JP2010050380A - Component mounting apparatus and component mounting method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a component mounting apparatus which can increase the number of suction nozzles that simultaneously suck components, and to provide a component mounting method. <P>SOLUTION: The component mounting apparatus 10 includes: a plurality of tape feeders 20; a suction head 13a provided with a plurality of suction nozzles 13b; a substrate camera 18 for detecting each position of components B; a grouping means for grouping components B into simultaneous suction groups; and a suction control means for allowing components B of every group to be sucked sequentially by the suction nozzles 13b. Among components B of a group carried by the plurality of tape feeders 20, components having a common part in a position adjustable range determined for each component B are determined to belong to a simultaneous suction group on conditions that the component lies at a component suctionable position and an upper plane of an accommodation section 19c which accommodates a component B to be carried to the component suctionable position in the next sequence is not opened so that the component B may jump out to the outside. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a component actual apparatus and a component mounting method for transporting a component such as an IC using a tape as a carrier and sucking the component with a suction nozzle.

  Conventionally, a component mounting apparatus for mounting electronic components such as chip components and ICs on a printed board has been used. In such a component mounting apparatus, a tape feeder that intermittently conveys the components in the housing portion formed at intervals in the longitudinal direction of the carrier tape to the component adsorption position, and is conveyed to the component adsorption position by the tape feeder. There is a suction head that picks up the coming parts and transports them to a predetermined position on the substrate (see, for example, Patent Document 1).

This component mounting apparatus includes a suction unit (suction head) provided with a plurality of suction nozzles, a component supply unit (carrier tape) that accommodates a plurality of components so that they can be suctioned simultaneously, and a control unit that controls movement of the suction unit. And. The control unit moves the suction unit to the component supply unit, controls the components accommodated in the component supply unit to be simultaneously sucked by the plurality of suction nozzles, and then controls the plurality of sucked components to be mounted on the substrate. To do. In addition, the control unit sets all the suction nozzles whose deviation amount between the suction nozzle and the suction nozzle within the allowable range for simultaneous suction as one group, and the suction outside the allowable range for simultaneous suction. The nozzles are divided into separate groups, and the suction unit is controlled so that the components of each group are sucked simultaneously.
JP 2002-151894 A

  However, in the conventional component mounting apparatus described above, the allowable range for simultaneous suction is set on the basis of the amount of deviation between the component and the suction nozzle, so the allowable range becomes narrow, and one group of suction nozzles capable of simultaneous suction can be used. The number decreases. For this reason, the number of groups of suction nozzles increases, and the number of suction operations increases, so that the work time becomes longer. Further, in this component mounting apparatus, since the position of the component conveyed to the suction position next to the component at the suction position is not taken into consideration, there is a possibility that the component jumps out of the component supply unit.

  The present invention has been made to cope with such problems, and an object of the present invention is to provide a component mounting apparatus and a component mounting method capable of increasing the number of suction nozzles that can simultaneously suck components. .

  In order to achieve the above-described object, the structural feature of the component mounting apparatus according to the present invention is that the components accommodated in the respective accommodating portions of the carrier tape in which the accommodating portions for accommodating the components are formed at intervals in the longitudinal direction. A plurality of tape feeders that allow the components to be taken out by opening the upper surface of the housing portion at a position near the upstream side of the component suction position, and a plurality of tape feeders. Position check to check each position of a set of parts when a set of parts is transported to a position where parts can be picked up, and a suction head that has a plurality of suction nozzles that pick up each part of the set at the part suction position And the upper surface of the housing portion that accommodates the component that is next to the component suction position and that is in the position where the component confirmation can be performed among the pair of components whose positions have been confirmed by the position confirmation unit. Grouping means for grouping parts that have a common part in the carrier tape feed direction within the adjustable range of each part set on the condition that they are not open enough to be put out as a simultaneous suction group, and grouping means And a suction control means for causing the suction nozzles to sequentially suck the parts of each group grouped together by the suction nozzle.

  In the component mounting apparatus according to the present invention, it is in the position where the component can be picked up, and that the upper surface of the receiving portion for storing the component to be transported to the next component picking position is not open enough to allow the component to jump out. As a condition, a position adjustable range of each component is set, and components having a common part in the position of each position adjustable in the feeding direction of the carrier tape are set as one simultaneous suction group. And also about other components, the components which have a common part in each position adjustable range are made into one simultaneous adsorption | suction group. For example, grouping in the order of components mounted on the board, and if there is a common part in the position adjustable range of the first component and the second component, first the first component and the second component Into a group.

  Next, if there is no part common to the common part of the position adjustable range of the first part and the second part in the position adjustable range of the third part, the third part is in another group. Shall. Next, the position adjustable range of the fourth part has no common part with the common part of the position adjustable range of the first part and the second part, and is common to the position adjustable range of the third part If there is a part, the fourth part is put into another group to which the third part belongs. In this way, the groups are sequentially divided depending on whether or not there is a common portion in the position adjustable range. When the grouping is completed, the parts belonging to each group are picked up simultaneously by the picking nozzle.

  In this case, the standard for simultaneous suction is whether or not the part to be picked up is in a part pickable position and whether or not the next part cannot be ejected from the container. Can be maximized within a range in which adsorption is not hindered. The common portion of the position adjustable range is a portion where the position adjustable ranges overlap in the carrier tape feeding direction when the plurality of carrier tapes are viewed from the direction orthogonal to the transport direction. Also, in this case, the number of parts in one set is the same as the number of suction nozzles. For example, five parts are picked up sequentially from five carrier tapes arranged in parallel in a number of carrier tapes. When adsorbing with a nozzle, the set of parts is five.

  Then, these five parts are grouped by the method described above. Further, usually, a lid member is provided on the upstream side of the component suction position in the tape feeder to prevent the component from jumping out. The position at which the upper surface of the housing portion is opened and the component can be taken out is a position where the housing portion moves downstream from the downstream end of the lid member by a predetermined length and the component may jump out. Further, the component suckable position is a range in which the suction nozzle can suck the component on the downstream side of the downstream end of the lid member. This component suction possible position is set according to the suction capability and position of the suction nozzle.

  The position adjustable range accommodates the length between the upstream end of the accommodating portion in which the component at the component adsorbable position is accommodated and the downstream end of the lid member, and the component to be conveyed next at that time. This is the sum of the length between the downstream end of the accommodating portion and the downstream end of the lid member. In other words, the length between the upstream end of the housing portion in which the component at the component suckable position is housed and the downstream end of the lid member is such that it can be taken out from the housing portion when the component is retracted upstream. The length between the downstream end of the accommodating part that accommodates the next part and the downstream end of the lid member is a range that can be maintained when the part is transported downstream. It is the range which can maintain the state which cannot be performed. However, the accommodating portion for accommodating the next component may be set with a certain width because the component can be prevented from jumping out even if the upper surface is slightly opened.

  In addition, another structural feature of the component mounting apparatus according to the present invention is that the allowable deviation amount is set in advance based on the length of the component in the conveyance direction, and the allowable deviation amount is grouped in consideration of the position adjustable range. Means is to group a set of parts.

  The suction nozzle can pick up the component not only when the centers of the suction nozzle and the component coincide with each other, but even if the position of the component is slightly deviated from the suction nozzle, the deviation causes the suction nozzle to remove the component. Any range that can be adsorbed is acceptable. In the present invention, the grouping is performed by taking into account such an allowable shift amount between the suction nozzle and the component (the shift amount of the component in the conveying direction), so that the range that can be grouped is the position adjustable range and the allowable shift. In addition, the number of parts included in one group, that is, the number of suction nozzles capable of simultaneous suction can be increased. In this case, it is preferable that the allowable deviation amount by which the suction nozzle can pick up the component is set to about 0 to 35% of the length along the feeding direction of the component.

  Further, another structural feature of the component mounting apparatus according to the present invention is that an arbitrary position in the common part of the position adjustable range of the parts belonging to each group grouped as a simultaneous pickup group by the grouping means is picked up. It is to set as the suction position of the nozzle. According to this, it is possible to easily obtain the suction position of the suction nozzle within a range in which the suction nozzle can reliably and simultaneously pick up a group of components.

  Further, still another structural feature of the component mounting apparatus according to the present invention is that each of the plurality of tape feeders is provided with a conveyance control unit that controls the conveyance state of the carrier tape, and by the control of each conveyance control unit, By conveying each carrier tape, the suction target component is positioned at or near the suction position within the position adjustable range. According to this, since conveyance control of each carrier tape can be performed with high accuracy, simultaneous suction can be reliably performed.

  Still another structural feature of the component mounting apparatus according to the present invention is provided with a displacement amount detecting means for detecting a displacement amount with respect to a suction position of a component conveyed by a plurality of tape feeders, which is detected by the displacement amount detecting means. In consideration of the shift amount in the feeding direction of the carrier tape, the stop position of each component that is intermittently conveyed by a plurality of tape feeders is set. According to this, since the tape feed amount is corrected and the intermittent stop position of the component in the tape feeder can be set for each tape feeder, the intermittent stop position setting of the component can be made appropriate.

  A structural feature of the component mounting method according to the present invention is that a plurality of carrier tapes, each of which has a plurality of carrier tapes formed in parallel with each other, are arranged in parallel with each other. A part transporting process for intermittently transporting the parts housed in the part suction position, opening the top surface of the housing part at a position near the upstream side of the part suction position, and taking out the part; and a set of parts A position confirmation process for confirming the position of each of a set of parts when they are transported to a part pickable position, and among the set of parts, the part is at a part pickable position and is then transported to the part pick up position Parts that have a common part in the feed direction of the carrier tape within the adjustable range of each part that is set on condition that the upper surface of the accommodating part that accommodates the part is not open enough to allow the part to jump out And grouping step for grouping the teeth as a simultaneous adsorption group, a part of each grouped group, in that a suction step of successively simultaneously sucked by the suction nozzle.

  According to the present invention, the number of suction nozzles that can be sucked simultaneously can be maximized within a range that does not hinder the suction.

  In addition, another structural feature of the component mounting method according to the present invention is that an allowable shift amount is set in advance based on the length in the conveyance direction of the component, and the allowable shift amount is within a position adjustable range in the grouping process. In consideration, a group of parts is grouped. According to this, since the grouping is performed in consideration of the allowable deviation amount set as the allowable deviation amount between the suction nozzle and the component, the range that can be grouped is the position adjustable range and the allowable deviation amount. In addition, the number of parts included in one group can be increased.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 and 2 show a component mounting apparatus 10 according to the embodiment. The component mounting apparatus 10 is an apparatus for mounting a component B (see FIG. 3) such as an IC chip on a printed circuit board A. FIG. 1 shows an outline of the component mounting apparatus 10, and there are some differences from FIG. The component mounting apparatus 10 includes a pair of conveyors 12 for moving the printed circuit board A in the X direction (left and right directions in FIGS. 1 and 2) above the base 11 and installing the printed circuit board A in a preset installation unit. A head unit 13, which is installed above the installation portion of the printed circuit board A and moves in the X direction and the Y direction (the front-rear direction in FIG. 1), fixed cameras 14a and 14b, and a plurality of tape feeders 20 are installed. A pair of feeder units 20a and 20b.

  The pair of conveyors 12 extends in the left-right direction at a constant interval in the front-rear direction according to the length in the front-rear direction of the printed circuit board A on the base 11, and sequentially conveys the plurality of printed circuit boards A to the installation unit. To do. Then, when the mounting of the component B on the printed circuit board A is completed in the installation unit, the printed circuit board A is transported downstream. In addition, a pair of Y rail units 15 extend in the front-rear direction at a predetermined interval above the pair of conveyors 12 on the left and right sides of the base 11, and an X rail unit 16 is attached to the pair of Y rail units 15. It is stretched in a state where it can move in the front-rear direction. The head unit 13 is attached to the X rail unit 16 so as to be movable in the left-right direction.

  The Y rail unit 15 is provided with a drive device including a Y-axis motor 15a and a ball screw (not shown), and the X rail unit 16 is moved in the front-rear direction by driving the drive device of the Y rail unit 15. To do. Further, the X rail unit 16 is provided with a driving device including an X-axis motor 16 a and a ball screw 16 b, and the head unit 13 moves in the left-right direction by driving the driving device of the X rail unit 16. The head unit 13 includes a plurality of suction heads 13a that are movable in the Z direction (vertical direction and also in the vertical direction in FIG. 2) and that are rotatably supported around the Z axis (rotation direction). A suction nozzle 13b that is provided in each head 13a and sucks the component B is provided.

  Further, the head unit 13 is provided with a scan camera 17 that captures an image of the component B that is attracted by each of the plurality of suction nozzles 13b, and a substrate camera 18 that captures a predetermined portion of the printed circuit board A and the tape feeder 20. The scan camera 17 images from the lower side the suction nozzle 13b that has moved in the left-right direction and sucked the component B by driving a driving device including a scan shaft motor 17a and a ball screw 17b. The substrate camera 18 is fixed to the head unit 13 and moves together with the head unit 13. The board camera 18 is used for confirming the installation position of the printed circuit board A and confirming that the part B is located at a part suction capable position of the tape feeder 20.

  Further, the head unit 13 includes a Z-axis motor 13c (see FIG. 5) that individually lifts and lowers the plurality of suction heads 13a, and an R-axis motor 13d (FIG. 5) that individually rotates the plurality of suction heads 13a in the rotation direction. With reference). Therefore, the head unit 13 can move on the base 11 within the installation range of the pair of Y rail unit 15 and X rail unit 16, and the suction head 13a can move in the vertical direction and in the direction around the Z axis. Can rotate.

  Further, the suction nozzle 13b sucks and picks up the component B with a suction force generated by the operation of a suction device (not shown). The image of the component B sucked by the suction nozzle 13b picked up by the fixed cameras 14a and 14b and the scan camera 17 is used to determine whether the suction posture of the component B is good. The fixed cameras 14a and 14b are used to determine the suction posture of the component B when the component B is a large component. The scan camera 17 determines the suction posture of the component B when the component B is a small component. Used for. The fixed cameras 14a and 14b, the scan camera 17 and the substrate camera 18 constitute a position confirmation unit according to the present invention and a deviation amount detection unit according to the present invention, depending on the mode of use.

  Each of the feeder units 20a and 20b is configured by installing a plurality of tape feeders 20 on the feeder base 21 in the same direction. The feeder units 20a and 20b including the plurality of tape feeders 20 are a pair of conveyors. 12 are arranged on both outer sides. Each tape feeder 20 is in a state in which the part B takeout side faces the conveyor 12 side. The tape feeder 20 arranged in this manner conveys the component B accommodated in the component supply tape 19 shown in FIG. 3 from a position away from the conveyor 12 to the conveyor 12 side.

  The component supply tape 19 includes a carrier tape 19a and a cover tape 19b having a smaller width than the carrier tape 19a. A portion of the carrier tape 19a located on one side from the center in the width direction is formed with a plurality of accommodating portions 19c each having a rectangular recess in plan view with a constant interval in the longitudinal direction. A plurality of engagement holes 19d are formed on the other side of the main body at a constant interval in the longitudinal direction. The cover tape 19b is attached to a portion of the upper surface of the carrier tape 19a excluding a portion where the plurality of engagement holes 19d are formed so as to cover the plurality of accommodating portions 19c. The component B is accommodated inside each accommodating portion 19c, and the component B can be taken out by peeling the cover tape 19b from the carrier tape 19a. In addition, the component supply tape 19 is installed in a rear portion of the tape feeder 20 while being wound around a reel.

  As shown in FIG. 4, the front end side portion of the tape feeder 20 (the portion located on the printed circuit board A side) is attached to the main body case 22 having the transport path 22 a formed on the upper surface and the upper portion of the main body case 22. A tape guide 23 and a holding portion 24 for fixing the tape guide 23 to the upper surface of the main body case 22 according to the transport path 22a are provided. In addition, a circular notch recess 22b is formed on one side surface of the main body case 22, and a sprocket 25 is installed in the notch recess 22b. The upper end portion of the notch recess 22b reaches the upper surface of the main body case 22 and opens the upper surface of the main body case 22, and the claw portion 25a located on the upper end side of the sprocket 25 extends from the upper end portion of the notch recess 22b. Projects upward.

  The tape guide 23 is configured by a member having an elongated cross-sectional shape that can cover the upper surface of the main body case 22, and the outer width of the tape guide 23 is the same as the width of the main body case 22. The tape guide 23 includes a pair of side surface portions 23a and 23b arranged in parallel, and an upper surface portion 23c that connects upper end portions of opposing surfaces of the side surface portions 23a and 23b along the longitudinal direction. Each of the side surfaces 23a and 23b is formed in a plate shape whose lower end edge is along a step portion (excluding a portion where the notch recess 22b is formed) formed on the upper end side of the corresponding side surface portion of the main body case 22. ing. A hook-like locking portion 23d with the open side facing upward is formed at the lower part of the front end of the side portions 23a and 23b.

  In the upper surface portion 23c, there are formed an insertion hole 26 that is long before and after penetrating vertically, and a relief window portion 27 that penetrates vertically in a portion near the side surface portion 23a side of the central portion of the insertion hole 26. This escape window portion 27 is for preventing interference between the claw portions 25a formed on the outer periphery of the sprocket 25 and those located on the upper end side. Further, tapered projections 28a and 28b indicating the component suction position O are formed at positions slightly rearward of the center of the escape window 27 in the front-rear direction on the upper surface 23c. A stainless bottom plate 29 is fixed to the rear side portion of the insertion hole 26 on the back side of the upper surface portion 23c.

  The rear end portion of the insertion hole 26 is formed in a wide portion 26 a having a width that allows the cover tape 19 b of the component supply tape 19 to be inserted upward from below. A slit 29a is formed in a portion of the bottom plate 29 corresponding to the front end of the wide portion 26a. A portion of the bottom plate 29 on the front side of the slit 29a is slightly closer to the side portion 23b than the side portion 23b. It is constituted by a lid portion 29b having a free shape. Further, a portion of the insertion hole 26 that is in front of the front end portion of the bottom plate 29 is a component suckable position, and the projections 28a described above are formed on the side surface portions 23a and 23b that face the substantially center of the component suckable position. , 28b are formed.

  That is, the cover tape 19b of the component supply tape 19 conveyed on the conveyance path 22a is peeled off from the carrier tape 19a at the slit 29a, and passes through the slit 29a to be behind the upper surface of the tape guide 23 (FIG. ) And (b) are pulled to the right). And it is wound up by the winding part (not shown) provided in the rear part side of the tape feeder 20. As shown in FIG. Further, when the carrier tape 19a from which the cover tape 19b has been peeled has passed the downstream end of the lid portion 29b, the upper surface of the housing portion 19c is opened, and the component B in the housing portion 19c can be taken out. In this case, by providing the slit 29a and the lid portion 29b, a distance is provided between the position where the cover tape 19b is peeled off and the position where the housing portion 19c is opened. However, it prevents the cover tape 19b from adhering and jumping out of the accommodating portion 19c.

  The holding portion 24 is rotatably attached to the front end portion of the main body case 22 via a support shaft (not shown), and is rotated clockwise in FIG. 4B by an urging means (not shown). Is being energized. Further, a protrusion 24a that can be engaged with the locking portion 23d of the tape guide 23 is formed on the upper portion of the holding portion 24, and the front end portion of the tape guide 23 is engaged by the engagement of the protrusion 24a and the locking portion 23d. Is fixed to the front end of the body case 22. Although not shown, a detachable coupling mechanism is also provided at the rear end portion of the tape guide 23 and the portion of the upper surface of the main body case 22 facing the rear end portion of the tape guide 23. By the mechanism, the rear end portion of the tape guide 23 is fixed to the main body case 22.

  Further, on the inner front side of the main body case 22, there is disposed a transport mechanism that pulls the component supply tape 19 wound around the reel from the reel and forwards the carrier tape 19a that has become an empty tape after supplying the components. ing. The transport mechanism includes a feed motor 31 (see FIG. 5) and various gears for transmitting the driving force of the feed motor 31 to the sprocket 25. The sprocket 25 is installed in the notch recess 22b of the main body case 22 in a state of being rotatably supported by the support shaft, and is centered on the support shaft by the driving force of the feed motor 31 transmitted through each gear. Rotates intermittently. The outer peripheral surface of the sprocket 25 is provided with a plurality of claw portions 25a made of protrusions at regular intervals in the circumferential direction. The intervals between the plurality of claw portions 25a are a plurality of claw portions 25a provided on the component supply tape 19. Is set to be the same as the interval between the engagement holes 19d.

  The sprocket 25 is arranged such that the upper end position is a component suction position O where the suction nozzle 13 b of the head unit 13 picks up the component B. Further, on the inner rear side of the main body case 22, the cover tape 19 b is pulled rearward from the component supply tape 19 conveyed by the conveyance mechanism in synchronization with the conveyance by the conveyance mechanism, and the peeled cover tape 19 b is peeled off. Is taken up into the housing portion of the main body case 22. This take-up mechanism transmits a take-up motor 32 (see FIG. 5), a pinch roller composed of a pair of rollers that sandwich the cover tape 19b, and transmits the driving force of the take-up motor 32 to the pinch roller so that the cover tape 19b is It is comprised with the various gears sent in an accommodating part.

  A housing box for housing the feeder control unit 33 and the like is disposed on the lower rear side of the main body case 22, and a connector is attached to the housing box. When the tape feeder 20 is mounted on the feeder base 21, this connector is electrically connected to the connector mounted on the feeder base 21, so that power is supplied from the component mounting apparatus 10 via the feeder base 21. Supply and various control signals are input. The feeder control unit 33 controls the feed motor 31 and the winding motor 32 of the tape feeder 20 in cooperation with the external input / output unit 41 of the controller 40 provided in the component mounting apparatus 10.

  The component mounting apparatus 10 includes various apparatuses shown in FIG. 5 in addition to the apparatus described above. That is, the arithmetic processing unit 42, the mounting program storage unit 43, the conveyance system data storage unit 44, the motor control unit 45, the image processing unit 46, and the display unit that displays various images under the control of the arithmetic processing unit 42 are provided in the controller 40. 47 and various sensors including a negative pressure sensor 48 are provided. The mounting program storage means 43 stores various execution programs and various data described later, and the transport system data storage means 44 stores data for transporting the printed circuit board A to the installation section. Yes. The arithmetic processing unit 42 executes a program stored in the mounting program storage unit 43 based on various data stored in the transport system data storage unit 44 and the mounting program storage unit 43.

  The motor control unit 45 controls driving of various motors such as the X-axis motor 16 a that moves the head unit 13 and the suction head 13 a under the control of the arithmetic processing unit 42. The image processing unit 46 performs image processing on the captured images of the fixed cameras 14 a and 14 b, the scan camera 17, and the substrate camera 18, and displays them on the display unit 47 under the control of the arithmetic processing unit 42. The negative pressure sensor 48 detects the pressure of the suction nozzle 13b when the suction nozzle 13b sucks the component B by the operation of the suction device. Thereby, the quality of the suction state of the component B by the suction nozzle 13b can be determined. Further, although not shown, a suction control unit for controlling the operation of the suction device is also provided, and the suction control unit according to the present invention is configured by this suction control unit.

  When the component B is mounted on the printed circuit board A using the component mounting apparatus 10 configured as described above, first, the tip side portion of the component supply tape 19 is transferred from the reel to the conveyance path 22a of the main body case 22. The cover tape 19b is peeled off from the carrier tape 19a at the slit 29a of the bottom plate 29 of the tape guide 23. And the front-end | tip part of the cover tape 19b is clamped by a pinch roller, and the engagement hole 19d of the carrier tape 19a is engaged with some claw parts 25a on the upper end side of the sprocket 25. In this case, the parts B are sequentially conveyed from the five tape feeders 20 arranged adjacent to each other, and the parts B of each tape feeder 20 are sucked by the five suction nozzles 13b provided in the head unit 13. And

  With the carrier tape 19a and the cover tape 19b set, the feed motor 31 and the take-up motor 32 are driven in synchronization. As a result, the sprocket 25 starts rotating, and the component supply tape 19 is fed out from the reel. Then, the cover tape 19b peeled off from the carrier tape 19a is sequentially sent into the housing part of the main body case 22, and the component B of the carrier tape 19a from which the cover tape 19b has been peeled is moved to the component suction position O on the transport path 22a. It will be sent sequentially. When the center of the predetermined accommodating portion 19c of the carrier tape 19a reaches the component adsorption position O, the conveyance of the carrier tape 19a is temporarily stopped, and the adsorption nozzle 13b of the head unit 13 adsorbs the component B in the accommodating portion 19c. .

  In this case, the suction is performed under a predetermined condition in consideration of the allowable deviation amount set in advance based on the position of the five parts B in the part suction possible position and the length of the part B to be described later in the feed direction. This is performed while grouping the parts B to be filled as a simultaneous suction group. This processing is performed by the arithmetic processing unit 42 of the controller 40 executing the programs shown in FIGS. This program is stored in the mounting program storage means 43, and is executed after power is supplied to the component mounting apparatus 10 and a predetermined switch is turned on. That is, this program is started in step 100, and in step 102, each component B is imaged by the board camera 18.

  Thereby, the position and the amount of deviation of each component B on the conveyance path 22a are confirmed. This deviation amount is a deviation amount in the tape feeding direction, and is recognized as a positional deviation of the component B with respect to the suction nozzle 13b whose position is known in advance, for example. Next, the program proceeds to step 104, and a process of searching for part unallocated data from the mounted data is performed. The mounting program storage means 43 stores mounting data and component data, and the mounting data includes data such as mounting number, mounting coordinates (X, Y), and mounting component number. The part data includes part number and suction coordinate (X, Y) data, and the X direction displacement amount X and Y direction displacement amount Y of each component B on the transport path 22a, or the suction nozzle 13b sucks. The X-direction suction shift amount X and the Y-direction suction shift amount Y detected after the recording are made writable.

  That is, the mounting data and the component data are various data relating to each component B, such as the mounting order of the plurality of components B, the coordinates of the suction position for sucking each component B, and the coordinates on the printed circuit board A on which each component B is mounted. It is. When a predetermined mounting number is selected, the corresponding part number in the part data is searched from the mounting part number. In this case, assuming that the number of components B mounted on the printed circuit board A is 100 and the mounting number is 1 to 100, first, the component having the mounting number 1 among the 5 mounting numbers 1 to 5 The part B corresponding to the number is searched. Further, here, for convenience of explanation, it is assumed that the part numbers are 1 to 5, and the parts B having the part numbers 1 to 5 are sequentially searched.

  The program proceeds to step 106, and a process of acquiring the suction coordinates of the component B to be picked up in the component mounting apparatus 10 is performed. In this case, the suction coordinates of the part B having the part number 1 are acquired from the part data. Next, in step 108, the deviation amount Fc is obtained from the result recognized in the processing in step 102. That is, the amount of deviation of the component B is obtained from the image captured by the board camera 18. As described above, the shift amount Fc is a shift amount in the tape feeding direction. As shown in FIG. 10, when the component B is sucked to the suction nozzle 13b, the center of the suction nozzle 13b (the center of the x mark). ) And the center of the part B (the center of the + mark).

  Next, in step 110, the center position of the part B having the part number 1 on the transport path 22a of the tape feeder 20 is obtained from the deviation amount Fc obtained in step 108. In step 112, it is determined whether or not the part B having the part number 1 can be added to the existing simultaneous suction group. This process is performed based on the determination of the program shown in FIG. This program is started in step 200, and in step 202, it is determined whether there is a simultaneous suction group that has not been determined whether the component B to be added can be added. Here, since the simultaneous adsorption group does not exist yet, “No” is determined, and the process proceeds to step 204. After it is determined in step 204 that it cannot be added, the process proceeds to step 214 and the program is temporarily terminated.

  Next, the program proceeds to step 114 to create a new simultaneous suction group with the part B having the part number 1, and then proceeds to step 118 to update the range capable of simultaneous suction and the simultaneous suction position. Perform the process. In this case, the compatible range of the adsorption of the component B is the sum of the adjustable range on the tape feeding side and the adjustable range on the tape reverse feeding side of the component B having the component number 1. That is, the part B having the center position at the point C1 shown in FIG. 11 is the part B having the part number determined first, and the range indicated by the arrow across the point C1 is the position adjustable range of the part B. Then, the range indicated by the arrow is a range in which the component B having the center position at the point C1 can be picked up.

  The position of the part B indicates the position on the conveyance path 22a, and the front side portion in the tape feeding direction from the point C1 in the arrow is the front end of the accommodating portion 19c that accommodates the next part B in FIG. The length (the tape feed side adjustable range) between the front end of the lid part 29b is shown. Further, the rear side portion in the tape feeding direction from the point C1 in the arrow is the length (tape reverse feed) between the rear end of the accommodating portion 19c that accommodates the component B waiting for suction in FIG. 12 and the front end of the lid portion 29b. Side adjustable range). That is, the range that can be supported is that when the part B moves forward from the position indicated by the arrow, there is a possibility that the next part B jumps out of the accommodating portion 19c as shown in FIG. If the component B moves rearward from the position indicated by the arrow, the component B waiting for suction is positioned below the lid portion 29b and cannot suck the component B. .

  In addition, the calculation of the range compatible with simultaneous adsorption takes into account the allowable deviation amount, and the calculation of the range compatible with simultaneous adsorption is performed according to the program shown in FIG. This calculation is started in step 300, and in step 302, the coordinates of the center position of the actually attracted component B are acquired. This coordinate has already been obtained in step 110. In the current processing of step 110, the part B has not yet been picked up by the suction nozzle 13b, but here, the coordinates of the center position of the part B actually picked up and the transport path 22a of the tape feeder 20 are used. The coordinates of the center position of the part B in FIG.

  Next, in step 304, the dimension of the sucked part B in the feed direction is acquired, and in step 306, a range in which the suction position of the suction nozzle 13b with respect to the center of the part B can be picked up is calculated. Again, since the component B has not been sucked by the suction nozzle 13b, the size of the component B on the transport path 22a of the tape feeder 20 is used. In this case, the suction compatible range of the suction position of the suction nozzle 13b with respect to the center of the component B is that the suction nozzle 13b sucks the component B even if the center position of the component B is deviated from the center position of the suction nozzle 13b. This indicates an allowable range of deviation that can be made, and is set in a range of 0 to 35% of the dimension in the feed direction of the part B. That is, if the displacement Fc is 0 to 35% of the dimension in the feed direction of the part B, the suction nozzle 13b can suck the part B.

  In step 308, the allowable deviation amount obtained in step 306 is added to the sum of the tape feed side adjustable range and the tape reverse feed side adjustable range described above, that is, the position adjustable range. The applicable range. However, since there is still only one component B here, the sum of the allowable range and the allowable deviation amount of the component B with the component number 1 is the range that can be used for simultaneous adsorption. In step 310, the calculation process ends. In step 120, it is determined whether or not there is a head that can be registered. In step 122, it is determined whether or not there is part unallocated data. The determination is “Yes”, and the process proceeds to step 104.

  In step 104, a part B having a part number of 2 is retrieved from the mounting number. FIG. 14 shows the positional relationship between each suction nozzle 13b and each part B. Here, for convenience of explanation, parts B1 to B5 shown in FIG. 5 part B. Here, it is assumed that the component B2, the component B1, the component B3, the component B5, and the component B4 are mounted on the printed circuit board A in this order. In step 106, a process for acquiring the suction coordinates of the component B2 in the component mounting apparatus 10 is performed. Next, in step 108, the displacement amount Fc of the component B2 is obtained from the result recognized in the process of step 102.

  Next, in step 110, the center position of the part B2 on the transport path 22a of the tape feeder 20 is obtained from the deviation amount Fc obtained in step 108. In step 112, it is determined whether or not the component B2 can be added to the existing simultaneous suction group. Here, the determination is performed according to the program of FIG. 8 described above, and the program is started again from step 200. In step 202, it is determined whether or not there is a simultaneous suction group for which it is not determined whether the next part B2 can be added.

  Here, since the simultaneous adsorption group exists, it is determined as “Yes”, and the process proceeds to Step 206. In step 206, a process for acquiring an updated range that can be used for simultaneous adsorption of the existing simultaneous adsorption group is performed. The updated range in which simultaneous suction can be handled in this case is a range in which simultaneous suction can be obtained from the component B having the center position at the point C1 shown in FIG. Next, in step 208, a process for calculating a compatible range of the suction of the component B2 added to the simultaneous suction group is performed. In this case, calculation of the range in which the component B2 can be picked up is performed according to the program shown in FIG.

  Here, the sum of the position adjustable range indicated by arrows before and after the component B2 having the center position at the point C2 shown in FIG. The position adjustable range of the component B2 whose center position is at the point C2 is also the sum of the tape feed side adjustable range and the tape reverse feed side adjustable range shown in FIG. Next, in step 210, it is determined whether or not the part B to be added to the simultaneous suction group can be added to the existing simultaneous suction group.

  This determination is based on the range shown in FIG. 11 that can be picked up by the component B1 centered at the point C1 and the range picked up by the component B2 centered at the point C2. This is done depending on whether there is a common part in the feed direction. In this case, since there is a common part in the tape feeding direction in the range where the center B can be picked up by the component B at the point C1 and the range where the center position can be picked up by the component B at the point C2, It determines with "Yes" and progresses to step 212. After determining in step 212 that the component B2 can be added to the simultaneous suction group, the process proceeds to step 214, and the program is temporarily terminated.

  Then, in step 116, a process of adding the part B2 to the existing simultaneous suction group is performed, and thereby, as shown in FIG. 14A, the group 1 is formed by the part B1 and the part B2. Next, the process proceeds to step 118, and the range capable of simultaneous suction and the simultaneous suction position are updated. In this case, the range in which the simultaneous suction can be handled is a common portion in the tape feeding direction of the range in which the suction of the component B1 can be handled and the range in which the suction of the component B2 can be handled. Further, the simultaneous suction position is a central position in a range where the simultaneous suction can be handled. That is, as shown in FIG. 11, the tape feed direction of the common portion between the range where the component B having the center position at the point C1 can be picked up and the range where the center position can be picked up by the component B at the point C2 The central position a is set as the simultaneous suction position.

  Then, after performing the processing of steps 120 and 122, the same processing is also performed for the parts B3 to B5 by sequentially performing the processes of steps 104 to 122. If the component B3 satisfies the conditions to be added to the group 1, as shown in FIG. 14B, the component B3 is added to the group 1, and the group 1 is formed by the components B1 to B3. Then, a range that can be used for the simultaneous suction of the new group 1 including the range that can be used for the suction of the component B3 and the simultaneous suction position are obtained and updated.

  In this case, the determination is made by the arrows in FIG. 11, the range in which simultaneous suction of the component B1 having the center position at the point C1 and the component B2 having the center position at the point C2 can be supported, and the center position is the point C3. This is done depending on whether or not there is a common part in the tape feeding direction in the range in which the part B3 can be picked up. In this case, a range capable of simultaneously picking up the component B1 whose center position is at the point C1 and a component B2 whose center position is at the point C2 and a range where the suction of the component B3 whose center position is at the point C3 can be handled. Since there is a common part in the tape feed direction, they are grouped. In this case, the updated range that can be used for the simultaneous suction is a portion where the corresponding ranges for the suction of the parts B1, B2, and B3 are the same in the tape feeding direction. It is updated and set as the center position b (FIG. 11) in the tape feeding direction within the range in which simultaneous suction can be supported.

  Next, the same processing is executed, and if the component B4 does not satisfy the condition to be added to the group 1 as shown in FIG. 14C, a new group 2 is created with the component B4. Then, a range in which simultaneous suction of the component B4 can be handled and a simultaneous suction position are set. Next, if the component B5 does not satisfy the condition to be added to the group 1 as shown in FIG. 14D, but satisfies the condition to be added to the group 2 as shown in FIG. The component B5 is added to the group 2, and the group 2 is formed by the component B4 and the component B5. The range in which the simultaneous suction of the group 2 can be handled is updated to a common portion in the tape feeding direction of the range in which the suction of the component B4 can be handled and the range in which the suction of the component B5 can be handled.

  Further, the simultaneous suction position of the group 2 is updated to a central position in the tape feeding direction within a range in which simultaneous suction of the parts B4 and B5 can be supported. And as shown in FIG.14 (f), the five components B of components B1-B5 are the group 1 formed with components B1-component B3, and the group 2 formed with components B4 and B5. And are grouped together. When the grouping process of the parts B1 to B5 is completed, it is determined as “No” in Step 120 and the process proceeds to Step 124. In step 124, processing for calculating the correction amount of the tape feeding position of each tape feeder 20 of the simultaneous suction group is performed. This calculation is obtained from the distance between the corrected simultaneous suction position updated by the processing of step 118 and the center position of each component B.

  FIG. 15 shows the corrected position of each component B shown in FIG. That is, the distance in the tape feeding direction between the point C1 of the component B1 whose center position is at the point C1 and the simultaneous suction position b is δ1, and after correction by retreating the point C1 by the distance δ1 in the anti-tape feeding direction. Center point C1a is located on the simultaneous suction position b. Further, the distance in the tape feeding direction between the point C2 of the part B2 whose center position is at the point C2 and the simultaneous suction position b is δ2, and the point C2 is advanced by a distance δ2 in the tape feeding direction. The center point C2a is located on the simultaneous suction position b.

  Further, the distance in the tape feeding direction between the point C3 of the part B3 whose center position is at the point C3 and the simultaneous suction position b is δ3, and after correction by retreating the point C3 by the distance δ3 in the counter tape feeding direction. Center point C3a is located on the simultaneous suction position b. In this way, the correction amounts δ1 to δ3 are calculated so that the centers of all the parts B are positioned on the same line by adding the correction amounts. Similarly, correction amounts Δ4 to Δ5 are calculated for other simultaneous adsorption groups.

  Next, in step 126, each tape feeder 20 is driven by adding correction amounts δ1 to δ5 to the feed pitch of each carrier tape 19a (the length between the central portions of the accommodating portions 19c in each carrier tape 19a). Each tape feeder 20 drives the feed motor 31 based on the control of the feeder control unit 33 and conveys each carrier tape 19a by an appropriate length. As a result, the parts B1 to B5 stop after moving to the corrected simultaneous suction position of the group to which each belongs. In step 128, the suction device is operated to suck the five parts B for the simultaneous suction by the suction nozzle 13b. In step 130, it is determined whether or not all of the five parts B for simultaneous suction have been sucked. If there is a part B that is not picked up, the process proceeds to step 128, and the picking operation is performed again.

  When all the suctions of the five parts B for the simultaneous suction are completed and it is determined “Yes”, the program proceeds to Step 132. In step 132, five parts B sucked by the five suction nozzles 13b by the fixed camera 14a (, 14b) or the scan camera 17 are imaged from below, and the position of each part B with respect to each suction nozzle 13b. Recognize. A process of obtaining a displacement amount Fc (in this case, the suction displacement amount Fc) from the image of the component B sucked by the suction nozzle 13b and storing the suction displacement amount Fc of each component B in the component data. This is done in step 134. The suction displacement amount Fc is used for the next suction of the component B.

  In step 136, each component B sucked by each suction nozzle 13b is mounted on the printed circuit board A. This is performed while the head unit 13 moves above the printed circuit board A and the suction head 13a moves forward and backward with respect to the printed circuit board A. In step 138, it is determined whether or not the mounting of the five parts B for simultaneous suction onto all the printed circuit boards A has been completed. If there is a component B that is not mounted, the process proceeds to step 136 and the mounting operation is performed again. If all of the five parts B for simultaneous suction have been mounted and it is determined “Yes” in step 138, the program proceeds to step 140.

  In step 140, it is determined whether or not all the mounting data has been mounted. Here, since only the mounting of the five parts B has been completed, it is determined as “No” and the process proceeds to Step 104. In step 104, for example, a part B having a part number of 1 is searched from among the parts B having a mounting number of 6 to 10 that are not yet mounted. Then, the next part number B to part number B are sequentially mounted on the printed circuit board A by the process described above, and each of the five parts B is printed by the same process. Attach to A.

  In the second and subsequent program processing, the amount of deviation obtained from the component recognition result is obtained from image data captured by the fixed camera 14a (, 14b) or the scan camera 17. When the mounting of all 100 parts B is completed, the process proceeds to step 142, and all the processes are completed. In addition, the grouping means of this invention is comprised when the arithmetic processing part 43 performs the program shown in FIG. 8, and the process of steps 112-116.

  As described above, in the component mounting apparatus 10 according to the present embodiment, the component B to be sucked is in the component suckable position, and the upper surface of the housing portion 19c that houses the component B to be transported to the component sucking position next. The position adjustable range of each part B is set on condition that the part B is not opened to the extent that it jumps out. Then, in this position adjustable range, a range where suction can be handled is set in consideration of a preset allowable deviation amount, and the parts B having a common part in the tape feeding direction in the range where each suction can be handled are set. One simultaneous adsorption group. For other parts B, the parts B having a common part in the tape feeding direction within a range where each suction can be handled are set as one simultaneous suction group.

  The components B in each group are simultaneously picked up by the suction nozzle 13b and then mounted on the printed circuit board A. For this reason, according to the component mounting apparatus 10 which concerns on this embodiment, the number of the suction nozzles 13b which can adsorb | suck the component B simultaneously can be maximized in the range which does not have trouble in adsorption | suction. Further, in the component mounting apparatus 10 according to the present embodiment, since the feed amount in each tape feeder 20 is set in consideration of the shift amount Fc, the intermittent stop position of each component B in the tape feeder 20 can be accurately obtained. it can. Further, since the position of the center of the range in which each group can be simultaneously picked up is set as the simultaneous picking position of the picking nozzle 13b, the picking nozzle 13b can reliably pick up one group of parts B.

  Further, the component mounting apparatus according to the present invention is not limited to the above-described embodiment, and can be implemented with appropriate modifications. For example, in the above-described embodiment, after the mounting is started, each component B is imaged by the substrate camera 18 so that the position of each component B on the conveyance path 22a is confirmed. Instead, the position of each component B on the conveyance path 22a can be confirmed by a detection device such as a sensor. In the above-described embodiment, every time the program is executed, the process of obtaining the deviation amount Fc is performed in step 108. Instead, 3 to 5 parts B in the same tape feeder 20 are processed. An average value of the deviation amounts of the recognition results may be obtained, and this average value may be used as the deviation amount Fc. According to this, a stable deviation amount Fc can be obtained.

  Furthermore, in the above-described embodiment, the center position in the common part of the position adjustable range of the component B belonging to each group is set as the suction position of the suction nozzle 13b. This suction position is the position of the component B belonging to each group. It may be located at any part within the common part of the adjustable range. This makes it easy to set the suction position. However, it is desirable that the position of the suction nozzle 13b be a position where all the parts B in the same group can be sucked without being displaced at the center position of the suction nozzle 13b.

  In addition, when setting the position adjustable range, it is possible to prevent the component B from jumping out even if the upper surface of the accommodating portion 19c that accommodates the component B next to the component B at the suction position is slightly opened. It may be set with some width. However, regarding the accommodating portion 19c that accommodates the component B at the adsorption position, even if the lid portion 29b covers a part of the upper surface of the accommodating portion 19c, the adsorbed component B abuts on the lid portion 29b to cause poor adsorption. Therefore, the position adjustable range is set without a margin. Furthermore, the configuration of other parts of the component mounting apparatus according to the present invention can be changed as appropriate within the technical scope of the present invention.

It is the top view which showed the component mounting apparatus which concerns on one Embodiment of this invention. It is the front view which showed the component mounting apparatus. It is the perspective view which showed the component supply tape. The principal part of a tape feeder is shown, (a) is a top view, (b) is a side view. It is the block diagram which showed each apparatus with which a component mounting apparatus is provided. It is the flowchart which showed steps 100-122 of the mounting program. It is the flowchart which showed steps 124-142 of the mounting program. It is the flowchart which showed the additional determination program. It is the flowchart which showed the adsorption | suction range calculation program. It is explanatory drawing which showed deviation | shift amount when components are adsorbed | sucked to the suction nozzle. It is explanatory drawing which showed the method of grouping components. It is explanatory drawing explaining the position adjustable range. It is explanatory drawing which showed the state which components jump out of a accommodating part. It is explanatory drawing which showed the order which groups five parts. It is explanatory drawing which showed the position after correction | amendment of the center point of each component shown in FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Component mounting apparatus, 13a ... Adsorption head, 13b ... Adsorption nozzle, 14a, 14b ... Fixed camera, 17 ... Scan camera, 18 ... Substrate camera, 19a ... Carrier tape, 19c ... Housing part, 20 ... Tape feeder, 29b ... Cover part, 31 ... Feed motor, 33 ... Feeder control part, 41 ... External input / output part, 42 ... Calculation processing part, A ... Printed circuit board, B ... Each component, Fc ... Displacement amount.

Claims (7)

The parts accommodated in the accommodating parts of the carrier tape formed with the accommodating parts accommodating the parts in the longitudinal direction are intermittently transported to the parts adsorption position, and the upper surface of the accommodating part is adsorbed to the parts A plurality of tape feeders that can be opened at positions near the upstream side of the position to allow the parts to be removed;
A suction head provided with a plurality of suction nozzles for sucking a set of parts conveyed by the plurality of tape feeders at the part suction positions;
Position confirmation means for confirming the respective positions of the set of parts when the set of parts is transported to a part adsorbable position;
Of the set of parts whose positions have been confirmed by the position confirmation means, the upper surface of the accommodating part that accommodates the part that is in the part adsorbable position and is then transported to the part adsorbing position jumps to the outside. Grouping means for grouping parts having a common part in the feed direction of the carrier tape as a simultaneous suction group in the position adjustable range of each part set on the condition that it is not open enough to be removed,
A component mounting apparatus comprising: a suction control unit that sequentially and simultaneously suctions the components grouped by the grouping unit to the suction nozzle.   An allowable deviation amount is set in advance based on a length of the parts in a conveying direction, and the grouping unit groups the set of parts by adding the allowable deviation amount to the position adjustable range. The component mounting apparatus according to 1.   3. The component according to claim 1, wherein an arbitrary position in a common part of a position adjustable range of components belonging to each group grouped as a simultaneous suction group by the grouping unit is set as a suction position of the suction nozzle. Mounting device.   Each of the plurality of tape feeders is provided with a transport control means for controlling the transport state of the carrier tape, and each carrier tape is transported by the control of each transport control means. The component mounting apparatus according to claim 3, wherein the suction target component is positioned at or near the suction position.   A displacement amount detecting means for detecting a displacement amount with respect to the suction position of the component conveyed by the plurality of tape feeders, and taking into account the displacement amount in the feeding direction of the carrier tape detected by the displacement amount detection means, The component mounting apparatus of Claim 4 which sets the stop position of each component conveyed intermittently by these tape feeders. A plurality of carrier tapes, each of which is formed with an accommodating portion for accommodating the components, spaced in the longitudinal direction are arranged in parallel, and the components accommodated in the accommodating portions of the plurality of carrier tapes are intermittently arranged at the component suction position. A component conveying step of opening the upper surface of the accommodating portion at a position in the vicinity of the upstream side of the component suction position and enabling the removal of the component;
A position confirmation step for confirming the position of each of the set of parts when the set of parts is conveyed to a part adsorbable position;
Of the set of parts, the condition is that the upper surface of the accommodating portion that accommodates the part that is in the part suction position and is then transported to the part suction position is not open enough to allow the part to jump out. A grouping step of grouping together parts that have a common part in the carrier tape feed direction in a position adjustable range of each part set as a simultaneous suction group;
A component mounting method comprising: a suction step of sequentially suctioning the grouped grouped components to a suction nozzle.   Based on the length of the parts in the conveying direction, an allowable deviation amount is set in advance, and in the grouping step, the set of parts is grouped by adding the allowable deviation amount to the position adjustable range. The component mounting method according to claim 6.

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