to the nozzle itself, and without moving the nozzle together with a transfer head to a camera position every time of nozzle exchange. <P>SOLUTION: An electronic component mounting device is provided with the transfer head for holding an electronic component by a mounted suction nozzle, moving it in a horizontal direction and a vertical direction, and loading it on a prescribed position on a substrate and a nozzle exchanger 10 for housing the optional number of suction nozzles 15 for the exchange of the suction nozzle to be mounted on the transfer head. The electronic component mounting device comprises a photoelectric sensor provided with the projector 19 and light receiver 20 of a light beam B, and a discrimination means for discriminating the kind of the suction nozzle from the change of a received light quantity by the light receiver 20 when the suction nozzle 15 mounted on the transfer head is positioned between the projector 19 and the light receiver 20. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an electronic component mounting apparatus that automatically mounts electronic components on a wiring substrate such as a printed circuit board or a liquid crystal display panel substrate.

  2. Description of the Related Art Conventionally, an electronic component mounting apparatus has been used to automatically mount an electronic component on a wiring board. The electronic component mounting apparatus includes a transfer head that is movable on a horizontal plane in the apparatus, and the transfer head is provided with a Z-axis drive mechanism that is vertically movable, and the Z-axis drive mechanism A suction nozzle for sucking and holding electronic components can be attached to the lower end of the shaft of the.

  Normally, suction nozzles of various shapes are prepared, and the optimum one is selected according to the type of electronic component that is actually mounted (mounted) in the production process, and the Z-axis drive shaft of the transfer head It is attached to the lower end of.

  Accordingly, when an unsuitable suction nozzle is mounted on the shaft, the suction of the electronic component becomes unstable, leading to a decrease in mounting accuracy of the electronic component on the substrate and a mounting error. Therefore, during the production operation, the transfer head is moved to the nozzle changer (suction nozzle storage mechanism) installed in the apparatus according to the electronic component to be mounted, and the nozzles are exchanged in a timely manner. When the nozzle is replaced in this way, it is necessary to confirm that the correct nozzle has been replaced.

  For example, in Patent Document 1, different shapes and numbers of marks M as shown in FIG. 15 are assigned in advance to a plurality of suction nozzles, and these are picked up by an image recognition camera in the apparatus. Thus, an electronic component mounting apparatus for identifying the type of nozzle is disclosed.

JP 2002-280798 A

  However, the conventional electronic component mounting apparatus has the following problems.

  (1) In order to recognize the nozzle type by the image recognition camera provided in the apparatus main body, it is necessary to use different shapes and numbers of marks for identification for each nozzle type. There has been a problem of increasing the production cost as a result.

  (2) Since it is necessary to move the nozzle together with the transfer head to the position where the image recognition camera of the apparatus main body is installed every time the nozzle is replaced, there is a problem that productivity is lowered.

  The present invention has been made to solve the above-described conventional problems, and without moving the nozzle itself, and moving the nozzle together with the transfer head to the installation position of the image recognition camera every time the nozzle is replaced. It is another object of the present invention to provide an electronic component mounting apparatus that can determine the type of nozzle mounted on a shaft.

  In the present invention, an electronic component is held by a mounted suction nozzle, moved in a horizontal direction and a vertical direction, and mounted on a predetermined position on a substrate, and for replacement of a suction nozzle mounted on the transfer head. In an electronic component mounting apparatus including a nozzle changer that accommodates an arbitrary number of suction nozzles, a photoelectric sensor having a light beam projecting unit and a light receiving unit, and the transfer head between the light projecting unit and the light receiving unit And a discriminating means for discriminating the type of the suction nozzle from the change in the amount of light received by the light receiving portion when the suction nozzle attached to the head is positioned. is there.

  In the present invention, the photoelectric sensor may be attached to the nozzle changer, the transfer head, the driving means for moving the transfer head, or the vicinity thereof.

  In the present invention, the cross-sectional shape of the light beam may be a rectangle or a line that is long in a direction orthogonal to the axial center of the suction nozzle mounted on the transfer head. At that time, it is preferable that the suction nozzle is positioned at a fixed position with respect to the light beam.

  According to the present invention, the type of the suction nozzle mounted on the transfer head can be determined based on the change in the amount of received light before and after the suction nozzle is positioned between the light projecting portion and the light receiving portion of the photoelectric sensor. Therefore, it is not necessary to apply special processing to the suction nozzle itself.

  Moreover, since the light projecting unit and the light receiving unit require a small installation space, they can be easily installed at any position such as the nozzle changer or its vicinity, or the transfer head or its vicinity, so that the position away from the nozzle changer. There is no need to move the transfer head to the image recognition camera in

  Therefore, it is possible to prevent an increase in the cost of the suction nozzle and to shorten the nozzle type determination step, thereby improving productivity.

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

  First, the main configuration of the electronic component mounting apparatus according to the present embodiment will be described with reference to a perspective view illustrating the appearance of FIG. 1 and a block diagram illustrating an overview of the control apparatus of FIG.

  In FIG. 1, a transport path 2 is arranged in the X direction at the center of a base 1. The transport path 2 also serves as a board holding unit, transports the electronic board (wiring board) 3, and holds and positions the electronic board 3 at a predetermined position on the transport path 2.

  Further, on both sides of the transport path 2, electronic component supply units 4 are arranged, and a plurality of parts feeders 5 are arranged in parallel in each supply unit 4. The parts feeder 5 stores electronic components held on a tape (not shown), and sequentially feeds the electronic components to the pickup position by feeding the tape in the length direction.

  A transfer head 7 for mounting electronic components on the electronic substrate 3 is attached to the X-axis frame 6 so as to be movable in the X-axis direction. The X-axis frame 6 is installed in a state in which both ends thereof are supported by the Y-axis frame 8A and the Y-axis frame 8B facing each other so as to be movable in the Y-axis direction.

  The transfer head 7 and the X-axis frame 6 are driven by an X-axis motor 111 and a Y-axis motor 112, which will be described later, respectively, and are movable in the X-axis direction and the Y-axis direction, respectively. As a result, the transfer head 7 can be arbitrarily moved in the X and Y (horizontal) directions, and the parts can be moved by the suction nozzle 15 (see FIG. 3) attached to the lower end of the shaft that is movable in the Z (vertical) direction. The electronic component is picked up from the pickup position of the feeder 5 and then picked up and transferred onto the substrate 3.

  A component recognition camera 9 is provided in the apparatus main body of the electronic component mounting apparatus according to the present embodiment, and the electronic component held by the suction nozzle 15 by the camera 9 can be imaged from below. ing.

  Similarly, a plurality of types of suction nozzles are accommodated and held at a predetermined position of the apparatus body so that the types of suction nozzles 15 can be exchanged according to the types of electronic components to be transferred. A nozzle changer 10 is provided.

  The control device of the electronic component mounting apparatus according to the present embodiment shown in FIG. 2 includes a calculation unit 100 that functions as nozzle type discrimination means described later and executes various calculations for controlling the entire apparatus.

  The arithmetic unit 100 includes a CPU 101 that performs arithmetic processing, a ROM 102 that stores various programs, a RAM 103 that stores various data, an input interface 104, and an output interface 105.

  Detection signals are input to the input interface 104 from an X-axis encoder 106, a Y-axis encoder 107, a Z-axis encoder 108, a θ-axis encoder 109, and a photoelectric sensor amplifier 110 that amplifies a received light signal from a photoelectric sensor, which will be described later. A control signal as a calculation result is output from the interface 105 to the X-axis motor 111, the Y-axis motor 112, the Z-axis motor 11, the θ-axis motor 13, and the alarm device 113 via each drive circuit. ing.

  Next, the outline of the transfer head 7 will be described with reference to FIG. FIG. 2 is a perspective view showing the main components of the transfer head 7 and its peripheral part provided in the electronic component mounting apparatus of the present embodiment.

  In FIG. 3, the transfer head 7 is provided with a Z-axis motor 11, a ball screw 12 rotated by the motor 11, and a θ-axis motor 13 moved up and down by the ball screw 12. The nozzle shaft 14 connected to 13 is freely driven in the Z-axis direction and the θ-axis direction.

  In addition, when a vacuum generator (not shown) is connected in particular, a negative pressure is supplied to the suction nozzle 15 that is detachably attached to the tip of the nozzle shaft 14 so that the electronic components can be sucked and held. Yes.

  In addition, a substrate recognition camera 16 and a substrate illumination device (unit) 17 for recognizing a position reference mark provided on the electronic substrate 3 are integrally attached to the transfer head 7.

  Next, the nozzle changer 10 will be described with reference to FIG. FIG. 1 is a perspective view showing the external shape of the nozzle changer 10.

  The nozzle changer 10 is provided with a plurality of nozzle holding holes 18 for accommodating and holding the suction nozzle 15. A suction nozzle gripping mechanism (not shown) is provided inside the nozzle holding hole 18 so that the suction nozzle 15 can be freely gripped and opened as needed.

  Further, a projector 19 and a light receiver 20 of a transmission type photoelectric sensor are arranged in an integrated manner or in the vicinity of the nozzle exchanger 10 via an attachment mechanism (not shown). The light beam B emitted from the projector 19 enters the light receiver 20, is introduced into a photoelectric conversion unit (not shown) via an optical fiber, and after photoelectric conversion, the received light amount by the photoelectric sensor amplifier 110. Is amplified to a sensor output (for example, DC 1 to 5 V) according to the output and output to the arithmetic unit 100 of the apparatus main body.

  The operation of the electronic component mounting apparatus having the above configuration will be described along the actual mounting operation on the board. FIG. 7 shows an outline of an operation flow in this mounting work.

  As shown in FIG. 1, the electronic board 3 is carried in the X-axis direction from the left side of the apparatus by the transport path 2 in the drawing, and is predetermined by a control device (not explicitly shown) installed in the base 1. It is transported and fixed to the mounting position (step 1).

  Next, the transfer head 7 moves onto the electronic substrate 3 by driving the X-axis motor 111 and the Y-axis motor 112, and irradiates a position reference mark (not shown) on the electronic substrate 3 by the substrate illumination device 17. The position reference mark is imaged by the substrate recognition camera 16 (if there are a plurality of position reference marks, images are sequentially captured in the same manner).

  Next, based on these imaging data, an image recognition unit (not explicitly shown) stored in the base 1 calculates and positions and angles of the electronic substrate 3 positioned in the coordinate system of the device base 1 (2), the mounting position data for actually mounting the electronic component is corrected based on the recognition.

  Next, it is determined whether or not the suction nozzle 15 needs to be replaced (step 3). Usually, this determination is performed after one or more electronic components are mounted on the substrate 3. If Yes is necessary, the operations of Steps 4 to 7 are executed, which will be described later for convenience.

  Subsequently, when performing the normal mounting operation of No in step 3, the transfer head 7 moves to the component suction (pickup) position of the electronic component supply unit 4 (step 8), and the electronic substrate 3 is transferred from the parts feeder 5. The electronic component to be mounted on is picked up and taken out (step 9). The transfer head 7 that has taken out the electronic components is driven by the X-axis frame 6 and the Y-axis frames 8a and 8b to move to a position to be mounted on the electronic substrate 3 (step 10).

  Thereafter, the transfer head 7 that has finished sucking the electronic component moves to above the component recognition camera 9. At that time, an output signal from the X-axis encoder 106 that detects the position of the transfer head 7 in the X-axis direction and an output signal of the Y-axis encoder 107 that detects the position in the Y-axis direction are used for the component recognition camera 9. It is detected that the nozzle 15 holding the electronic component to be picked up and picked up is positioned, a trigger is given to the component recognition camera 9, the shutter is opened, the picked up electronic component is picked up, and the electronic component is picked up and held. The component recognition which calculates the required data by calculating the posture which is performed by the image recognition unit is performed (step 11).

  Based on this calculated value and the coordinate position and angle information of the electronic substrate 3 already obtained above on the apparatus base 1, the X-axis motor 111 and the Y-axis motor 112 are corrected so as to correct any deviation from the reference value. The motor is driven to move to the component mounting position (step 12), and the Z-axis motor 11 and the θ-axis motor 13 are driven to mount the electronic component at a predetermined position on the electronic board 3 with high accuracy (step 13). .

  The above operation is repeated, and the electronic parts to be mounted are sequentially picked up from the parts feeder 5. However, since various electronic parts having different shapes and weights are picked up during production, the timely suction nozzle 15 is selected according to the part type. Need to be exchanged (Yes in step 3).

  When the suction nozzle 15 needs to be replaced in accordance with the change of the parts to be sucked, the transfer head 7 moves to the nozzle changer 10 installed in the apparatus main body (step 4). After that, as shown in FIG. 4, the currently installed suction nozzle 15 is stored in the nozzle holding hole 18 where the suction nozzle 15 is not stored, and is stored in the other nozzle holding hole 18. The suction nozzle required for the next production is selected from the suction nozzle 15 and the nozzle to be attached to the tip of the nozzle shaft 14 is replaced (step 5).

  After the replacement of the suction nozzle 15, the transfer head 7 moves to the component suction position (supply unit) 4 to return to the mounting operation. At that time, the tip of the suction nozzle 15 is moved to the nozzle changer 10. It moves so as to pass between the light projector 19 and the light receiver 20 of the transmissive photoelectric sensor provided integrally or in the vicinity thereof.

The X-axis for detecting the position of the transfer head 7 in the X-axis direction when the nozzle 15 passes between the light projector 19 and the light receiver 20 of the transmission photoelectric sensor by the operation of passing the tip of the nozzle 15. As shown in FIG. 5 (A), the center of the sensor optical axis (center C of the light beam B) that connects between the light emitters / receivers 19 and 20 of the transmission photoelectric sensor is indicated by a one-dot chain line. by detecting the position where the axis 21 of the suction nozzle 15 matches the known data, such as the nozzle diameter D _1, and outputs the output value of the photoelectric sensor amplifier 110 at that time to the operation unit 100 of the apparatus main body.

  When the nozzle is correctly mounted, the amount of light received by the photoelectric sensor light receiving unit 20 is blocked by the suction nozzle 15, so the nozzle stored in advance in a ROM (Read Only Memory) 102 of the apparatus main body is mounted. By comparing with the output value of the photoelectric sensor amplifier 110 in a state where the light is not received (maximum amount of received light), the CPU (Central Processing Unit) 101 can determine whether or not the nozzle is correctly mounted (step 6). .

Further, from the measurement position, the half (D _1/2) only further moved position of the tip diameter of the suction nozzle mounted (see FIG. 5 (B)), the apparatus again the output value of the photoelectric sensor amplifier 110 body To the arithmetic unit 100.

  When the correct nozzle type is mounted, since only half of the light beam B is blocked, the amount of light received by the photoelectric sensor light receiving unit 20 is halved by the suction nozzle 15, so that it is previously stored in the ROM 102 of the apparatus main body. The stored threshold value (determined based on a previously measured result value) is compared with the output value of the sensor amplifier 110.

  As a result, if the nozzle type is not to be mounted, the light shielding range, that is, the amount of received light is different as shown in FIGS. 6B and 6C. By comparing the amounts, it can be determined whether the nozzle type has been correctly selected (step 7).

  When the above-described determination of the attachment of the suction nozzle in step 6 or the determination of the type of the suction nozzle attached in step 7 is performed at a necessary part of the mounting process (all replaced nozzles), and an error occurs in any of them In other words, the CPU 101 activates the alarm device 113 (step 15), thereby notifying the operator of an abnormality of the mounting nozzle and temporarily stopping the production operation of the device.

  On the contrary, if no error occurs in steps 6 and 7, the component mounting operation in steps 8 to 14 is performed.

  According to the first embodiment described above, the following effects can be obtained.

  (1) When the photoelectric sensor constituting the nozzle recognizing means is provided in the nozzle changer 10 which is a stationary part on the apparatus main body side other than the transfer head or in the vicinity thereof, the head can be made small / light / simplified It becomes possible. As a result, the size of the apparatus can be reduced and the mounting tact (efficiency) can be improved.

  (2) Since the photoelectric sensor is used as the nozzle recognition means, there is no need to use an area sensor or line sensor, and a relatively inexpensive optical sensor such as a fiber sensor connected to the LED can be used. The cost of the apparatus can be reduced.

  (3) Since nozzle installation and type inspection are possible in the vicinity of the nozzle changer, it is possible to minimize the movement of the transfer head for nozzle inspection after nozzle replacement. The fall of property can be prevented.

  FIG. 8 is a perspective view corresponding to FIG. 4 and showing the characteristics of the modification relating to the first embodiment.

  In the first embodiment, the transmissive photoelectric sensor having the projector 19 and the light receiver 20 is fixedly attached to the nozzle exchanger 10 or the vicinity thereof. However, the transfer head 7 or the suction nozzle 15 during the mounting operation is mounted. In order to avoid interference with the nozzle, it is possible to have a structure that can be retracted by an actuator or the like to a position where the above interference can be avoided except when detecting the nozzle.

  In this modified example, as shown in the figure, the air cylinder 22 is used as an actuator, and the light projector 19 and the light receiver 20 of the photoelectric sensor fixed to the substantially U-shaped support member 22A connected to the cylinder rod are integrated. It can be moved forward and backward, and can be lowered from the illustrated position to a position that does not interfere except during detection. In this case, the air cylinder 22 may be directly fixed to the side surface of the nozzle changer 10, and in that case, in order to allow the user to change the nozzles at once, the upper portion 10A as shown in the figure. May be a separate type that can be removed.

  FIG. 9 shows another modified example of the first embodiment in which a transmissive photoelectric sensor is fixed to the X-axis frame 6 or attached so as to be able to advance and retreat. In this case as well, inspection can be performed without moving the suction nozzle to a remote position.

  In the case of the first embodiment, as shown in FIG. 10, a flat portion 23 is provided in a part of the cylindrical portion of the suction nozzle 15 so that the recognition range of the photoelectric sensor covers the nozzle flat portion 23. By moving the transfer head, the amount of light received by the photoelectric sensor changes depending on the mounting angle of the nozzle, and the sensor optical axis C and the nozzle flat portion 23 are parallel to each other as shown in FIG. Since the amount of received light is maximized, the nozzle mounting angle can be detected. Thereby, when it is necessary to check the nozzle mounting angle when replacing the nozzle, the angle can be detected.

  Further, in the first embodiment, the mounting or type of the nozzle is determined from the sensor output values at two positions, that is, the nozzle center position 21 and the position where the nozzle tip is on one side edge and shields half of the sensor recognition range. However, for example, the nozzle mounting or type may be determined from sensor output values at three or more positions including the nozzle center position 21 and both side edges. By doing so, for example, when detecting a small-diameter nozzle, detection accuracy can be improved by performing nozzle detection using sensor output values at more nozzle positions.

  In the first embodiment, the sensor output at two nozzle positions is read to determine the mounting or type of the nozzle, but the sensor output value is changed while moving the nozzle relative to the sensor. The reading or the result may be used to determine nozzle mounting or type.

  If the nozzle shape is not cylindrical or if the nozzle shaft has a large runout, the nozzle shaft may be rotated by θ to detect the nozzle from sensor output values at a plurality of angles.

  In the first embodiment, the threshold value stored in the ROM in advance and the sensor output are compared to perform nozzle detection. However, the sensor output at the time of all incident light is periodically measured, or a predetermined nozzle is detected. The threshold value may be corrected in a timely manner by automatically measuring the sensor output at the position.

  Further, in the first embodiment, the detection is performed by passing the suction nozzle after replacement between the light emitting and receiving units of the photoelectric sensor. However, by providing the photoelectric sensor inside the nozzle changer 10, the nozzle replacement operation can be performed. The nozzle type and the like may be detected almost simultaneously. At that time, photoelectric sensors may be provided at a plurality of locations inside the nozzle exchanger.

  Next, a second embodiment according to the present invention will be described with reference to FIGS.

  In the first embodiment, the cross-sectional shape of the light beam that defines the detection range of the sensor is circular, but in this embodiment, the detection range is rectangular as shown in FIG. 11 corresponding to FIG. A flat (band-like) light beam B is employed. As shown in FIG. 12, a photoelectric sensor having a projector 19 and a light receiver 20 is attached to the transfer head 7 and is installed for each nozzle to be attached.

  This flat (band-shaped) light beam B can be generated by using a transmission photoelectric sensor including a projector 19 and a light receiver 20 having a configuration schematically shown in FIG.

  That is, the projector 19 forms an LED 30 as a light source, a collimating lens 31 for making the light from the LED 30 parallel light, and a part of the parallel light into a flat beam B having a rectangular cross section. Therefore, the first slit plate 32 is provided.

  On the other hand, the light receiver 20 includes a second slit plate 33 for selectively receiving the flat beam B emitted from the slit of the slit plate 32, a focus lens 34 for condensing the incident beam B, and a collecting lens. The photoelectric conversion element 35 is configured to photoelectrically convert the emitted light. With this configuration, the suction nozzle 15 can be detected using the flat plate beam B having the cross-sectional shape shown in FIG.

  In this way, by using the light beam B whose detection range is rectangular, the type of the suction nozzle 15 can be detected from the output at one nozzle detection position with respect to the nozzle position.

  That is, in this example, as shown in FIGS. 11A to 11C, for example, the nozzle axis 21 is positioned at a position offset from the sensor detection position center (beam center) C by a certain distance, for example. By detecting the amount of received light, it is possible to detect the degree of light shielding that varies depending on the type of nozzle. Therefore, more nozzle diameter differences can be detected within a small detection range without moving the nozzle 15 in the direction orthogonal to the light beam B as in the first embodiment.

  FIG. 14 shows a modification of the second embodiment.

  This modification is the same as that of the second embodiment except that the transmission photoelectric sensor as shown in FIG. 13 is fixed at a position where each suction nozzle 15 can reach. In this case, it is necessary to move only the suction nozzle to be detected up and down to coincide with the position of the light beam B, but there is an advantage that each of the nozzles mounted on each shaft can be detected by one photoelectric sensor. .

  The photoelectric sensor that generates a flat (band) light beam is not limited to the one shown in FIG.

  For example, a line sensor may be used by omitting the slit plate on the light receiving side. Further, a laser may be used as the light source, and in this case, both slit plates can be omitted. Further, the cross-sectional shape of the light beam may be linear.

  In the embodiment, a transmissive photoelectric sensor is used, but a reflective photoelectric sensor may be used.

  Further, the present invention can be applied regardless of other components such as the position of the component recognition camera and the position of the component supply device.

The perspective view which shows the external appearance of the electronic component mounting apparatus of 1st Embodiment which concerns on this invention. The block diagram which shows the outline | summary of the control system of the electronic component mounting apparatus of this embodiment The perspective view which shows the transfer head with which the electronic component mounting apparatus of this embodiment is provided. The perspective view which shows the nozzle switch and photoelectric sensor with which the electronic component mounting apparatus of this embodiment is equipped Explanatory drawing which shows the discrimination | determination principle of the nozzle kind by this embodiment Other explanatory views showing the principle of discrimination of the nozzle type according to the present embodiment Flow chart showing the operation of this embodiment The perspective view which shows the relationship between the nozzle switch of the modification regarding 1st Embodiment, and a photoelectric sensor. The principal part perspective view which shows the characteristic of the other modification regarding 1st Embodiment. Explanatory drawing showing the angle detection principle of the suction nozzle Explanatory drawing which shows the discrimination | determination principle of the nozzle kind which uses the flat light beam by 2nd Embodiment concerning this invention. The principal part perspective view which shows the installation position of the photoelectric sensor in this embodiment The schematic diagram which shows the outline | summary of a structure of the photoelectric sensor applied to this embodiment. The principal part perspective view which shows the characteristic of the modification of 2nd Embodiment. A perspective view showing an example of a conventional suction nozzle

Explanation of symbols

DESCRIPTION OF SYMBOLS 3 ... Board | substrate 4 ... Supply part 6 ... X-axis beam 7 ... Transfer head 8 ... Y-axis beam 10 ... Nozzle changer 15 ... Adsorption nozzle 18 ... Holding hole 19 ... Light projector 20 ... Light receiver B ... Light beam C ... Beam center

Claims (4)

A transfer head that holds the electronic component with the attached suction nozzle, moves it horizontally and vertically, and mounts it at a predetermined position on the substrate;
In an electronic component mounting apparatus including a nozzle changer that accommodates an arbitrary number of suction nozzles for replacement of suction nozzles attached to a transfer head,
A photoelectric sensor having a light beam projecting portion and a light receiving portion;
A discriminating means for discriminating the type of the suction nozzle from a change in the amount of received light detected by the light receiving unit when the suction nozzle mounted on the transfer head is positioned between the light projecting unit and the light receiving unit; An electronic component mounting apparatus comprising:   2. The electronic component mounting apparatus according to claim 1, wherein the photoelectric sensor is attached to the nozzle changer, a transfer head, a driving unit that moves the transfer head, or the vicinity thereof.   2. The electronic component mounting apparatus according to claim 1, wherein a cross-sectional shape of the light beam is a rectangle or a straight line that is long in a direction orthogonal to an axial center of a suction nozzle mounted on the transfer head.   The electronic component mounting apparatus according to claim 3, wherein the suction nozzle is positioned at a fixed position with respect to the light beam.

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