JP2008053253A - Component mounting equipment, method and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide component mounting equipment in which the rotary positioning precision can be secured while enhancing the positioning operation efficiency, and to provide component mounting method and program. <P>SOLUTION: In component mounting for picking up a component from a component feeder by means of a suction nozzle, and then transferring and mounting the component on a substrate, when the component held by the suction nozzle is positioned at a predetermined rotary position by rotating the suction nozzle about the nozzle axis in the regular direction or the non-regular direction reverse to the regular direction; the time required for rotary positioning is calculated for two directions, i.e. the regular direction not requiring to take into account of the positioning error due to backlash and the non-regular direction requiring to take into account of the positioning error (ST12), and then the direction requiring a shorter time for rotary position is determined as the rotational direction (ST13). Consequently, the rotational direction for rotary positioning can be determined properly and rationally. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a component mounting apparatus, a component mounting method, and a component mounting program for mounting components on a board.

In a component mounting device that mounts electronic components and other components on a board, when the component is taken out from the component supply unit by the transfer head and transferred to the mounting point on the board, the component is orthogonal to the mounting point. In addition, it is necessary to correctly position the rotational position of the component in the plane and match the specified mounting angle. This rotational positioning is performed by rotating the suction nozzle that holds the component by suction around the nozzle axis (see Patent Document 1). In the example shown in this patent document, the positioning rotation amount necessary for rotating the suction nozzle around the axis to match the specified mounting angle is 2 for rotating the suction nozzle in two directions, the positive direction and the negative direction. Each of the streets is obtained, and the suction nozzle is rotated in the rotation direction with the smaller positioning rotation amount in the rotational positioning operation. As a result, there is an advantage that it is possible to improve the positioning operation efficiency by eliminating the useless rotation operation of the suction nozzle.
Japanese Patent No. 3419893

  By the way, in recent years, with the miniaturization of electronic devices, the miniaturization of components has progressed, and the mounting position accuracy required for mounting components on a substrate has become much higher than before. For this reason, it is necessary to consider mechanical errors that could not be ignored in the past, for example, positioning errors caused by mechanical play in the rotational drive mechanism that rotationally drives the suction nozzle. When rotational positioning is performed, depending on the rotational direction, a correction operation for correcting a rotational positioning error caused by mechanical play may be performed.

  However, in the above-described patent document example, such a correction operation is not taken into consideration when determining the rotational direction for rotational positioning. For this reason, the determination of the rotation direction is not always performed properly, and there is a problem in that it is difficult to achieve both the rotation positioning accuracy and the improvement of the positioning operation efficiency.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a component mounting apparatus, a component mounting method, and a component mounting program capable of ensuring both rotational positioning accuracy and improving positioning operation efficiency.

The component mounting apparatus of the present invention is a component mounting apparatus that takes out a component from a component supply unit by a transfer head and transfers and mounts the component on a substrate, and moves the transfer head between the component supply unit and the substrate. A head moving mechanism; a suction nozzle mounted on the transfer head for sucking and holding the component; a rotation driving mechanism for rotating the suction nozzle around a nozzle axis; and controlling the head moving mechanism and the rotation driving mechanism. A control unit, and the control unit rotates the suction nozzle in a normal direction or a non-normal direction opposite to the normal direction around the nozzle axis to position a component held by the suction nozzle at a predetermined rotational position. In the rotational positioning, a required time calculating step for calculating the required time required for the rotational positioning in the two directions of the normal direction and the non-normal direction; A direction determining step for determining a direction that gives a short required time out of the calculated required times for the two directions as a rotational direction, and the rotational driving so as to perform rotational positioning by rotating the suction nozzle in the determined rotational direction. A nozzle rotation step that controls a mechanism, and in the calculation of the required time in the non-normal direction in the required time calculation step, the suction is performed in order to correct a positioning error caused by mechanical play of the rotary drive mechanism. The time required for the rotation correction operation for returning the nozzle to the target rotation position after once overrunning the nozzle in the rotation direction is taken into account.

  The component mounting method of the present invention includes a head moving mechanism that moves a transfer head between a component supply unit and a substrate, an adsorption nozzle that is attached to the transfer head and adsorbs and holds the component, and the adsorption nozzle. A component mounting apparatus including a rotation drive mechanism that rotates around a nozzle shaft and a control unit that controls the head moving mechanism and the rotation drive mechanism takes out the component from the component supply unit by the transfer head and transfers it to the substrate. A component mounting method for mounting, wherein the suction nozzle is rotated in a normal direction or a non-normal direction opposite to the normal direction around the nozzle axis, and the component held by the suction nozzle is positioned at a predetermined rotation position. In the positioning, a required time calculating step for calculating the required time required for the rotational positioning in the two directions of the normal direction and the non-normal direction; A direction determining step for determining a direction that gives a short required time out of the calculated required times for the two directions as a rotational direction, and a nozzle rotating step for performing rotational positioning by rotating the suction nozzle in the determined rotational direction. And in the calculation of the positioning rotation amount in the non-regular direction in the required time calculation step, the suction nozzle is temporarily exceeded in the rotation direction in order to correct a positioning error caused by mechanical play of the rotation drive mechanism. The time required for the rotation correction operation to return to the target rotation position after the run is taken into account.

  The component mounting program of the present invention includes a head moving mechanism that moves a transfer head between a component supply unit and a substrate, an adsorption nozzle that is attached to the transfer head and adsorbs and holds the component, and the adsorption nozzle. A component mounting apparatus having a rotation driving mechanism that rotates around a nozzle shaft, and a control unit that controls the head moving mechanism and the rotation driving mechanism, takes the component from the component supply unit by the transfer head and transfers it to the substrate. A component mounting program for performing a component mounting operation to be mounted, wherein the suction nozzle is rotated in a normal direction or a non-normal direction opposite to the normal direction around the nozzle axis, and a component held by the suction nozzle is In rotational positioning for positioning at a predetermined rotational position, the control unit gives the required time required for the rotational positioning to the normal direction and non-normal direction. A required time calculating step for calculating the two directions, a direction determining step for determining a direction that gives a short required time among the calculated required times for the two directions as a rotational direction, and the suction nozzle in the determined rotational direction. A nozzle rotation step for controlling the rotation drive mechanism so as to perform rotation positioning, and in calculating the required time in the non-normal direction in the required time calculation step, the mechanical of the rotation drive mechanism In order to correct the positioning error due to play, the suction nozzle is once overrun in the rotation direction, and then a process is performed in consideration of the time required for the rotation correction operation for returning to the target rotation position.

  According to the present invention, when calculating the time required for rotational positioning for positioning the component held by the suction nozzle at a predetermined rotational position, the positioning error due to the mechanical play of the rotational drive mechanism is corrected. By adding the time required for the rotation correction operation for this purpose, it is possible to determine the rotation direction appropriately and rationally, and to ensure both the rotation positioning accuracy and the improvement of the positioning operation efficiency.

Next, embodiments of the present invention will be described with reference to the drawings. 1 is a plan view of a component mounting apparatus according to an embodiment of the present invention, FIG. 2 is a perspective view of a transfer head of the component mounting apparatus according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention. FIG. 4 is a block diagram showing a configuration of a control system of a component mounting apparatus according to an embodiment of the present invention, and FIG. 5 is a component mounting according to an embodiment of the present invention. FIG. 6 is a flowchart of the rotational positioning operation of the component in the component mounting apparatus according to the embodiment of the present invention, and FIG. 7 is the component mounting method according to the embodiment of the present invention. FIG. 8 is an explanatory diagram showing the relationship between the rotational positioning operation of the component and the rotational direction, FIG. 8 is a flowchart of the rotational positioning process of the component in the component mounting method of the embodiment of the present invention, and FIG. 9 is an embodiment of the present invention. Necessary for rotational positioning of components in the component mounting method It is a flow diagram of a necessary time computing processing.

  First, the overall structure of the component mounting apparatus will be described with reference to FIG. In FIG. 1, a transport path 2 is disposed in the base 1 in the X direction (substrate transport direction), and the transport path 2 transports and positions a substrate 3 on which components are mounted. Component supply units 4 are disposed on both sides of the conveyance path 2, and a plurality of tape feeders 5 are arranged in parallel on the component supply unit 4. The tape feeder 5 feeds components to a pickup position by a transfer head described below by pitch-feeding a carrier tape holding the components.

  A Y-axis table 6 is disposed at both ends of the base 1 in the X direction, and an X-axis table 7 coupled to the Y-axis table 6 so as to be movable in the Y direction has a plurality of suction nozzles. A transfer head 8 is mounted. By driving the Y-axis table 6 and the X-axis table 7, the transfer head 8 moves in the X direction and the Y direction, and components such as electronic components are taken out from the component supply unit 4 by vacuum suction and transferred to the transport path 2. It is transported and mounted on the positioned substrate 3. The Y-axis table 6 and the X-axis table 7 serve as a head moving mechanism that moves the transfer head 8 between the component supply unit 4 and the substrate 3.

  A component camera 10 having a line sensor for component recognition is disposed between the conveyance path 2 and the component supply unit 4. A transfer head 8 that picks up a component from the component supply unit 4 moves over the component camera 10. When passing, the component camera 10 images the component from below. The obtained image data is subjected to recognition processing by the component recognition unit 37 (FIG. 4) to recognize the component.

  Thereby, the position recognition of the component in the state hold | maintained at each suction nozzle of the transfer head 8 is performed, and the position shift of the rotation direction around a nozzle axis is detected with the position shift of XY direction of a component. That is, the component camera 10 and the component recognition unit 37 function as a rotational position detection unit that detects, for each suction nozzle, a rotational position that indicates a position in a rotational direction around the nozzle axis of the component while being held by a plurality of suction nozzles. To do.

  Next, the transfer head 8 will be described with reference to FIGS. As shown in FIG. 2, the transfer head 8 is a multiple head in which a plurality of suction nozzles move integrally, and a suction nozzle unit 12 in which the suction nozzles are integrated with a lifting mechanism and a suction mechanism. A plurality of the base portions 9 are arranged side by side. In the example shown in the present embodiment, nozzle rows L1 and L2 (see FIG. 3A), in which four suction nozzle units 12 are arranged in series in the X direction (the direction in which the tape feeders 5 are arranged in parallel), Two rows are arranged side by side in the Y direction. Four suction nozzles 25 are mounted on each of the nozzle rows L1 and L2.

  A box-shaped upper frame 14 and a variable cross-sectional lower frame 18 are fixed to the side surface of the base portion 9. A substrate camera 17 that moves together with the transfer head 8 is disposed on the lower frame 18 with the imaging surface facing downward. At the timing when the transfer head 8 moves onto the substrate 3, the substrate camera 17 moves the substrate 3. Take an image. The position of the substrate 3 is recognized by performing a recognition process on the imaging result by the substrate recognition unit 36 (see FIG. 4).

On the upper surface of the upper frame 14, a nozzle lifting / lowering motor 13 that constitutes the suction nozzle unit 12 is disposed vertically. The rotation of the nozzle lifting / lowering motor 13 is transmitted to the lifting / lowering mechanism 15 provided below the upper frame 14, where the rotational movement of the nozzle lifting / lowering motor 13 is converted into the vertical movement of the lifting / lowering shaft member 16. By individually controlling these nozzle lifting / lowering motors 13, the plurality of suction nozzles of the transfer head 8 can be lifted / lowered individually with variable strokes. The nozzle lifting / lowering motor 13 and the lifting / lowering mechanism 15 serve as nozzle lifting / lowering means that is provided in the transfer head 8 and individually lifts and lowers a plurality of suction nozzles.

  The elevating shaft member 16 is provided with a shaft rotating portion 19, and is connected to the shaft through endless toothed belts 21 a and 21 b that are adjusted in two steps by a nozzle rotating motor 20 fixed to the lower frame 18. The rotation is transmitted to the rotating unit 19. As shown in FIG. 3 (a), the shaft rotating unit 19 includes a driven pulley 26a and an idler pulley 27a driven by a toothed belt 21a, and a nozzle row L2 in the shaft elevating member 16 belonging to the nozzle row L1. The shaft elevating member 16 is connected to a driven pulley 26b and an idler pulley 27b driven by a toothed belt 21b. The driven pulleys 26 a and 26 b rotate integrally with the shaft elevating member 16, and the idler pulleys 27 a and 27 b are rotatable relative to the shaft elevating member 16.

  Both of the toothed belts 21a and 21b are driven by a drive pulley 28 coupled to the rotation shaft of the nozzle rotation motor 20, and transmit the rotation to the driven pulleys 26a and 26b, respectively. In this belt drive, the idler pulleys 27a and 27b respectively rotate the toothed belts 21a and 21b in accordance with the arrangement of the drive symmetric axes and guide them together with the guide pulley 29. By driving the nozzle rotation motor 20, the plurality of shaft elevating members 16 belonging to the nozzle row L1 and the plurality of shaft elevating members 16 belonging to the nozzle row L2 are rotationally driven via the toothed belts 21a and 21b, respectively, and synchronized. Then rotate.

  That is, by the above mechanism, the plurality of suction nozzles 25 belonging to the nozzle row L1 and the nozzle row L2 are rotationally driven in a lump using the nozzle rotation motor 20 as a drive source. Therefore, the nozzle rotation motor 20, the shaft rotation unit 19, and the toothed belts 21a and 21b are a rotation drive mechanism that rotates the plurality of suction nozzles 25 around the respective nozzle axes by the nozzle rotation motor 20 that is a single drive source. It has become.

  In the meshing of the toothed belts 21a and 21b and the driven pulleys 26a and 26b constituting the rotational drive mechanism, the teeth 21c of the toothed belts 21a and 21b and the teeth 26c of the driven pulleys 26a and 26b are not necessarily in close contact with each other. However, there is a gap c between the teeth 21c and the teeth 26c due to backlash (mechanical play).

  This gap c occurs in a different manner depending on the relative movement direction of the toothed belts 21a, 21b and the driven pulleys 26a, 26b. For example, as shown in FIG. 3B, the driven pulleys 26a, 26b When rotationally driving in the direction a (clockwise direction), a gap c is formed on the left side of the tooth 21c in the figure, and when the rotational driving direction is reversed in the direction of the arrow b, the direction in which the gap c is generated is reversed. A gap c is generated on the right side.

  The existence of such a gap c in the rotational drive of the driven pulleys 26 a and 26 b causes a positioning error in the rotational positioning of the components held by the suction nozzle 25. In order to minimize the influence of the positioning error due to such backlash, in the present embodiment, the rotational direction around the axis of the suction nozzle 25 is defined in one direction in advance, and the positional error due to the gap c is reduced. This one direction is defined as a normal direction in which positioning errors can be ignored.

That is, when the rotation direction is only a normal direction defined in advance, the direction in which the gap c is generated is also fixed, and therefore the gap c does not affect the positioning accuracy. On the other hand, there is a reversal of the rotation direction in the middle of the rotation operation in the normal direction described above, and the non-normal direction (the direction opposite to the normal direction)
In the case where the rotational operations are mixed, a rotational positioning error corresponding to the gap c occurs during reverse rotation. For this reason, in the component mounting method shown in the present embodiment, as described later, when the rotation operation in the non-normal direction is included, the rotation c in the normal direction is added at the end of the rotation operation, so that the clearance c Therefore, the positioning error caused by the mechanical play of the rotational drive mechanism is corrected.

  A lower end portion of the elevating shaft member 16 is inserted through the swivel joint portion 22 and coupled to the nozzle head 23, and a suction nozzle 25 including a reflecting plate 24 is detachably attached to the nozzle head 23. The swivel joint portion 22 is connected to a vacuum suction device (not shown), and vacuum suction is performed from the lower end portion of the suction nozzle 25 while allowing the nozzle head 23 to rotate around the nozzle axis by vacuum suction from the swivel joint portion 22. Suction. The suction nozzle 25 sucks and holds the component by vacuum suction while the component is in contact with the lower end. The reflecting plate 24 reflects illumination light irradiated from below during imaging by the component camera 10, and transmits and illuminates the component held by the suction nozzle 25.

  Next, the configuration of the control system will be described with reference to FIG. The arithmetic unit 30 is a CPU, and by executing a control program stored in the storage unit 31, the processes and operations of the respective units described below are controlled in an integrated manner, and various control processes described later are realized. These control programs include a component mounting program for causing a component mounting operation to take out a component from the component supply unit 4 by the transfer head 8 and transfer and mount it on the substrate 3. The storage unit 31 stores programs and data necessary for controlling each unit, such as the component mounting program described above.

  The mounting operation control unit 32 controls the head drive unit 33 and the XY drive unit 34 to take out the component from the component supply unit 4 by vacuum suction by the plurality of suction nozzles 25 provided in the transfer head 8. The component mounting operation of sequentially transporting and mounting each suction nozzle on a plurality of mounting points of the substrate 3 is executed. The θ correction control unit 32a constituting a part of the mounting operation control unit 32 is executed in order to perform rotational positioning by correcting the rotational position deviation detected by the rotational position detecting means described above in the control of the component mounting operation. The θ correction operation is controlled.

  The head driving unit 34 drives the nozzle lifting / lowering motor 13 and the nozzle rotating motor 20 provided in the transfer head 8. The XY drive unit 34 drives an X-axis motor 7M provided in the X-axis table 7 that moves the transfer head 8 in the X direction and a Y-axis motor 6M provided in the Y-axis table that moves in the Y direction. Therefore, the mounting operation control unit 32 is a control unit that controls the head moving mechanism and the rotation driving mechanism.

  The recognition control unit 35 controls a substrate recognition unit 36 that performs recognition processing of an image acquired by the substrate camera 17 and a component recognition unit 37 that performs recognition processing of an image acquired by the component camera 10. As a result, a position shift around the nozzle axis of the component P in a state of being held by the suction nozzle 25 of the transfer head 8, that is, a rotational position shift is detected for each suction nozzle (see FIG. 5A).

  The recognition control unit 35 performs data processing on the detection result, whereby a deviation angle from a position in the rotation direction of the component (hereinafter simply referred to as “rotation position”) in a normal state (based on the board mounting state). Is obtained for each nozzle number. Based on the rotation position deviation data, the θ correction control unit 32a performs calculation processing necessary for the rotation position deviation correction operation, and the mounting operation control unit 32 uses the calculation result to perform component mounting operation and rotation positioning operation. Control. The feeder control unit 38 controls the operation of the tape feeder 5 arranged in the component supply unit 4, that is, the operation of the built-in tape feeding mechanism.

Next, the rotational positioning operation in the component mounting method shown in the present embodiment will be described.
After the transfer head 8 takes out a component from the component supply unit 4, the component sucked and held by the suction nozzle 25 is not necessarily held at a certain correct rotational position. Due to variations in the postures of the components supplied by the tape feeder 5 and displacements during pickup operation by the suction nozzle 25, there are variations in the rotational position of the components in the suction holding state.

  When components are mounted on the board 3, it is necessary to correctly align the rotational positions as well as the positions in the X and Y directions. Therefore, as described above, the components are recognized by the component camera 10 and are held by the suction nozzles 25 by suction. The rotational position in the state thus detected is detected, and the suction nozzle 25 is rotated based on the detection result, and rotational positioning is performed in which the positioning is performed at a predetermined rotational position corresponding to the mounting angle on the substrate.

  In the component position recognition, as shown in FIG. 5A, the reference direction of the component P held by the suction nozzle 25 (here, the direction in which the angle with the X direction of the machine coordinate system is 0 ° is defined as the reference direction). Rotation position deviation indicating a rotation angle with respect to (defining) is detected. Here, when the mounting angle of the component P on the substrate is 180 degrees (X-axis negative direction), as shown in FIG. 5A, only Δθa is clockwise and Δθb is counterclockwise. Each position is shifted. At this time, if the component P is a component having a polarity, that is, a component whose mounting orientation in the rotational direction is limited to only one specific direction in 360 °, the Δθa and Δθb are the rotational positions of the component P. This is the amount of positioning rotation required to correctly align the positions.

  On the other hand, when the component P has no polarity, that is, a component in which the mounting orientation in the rotational direction is allowed not only in the specific one direction described above but also in a direction that is 180 ° different from the specific one direction. As shown in FIG. 5B, Δθa or Δθa−180 ° in the clockwise direction and Δθb in the counterclockwise direction are positions necessary for correctly aligning the rotational position of the component P, respectively. The amount of rotation.

  That is, for clockwise rotational positioning, rotational positioning can be performed by rotating by Δθa−180 ° instead of Δθa. In other words, for a component having no polarity in the mounting orientation in the rotational direction, a rotational position that is 180 degrees different from the rotational position corresponding to the specified mounting angle is allowed as the predetermined rotational position that is the target of rotational positioning.

  Next, the rotational positioning operation for the component in such a state will be described with reference to FIGS. In this rotational positioning operation, the mounting angle of the component P is adjusted correctly by rotating the suction nozzle 25 around the axis.

  Here, the rotational positioning can be performed by rotating the suction nozzle 25 in either the clockwise or counterclockwise rotation direction. Here, the clockwise rotation direction and the counterclockwise rotation direction are respectively described above. Normal direction and non-normal direction.

  That is, in the present embodiment, the suction nozzle 25 is rotated around the nozzle axis in a normal direction or a non-normal direction opposite to the normal direction, and the component P held by the suction nozzle 25 is positioned at a predetermined rotation position. A rotational positioning operation is performed. Then, as will be described later, the required positioning rotation amounts are obtained in the two directions from the detection results of the rotational position detecting means, respectively, and then the required time for rotational positioning is calculated from these positioning rotation amounts, The direction in which the time is short is set as the rotation direction.

6 and 7 show details of the operation sequence when the rotation directions are normal and non-normal directions, respectively. First, the rotation direction instructed in the rotation positioning operation is determined (ST1), thereby determining whether or not the rotation direction is a normal direction (ST2). If it is determined that the direction is normal, as shown in FIG. 7A, the suction nozzle 25 is rotated in the normal direction (clockwise direction) by the positioning rotation amount Δθa shown in FIG. (ST3). As a result, the component P reaches a predetermined target rotation position corresponding to the mounting angle of the component (ST7).

  If it is determined in (ST2) that the rotation direction is an irregular direction, a rotation positioning error associated with rotating the suction nozzle 25 in this direction, that is, the toothed belts 21a and 21b and the driven pulleys 26a and 26b. The backlash removal operation which is the rotation correction operation for canceling the error due to the backlash in the meshing is performed. That is, as shown in FIG. 7B, in addition to the positioning rotation amount Δθb shown in FIG. 5, the suction nozzle 25 is rotated in the non-normal direction by an extra n ° preset for rotation correction operation (ST4). ), The part P is made to reach the rotational position where the target rotational position is overrun by n ° (ST5).

  Thereafter, the suction nozzle 25 is returned to the normal direction by an extra rotation of n ° (ST6). As a result, the component P returns to the normal direction by the overrun, and reaches a predetermined target rotation position corresponding to the mounting angle of the component (ST7). At this time, since a series of rotation operations are completed by rotation in the normal direction, no error due to backlash occurs. By this backlash removal operation, the positioning error due to the rotation in the non-normal direction is canceled, and the component P is correctly positioned at the target rotation position.

  Next, referring to FIG. 8 and FIG. 9, in the component mounting method in which the component P is taken out from the component supply unit 4 by the transfer head 8 and transferred and mounted on the substrate 3, the component P held by the suction nozzle is rotated by a predetermined amount. A flow of rotational positioning processing for positioning at a position will be described. This flow of rotational positioning processing is realized by the calculation unit 30 executing the component mounting program stored in the storage unit 31.

  First, the required time required for the above-described rotational positioning is calculated in two directions, the normal direction and the non-normal direction (ST11) (required time calculation step). Here, the flow of the required time calculation process will be described with reference to FIG. First, the rotation direction of the rotation operation to be calculated is determined (ST21), and it is determined whether the rotation direction is a normal direction (ST22). If the direction is normal, the required time ta for the positioning rotation amount Δθa shown in FIG. 7A is calculated. The calculation of the required time is performed based on the relationship between the acceleration / deceleration pattern set in advance and the rotation amount for the nozzle rotation motor 20 that rotationally drives the nozzle shaft of the suction nozzle 25.

  In (ST22), if the direction is non-regular, the required time t1 of the positioning rotation amount Δθb + n ° shown in FIG. 7B is calculated (ST24), and then the required time tn for returning by n ° is calculated. (ST25). Then, the total required time tb is calculated as tb = t1 + tn (ST26). This completes the calculation of the required time required for rotational positioning. That is, in calculating the required time tb in the non-normal direction in this required time calculation step, the suction nozzle 25 is temporarily moved in the rotational direction in order to correct the mechanical error of the rotational drive mechanism, that is, the positioning error due to backlash. After overrun, a process is added that takes into account the time required for the rotation correction operation to return to the target rotational position.

  Next, based on these calculation results, a direction giving a short required time among the calculated required times in the two directions is determined as the rotation direction (ST12) (direction determining step). That is, the lengths of the two required times ta and tb are compared, and the shorter rotation direction is the rotation direction when the rotation positioning is executed. When performing rotational positioning, rotational positioning is performed by rotating the suction nozzle 25 in the rotational direction thus determined by the above-described positioning rotational amount (ST13) (nozzle rotation step).

  As described above, when determining the rotational direction for rotational positioning, the rotational direction can be determined appropriately and rationally by taking into account the time required for backlash removal operation, and ensuring rotational positioning accuracy It is possible to achieve both improvement in positioning operation efficiency.

  The above example shows a case where the component P is a component having polarity in the mounting posture as shown in FIG. 5A, but the target component P is mounted in the posture as shown in FIG. 5B. If the rotation position that is 180 degrees different from the rotation position corresponding to the specified mounting angle is allowed as the predetermined rotation position that is the target of the rotation positioning, the rotation direction of the rotation positioning operation under this condition May be determined. That is, in addition to the calculation result shown in the flow of FIG. 9, the same calculation is performed when the positioning rotation amount Δθa in FIG. 9 is replaced with Δθa−180 °. Then, by comparing these calculation results, the rotational position that gives a shorter required time is set as the target rotational position, and the rotational direction in rotational positioning is determined.

  Thereby, the time required for rotational positioning can be shortened to shorten the mounting time, and the mounting operation efficiency can be improved. In particular, when the same component is taken out by two transfer heads 8 from two component supply units 4 arranged opposite to each other and mounted on the substrate 3 as in the case of using the component mounting apparatus having the configuration shown in FIG. As described above, by determining the rotation direction under the condition that allows a rotation position different by 180 °, the positioning rotation amount for adjusting the mounting posture is minimized for the component taken out from the component supply unit 4 on one side. Thus, the mounting efficiency can be improved.

  The component mounting apparatus, the component mounting method, and the component mounting program according to the present invention have the effect of ensuring both rotational positioning accuracy and improved positioning operation efficiency. It is useful in the field of component mounting where it is taken out and transferred to a board.

The top view of the component mounting apparatus of one embodiment of this invention The perspective view of the transfer head of the component mounting apparatus of one embodiment of this invention The fragmentary perspective view of the transfer head of the component mounting apparatus of one embodiment of this invention The block diagram which shows the structure of the control system of the component mounting apparatus of one embodiment of this invention Explanatory drawing of the rotation position shift of the components in the component mounting apparatus of one embodiment of this invention Flow chart of rotational positioning operation of component in component mounting apparatus of one embodiment of the present invention Explanatory drawing which shows the relationship between the rotation positioning operation | movement of a component and the rotation direction in the component mounting method of one embodiment of this invention Flow chart of component rotational positioning processing in component mounting method of one embodiment of the present invention Flow chart of required time calculation processing required for rotational positioning of a component in the component mounting method of one embodiment of the present invention

Explanation of symbols

3 Substrate 4 Component supply unit 8 Transfer head 19 Axis rotation unit (rotation drive mechanism)
20 Nozzle rotation motor (rotary drive mechanism)
21a, 21b Toothed belt (rotary drive mechanism)
25 Suction nozzle 32 Mounting operation control unit (control unit)

Claims (5)

A component mounting apparatus that takes out a component from a component supply unit by a transfer head and transfers and mounts the component on a substrate,
A head moving mechanism for moving the transfer head between the component supply unit and the substrate, a suction nozzle mounted on the transfer head for sucking and holding the component, and the suction nozzle around the nozzle axis A rotation drive mechanism for rotating, and a control unit for controlling the head moving mechanism and the rotation drive mechanism,
In the rotational positioning in which the control unit rotates the suction nozzle in a normal direction or a non-normal direction opposite to the normal direction around the nozzle axis, and positions a component held by the suction nozzle at a predetermined rotational position.
A required time calculation step for calculating the required time required for the rotational positioning in the two directions of the normal direction and the non-normal direction, and a direction giving a short required time out of the calculated required times in the two directions as the rotation direction A direction determining step for determining the rotation drive mechanism, and a nozzle rotation step for controlling the rotation drive mechanism so as to perform rotation positioning by rotating the suction nozzle in the determined rotation direction,
In calculating the required time in the non-regular direction in the required time calculating step, the target is obtained after the suction nozzle is once overrun in the rotation direction in order to correct a positioning error due to mechanical play of the rotation drive mechanism. A component mounting apparatus including a time required for a rotation correction operation to return to the rotation position. A head moving mechanism that moves the transfer head between the component supply unit and the substrate, a suction nozzle that is attached to the transfer head and sucks and holds the component, and a rotational drive that rotates the suction nozzle around the nozzle axis A component mounting method comprising: a component mounting apparatus including a mechanism and a control unit that controls the head moving mechanism and the rotation driving mechanism; ,
In rotational positioning in which the suction nozzle is rotated around the nozzle axis in a normal direction or a non-normal direction opposite to the normal direction, and the component held by the suction nozzle is positioned at a predetermined rotational position.
A required time calculation step for calculating the required time required for the rotational positioning in the two directions of the normal direction and the non-normal direction, and a direction giving a short required time out of the calculated required times in the two directions as the rotation direction A direction determining step for determining the rotation direction, and a nozzle rotation step for rotating and positioning the suction nozzle in the determined rotation direction,
Further, in the calculation of the positioning rotation amount in the non-regular direction in the required time calculation step, the suction nozzle is once overrun in the rotation direction in order to correct a positioning error caused by mechanical play of the rotation drive mechanism. A component mounting method characterized in that a time required for a rotation correction operation for returning to a target rotational position later is taken into account.   For a component having no polarity in the mounting orientation in the rotational direction, the rotational direction is determined on the condition that a rotational position corresponding to a specified mounting angle and a rotational position that is 180 degrees different from the predetermined rotational position are allowed. The component mounting method according to claim 2, wherein: A head moving mechanism that moves the transfer head between the component supply unit and the substrate, a suction nozzle that is attached to the transfer head and sucks and holds the component, and a rotational drive that rotates the suction nozzle around the nozzle axis A component mounting apparatus including a mechanism and a control unit that controls the head moving mechanism and the rotation driving mechanism is caused to perform a component mounting operation in which the component is taken out from the component supply unit by the transfer head and transferred and mounted on the substrate. A component mounting program for
In rotational positioning in which the suction nozzle is rotated around the nozzle axis in a normal direction or a non-normal direction opposite to the normal direction, and the component held by the suction nozzle is positioned at a predetermined rotational position.
A time required for calculating the required time required for the rotational positioning in the normal direction and the non-normal direction in the control unit, and a short required time out of the calculated required times in the two directions. A direction determination step for determining a direction to be given as a rotation direction, and a nozzle rotation step for controlling the rotation drive mechanism so as to perform rotation positioning by rotating the suction nozzle in the determined rotation direction,
Further, in the calculation of the required time in the non-regular direction in the required time calculation step, after the suction nozzle is once overrun in the rotation direction in order to correct a positioning error caused by mechanical play of the rotation drive mechanism. A component mounting program for executing a process that takes into account a time required for a rotation correction operation to return to a target rotation position. For a component having no polarity in the mounting orientation in the rotational direction, the rotational direction is determined on the condition that a rotational position corresponding to a specified mounting angle and a rotational position that is 180 degrees different from the predetermined rotational position are allowed. The component mounting program according to claim 4, wherein:

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