JP2010080461A - Method for mounting electronic component - Google Patents

Method for mounting electronic component Download PDF

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JP2010080461A
JP2010080461A JP2008243471A JP2008243471A JP2010080461A JP 2010080461 A JP2010080461 A JP 2010080461A JP 2008243471 A JP2008243471 A JP 2008243471A JP 2008243471 A JP2008243471 A JP 2008243471A JP 2010080461 A JP2010080461 A JP 2010080461A
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printed circuit
circuit board
mounting
electronic component
transport device
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JP5118595B2 (en
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Kazuyoshi Oyama
和義 大山
Koichi Izumihara
弘一 泉原
Yoshinori Kano
良則 狩野
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Hitachi High Tech Instruments Co Ltd
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Hitachi High Tech Instruments Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for mounting electronic component, the method being adaptive to a case wherein component supply devices need not be provided on both outer sides of a conveying device because of an installation space, and the method having improved production efficiency of a printed board as much as possible even in such a case. <P>SOLUTION: While electronic components taken out of a group of component supply units 3B with respect to electronic components with step numbers "0001" to "0012" are mounted in order by a suction nozzle 5 provided in a mounting head 6 provided in a front-side beam 4B while corrected onto a printed board P on a right conveying device 2B2 of the front-side conveying device 2B, electronic components taken out of a group of component supply units 3B with respect to electronic components with step numbers "0013" to "0024" are mounted in order by a suction nozzle 5 provided in a mounting head 6 provided in an inner-side beam 4A while corrected onto a printed board P on a left conveying device 2A1 of an inner-side conveying device 2A. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、各プリント基板を搬送すると共に各プリント基板を各位置決め装置で位置決めするように並設された二列の搬送装置と、この二列の搬送装置の一外方にのみ設けられて電子部品を供給する部品供給装置と、駆動源により一方向に移動可能な一対のビームと、各ビームに沿った方向に各駆動源により移動可能でそれぞれ吸着ノズルを備えた装着ヘッドとを備え、前記部品供給装置から電子部品を前記各装着ヘッドの吸着ノズルが取り出して前記各プリント基板に装着する電子部品の装着方法に関する。   The present invention provides two rows of conveyance devices arranged in parallel so as to convey each printed circuit board and position each printed circuit board with each positioning device, and an electronic device provided only on the outer side of the two rows of conveyance devices. A component supply device that supplies components; a pair of beams that can be moved in one direction by a drive source; and a mounting head that can be moved by each drive source in a direction along each beam and that has a suction nozzle. The present invention relates to an electronic component mounting method in which an electronic component is taken out from a component supply device by a suction nozzle of each mounting head and mounted on each printed circuit board.

位置決め装置で位置決めされたプリント基板上に電子部品を装着する電子部品の装着方法は、例えば、特許文献1などに開示されている。一般に、電子部品を供給する部品供給装置はプリント基板を搬送する搬送装置の両外方にそれぞれ設けられ、装着ヘッドを備えたビームは前記各部品供給装置に対応して一対設けられる。即ち、各ビームと各部品供給装置は対応しており、一方のビームの装着ヘッドは対応する部品供給装置のみから電子部品を取出してプリント基板上に装着するのが一般的である。
特開2006−286707号公報
An electronic component mounting method for mounting an electronic component on a printed circuit board positioned by a positioning device is disclosed in, for example, Patent Document 1. In general, component supply devices for supplying electronic components are provided on both outer sides of a transfer device for transferring a printed circuit board, and a pair of beams provided with mounting heads are provided corresponding to the component supply devices. That is, each beam corresponds to each component supply device, and the mounting head of one beam generally takes out an electronic component from only the corresponding component supply device and mounts it on a printed board.
JP 2006-286707 A

しかし、ときに設置スペースの関係等から必ずしも、搬送装置の両外方にそれぞれ設ける必要がない場合があって、搬送装置の一外方にのみ部品供給装置を設ける場合があるが、この場合に、プリント基板の生産時間を極力短くして仕上げたい。   However, sometimes it is not always necessary to provide them on both sides of the transfer device due to the installation space, etc., and there may be a case where the parts supply device is provided only on the outside of the transfer device. I want to make the production time of printed circuit boards as short as possible.

そこで本発明は、設置スペースの関係等から部品供給装置を搬送装置の両外方にそれぞれ設ける必要もない場合に対処でき、またこの場合でも極力プリント基板の生産効率の向上を図ることを目的とする。   Therefore, the present invention can cope with the case where it is not necessary to provide the component supply devices on both sides of the transfer device due to the installation space and the like, and even in this case, the object is to improve the production efficiency of the printed circuit board as much as possible. To do.

このため第1の発明は、各プリント基板を搬送すると共に各プリント基板を各位置決め装置で位置決めするように並設された二列の搬送装置と、この二列の搬送装置の一外方にのみ設けられて電子部品を供給する部品供給装置と、駆動源により一方向に移動可能な一対のビームと、各ビームに沿った方向に各駆動源により移動可能でそれぞれ吸着ノズルを備えた装着ヘッドとを備え、前記部品供給装置から電子部品を前記各装着ヘッドの吸着ノズルが取り出して前記各プリント基板に装着する電子部品の装着方法であって、前記一列目の搬送装置において位置決め装置によりプリント基板を位置決めする位置と前記二列目の搬送装置において位置決め装置によりプリント基板を位置決めする位置とを搬送方向においてずらし、前記一列目の搬送装置上の一方のプリント基板には一方の前記ビームに設けられた装着ヘッドが前記部品供給装置から電子部品を取り出して装着すると共に、前記二列目の搬送装置上の他方のプリント基板上には他方の前記ビームに設けられた装着ヘッドが前記部品供給装置から電子部品を取り出して装着することを特徴とする。   Therefore, according to the first aspect of the present invention, the two rows of conveying devices arranged so as to convey each printed circuit board and position each printed circuit board by each positioning device, and only one outside of the two rows of conveying devices. A component supply device that supplies electronic components; a pair of beams that can be moved in one direction by a drive source; and a mounting head that can be moved by each drive source in a direction along each beam and that has a suction nozzle. An electronic component mounting method in which an electronic component is taken out from the component supply device by a suction nozzle of each mounting head and mounted on each printed circuit board, and the printed circuit board is mounted by a positioning device in the first row transport device. The positioning position and the position where the printed circuit board is positioned by the positioning device in the transport device in the second row are shifted in the transport direction, and the transport in the first row is performed. On one printed circuit board on the apparatus, a mounting head provided on one of the beams picks up and mounts an electronic component from the component supply apparatus, and on the other printed circuit board on the second row conveying apparatus. The mounting head provided on the other beam picks up and mounts an electronic component from the component supply device.

第2の発明は、第1の発明において、前記二列の搬送装置をそれぞれ上流側搬送装置と下流側搬送装置とで構成し、前記二列の搬送装置のうちの一方の搬送装置を構成する上流側搬送装置又は下流側搬送装置の位置決め装置で一方のプリント基板を位置決めし、他方の搬送装置を構成する下流側搬送装置又は上流側搬送装置の位置決め装置で他方のプリント基板を位置決めして、それぞれ対応するビームに設けられた装着ヘッドで電子部品を装着することを特徴とする。   According to a second invention, in the first invention, each of the two rows of conveying devices includes an upstream conveying device and a downstream conveying device, and constitutes one of the two rows of conveying devices. Position one printed circuit board with the positioning device of the upstream conveying apparatus or the downstream conveying apparatus, position the other printed circuit board with the positioning apparatus of the downstream conveying apparatus or the upstream conveying apparatus constituting the other conveying apparatus, The electronic components are mounted by mounting heads provided on the corresponding beams, respectively.

本発明は、設置スペースの関係等から部品供給装置を搬送装置の両外方にそれぞれ設ける必要もない場合に対処でき、またこの場合でも極力プリント基板の生産効率の向上を図ることができる。特に、電子部品の種類数が多いプリント基板の生産に効果的である。   The present invention can cope with the case where it is not necessary to provide the component supply devices on both sides of the conveying device because of the installation space and the like, and even in this case, the production efficiency of the printed circuit board can be improved as much as possible. In particular, it is effective for production of printed circuit boards having a large number of types of electronic components.

以下図1に基づき、プリント基板上に電子部品を装着する電子部品装着装置について、本発明の実施の形態を説明する。電子部品装着装置1には、各プリント基板を搬送すると共に各プリント基板を各位置決め装置で位置決めするように並設された二列の搬送装置2A、2Bと、電子部品を供給する部品供給装置3と、駆動源により一方向に移動可能(Y方向に往復移動可能)な一対のビーム4A、4Bと、それぞれ吸着ノズル5を備えて前記各ビーム4A、4Bに沿った方向に各駆動源により移動可能な装着ヘッド6とが設けられている。   An embodiment of the present invention will be described below with respect to an electronic component mounting apparatus that mounts electronic components on a printed circuit board with reference to FIG. The electronic component mounting device 1 includes two rows of conveying devices 2A and 2B arranged in parallel so as to convey each printed circuit board and position each printed circuit board with each positioning device, and a component supply device 3 that supplies the electronic components. And a pair of beams 4A, 4B that can be moved in one direction by the drive source (reciprocating in the Y direction) and a suction nozzle 5, respectively, that are moved by the drive sources in the direction along the beams 4A, 4B. A possible mounting head 6 is provided.

前記搬送装置2A、2Bは電子部品装着装置1の奥と手前の前後中間部に配設され、ベルトコンベアから構成される左搬送装置2A1、2B1と右搬送装置2A2、2B2とを備えると共に夫々位置決め固定する位置決め装置(図示せず)を備えている。左搬送装置2A1、2B1及び右搬送装置2A2、2B2には、それぞれ下流寄りに出没可能なストッパ7A1、7B1及び7A2、7B2が設けられる。   The conveying devices 2A and 2B are disposed in the front and rear intermediate portions of the electronic component mounting device 1, and are provided with left conveying devices 2A1 and 2B1 and right conveying devices 2A2 and 2B2 configured by belt conveyors, respectively. A positioning device (not shown) for fixing is provided. The left transport devices 2A1 and 2B1 and the right transport devices 2A2 and 2B2 are provided with stoppers 7A1, 7B1, 7A2, and 7B2 that can protrude and retract toward the downstream side, respectively.

前記部品供給装置3は前記搬送装置2A、2Bの一外方、例えば搬送装置2A、2Bの手前側に配設され、電子部品装着装置1の装置本体に取り付けられるフィーダベース3Aと、このフィーダベース3A上に複数並設され種々の電子部品を夫々その部品取出し部(部品吸着位置)に1個ずつ供給する部品供給ユニット3B群とから構成される。   The component supply device 3 is disposed on the outer side of the transfer devices 2A and 2B, for example, on the front side of the transfer devices 2A and 2B, and is attached to the apparatus main body of the electronic component mounting device 1 and the feeder base 3A. A plurality of component supply units 3B arranged side by side on 3A and supplying various electronic components one by one to the component take-out portion (component suction position).

そして、X方向に長い前後一対の前記ビーム4A、4Bは、各Y方向リニアモータ9の駆動により左右一対の前後に延びたガイドに沿って前記各ビームに固定されたスライダが摺動して個別にY方向に移動する。前記Y方向リニアモータ9は、左右一対の基体1A、1Bに沿って固定された上下一対の固定子と、前記ビーム4A、4Bの両端部に設けられた取付板の下部に固定された可動子9Aとから構成される。   The pair of front and rear beams 4A and 4B which are long in the X direction are individually moved by sliding a slider fixed to each beam along a pair of left and right front and rear guides driven by each Y direction linear motor 9. Move in the Y direction. The Y-direction linear motor 9 includes a pair of upper and lower stators fixed along a pair of left and right bases 1A and 1B, and a mover fixed to lower portions of mounting plates provided at both ends of the beams 4A and 4B. 9A.

また、前記ビーム4A、4Bにはその長手方向(X方向)にX方向リニアモータ19によりガイドに沿って移動する前記装着ヘッド6が夫々内側に設けられており、前記X方向リニアモータ19は各ビーム4A、4Bに固定された前後一対の固定子と、各固定子の間に位置して前記装着ヘッド6に設けられた可動子とから構成される。   The beams 4A and 4B are respectively provided with the mounting heads 6 that move along the guides in the longitudinal direction (X direction) by the X direction linear motor 19, and the X direction linear motor 19 A pair of front and rear stators fixed to the beams 4A and 4B and a mover provided on the mounting head 6 between the stators.

従って、各装着ヘッド6は向き合うように各ビーム4A、4Bの内側に設けられ、同じ高さ位置で移動可能であり、前記搬送装置2A、2B上の対応するプリント基板Pや部品供給ユニット3Bの部品取出し位置上方を移動する。即ち、ビーム4A、4Bに設けられた両装着ヘッド6は、原則として部品供給ユニット3B群から同時に(同期ではない。)、電子部品の取出し作業を行い、ビーム4Aに設けられた装着ヘッド6は奥側の搬送装置2A上のプリント基板Pのみに装着し、ビーム4Bに設けられた装着ヘッド6は手前側の搬送装置2B上のプリント基板Pのみに装着するように、分担している。   Accordingly, each mounting head 6 is provided inside each beam 4A, 4B so as to face each other, and can be moved at the same height position, and the corresponding printed circuit board P or component supply unit 3B on the transfer device 2A, 2B can be moved. Move above the part removal position. In other words, both mounting heads 6 provided on the beams 4A and 4B are in principle simultaneously (not synchronized) from the component supply unit 3B group to take out electronic components, and the mounting heads 6 provided on the beam 4A are The mounting head 6 provided on the beam 4B is mounted only on the printed circuit board P on the far side transport device 2A, and is mounted so as to be mounted only on the printed circuit board P on the near side transport device 2B.

そして、各装着ヘッド6には12本の各バネにより下方へ付勢されている吸着ノズル5が円周上に所定間隔を存して配設されており、各装着ヘッド6の3時と9時の位置に位置する吸着ノズル5により並設された複数の部品供給ユニット3Bから電子部品を同時に取出しすることも可能である。この吸着ノズル5は上下軸モータ20により昇降可能であり、またθ軸モータ21により装着ヘッド6を鉛直軸周りに回転させることにより、結果として各装着ヘッド6の各吸着ノズル5はX方向及びY方向に移動可能であり、垂直線回りに回転可能で、且つ上下動可能となっている。   Each mounting head 6 is provided with suction nozzles 5 urged downward by 12 springs on the circumference at predetermined intervals. It is also possible to take out electronic components simultaneously from a plurality of component supply units 3B arranged in parallel by the suction nozzle 5 located at the time position. The suction nozzle 5 can be moved up and down by a vertical axis motor 20, and the mounting head 6 is rotated around a vertical axis by a θ-axis motor 21. As a result, each suction nozzle 5 of each mounting head 6 is moved in the X direction and Y direction. It can move in the direction, can rotate around a vertical line, and can move up and down.

また、各装着ヘッド6には基板認識カメラ8が設けられ、位置決めされているプリント基板Pに付された位置決めマークを撮像する。各部品認識カメラ10は、各装着ヘッド6に設けられた各吸着ノズル5に吸着保持された電子部品を一括して撮像する。   In addition, each mounting head 6 is provided with a board recognition camera 8 and images a positioning mark attached to the printed board P being positioned. Each component recognition camera 10 collectively images the electronic components sucked and held by each suction nozzle 5 provided in each mounting head 6.

図3は電子部品装着装置1の電子部品装着に係る制御のための制御ブロックであり、以下説明する。電子部品装着装置1の各要素はCPU(セントラル・プロセッシング・ユニット)11が統括制御しており、この制御に係るプログラムを格納するROM(リ−ド・オンリー・メモリ)12及び各種データを格納するRAM(ランダム・アクセス・メモリ)13がバスライン14を介して接続されている。また、CPU11には操作画面等を表示するモニタ15及び該モニタ15の表示画面に形成された入力手段としてのタッチパネルスイッチ16がインターフェース17を介して接続されている。また、前記Y方向リニアモータ9等が駆動回路24、インターフェース17を介して前記CPU11に接続されている。   FIG. 3 is a control block for control related to electronic component mounting of the electronic component mounting apparatus 1 and will be described below. Each element of the electronic component mounting apparatus 1 is centrally controlled by a CPU (Central Processing Unit) 11 and stores a ROM (Read Only Memory) 12 for storing a program related to this control and various data. A RAM (Random Access Memory) 13 is connected via a bus line 14. Further, a monitor 15 for displaying an operation screen and the like, and a touch panel switch 16 as input means formed on the display screen of the monitor 15 are connected to the CPU 11 via an interface 17. The Y-direction linear motor 9 and the like are connected to the CPU 11 via a drive circuit 24 and an interface 17.

前記RAM13には、図4に示すように、部品装着に係るプリント基板Pの種類毎に装着データが記憶されており、その装着順序毎(ステップ番号毎)に、夫々のプリント基板Pの右側下部のコーナーを原点としたプリント基板P内での各電子部品の装着座標のX方向(図2(C)では上方向がプラス)、Y方向(図2(C)では左方向がプラス)及び装着角度情報や吸着ノズルの番号情報(「1」〜「12」で表示)、各部品供給ユニットの配置番号情報(FDR)、装着ヘッド6の番号情報(奥側のビーム4Aに設けられた装着ヘッドは「1」、手前側のビーム4Bに設けられた装着ヘッドは「2」で表示)、左右のプリント基板のうちの左(「L」で表示)か右(「R」で表示)かの基板位置情報、二列の搬送装置2A、2Bのうち奥側の搬送装置2Aは「B」と表示し、手前側の搬送装置2Bは「A」と表示する搬送レーン情報等が格納されている。   As shown in FIG. 4, the RAM 13 stores mounting data for each type of printed circuit board P related to component mounting, and the lower right side of each printed circuit board P for each mounting order (for each step number). X direction (upward direction is positive in FIG. 2 (C)), Y direction (left direction is positive in FIG. 2 (C)) and mounting of each electronic component within the printed circuit board P with the corner of Angle information, suction nozzle number information (displayed by “1” to “12”), arrangement number information (FDR) of each component supply unit, mounting head 6 number information (mounting head provided on the back beam 4A) Is “1”, the mounting head provided on the beam 4B on the front side is indicated by “2”), left (displayed by “L”) or right (displayed by “R”) of the left and right printed circuit boards Substrate position information, out of two rows of transfer devices 2A, 2B The transport device 2A of labeled "B", the transport device 2B of the front side are stored is conveyed lane information for displaying "A".

この装着データによれば、ステップ番号「0001」〜「0012」及び「0025」〜「0036」は、手前側のビーム4Bに設けられた装着ヘッド6(ヘッド番号「2」)を使用して、手前側の搬送装置2Bの右搬送装置2B2上のプリント基板Pに電子部品を装着することを意味し、またステップ番号「0013」〜「0024」及び「0037」〜「0048」は、奥側のビーム4Aに設けられた装着ヘッド6(ヘッド番号「1」)を使用して、奥側の搬送装置2Aの左搬送装置2A1のプリント基板Pに電子部品を装着することを意味する。   According to this mounting data, the step numbers “0001” to “0012” and “0025” to “0036” use the mounting head 6 (head number “2”) provided on the beam 4B on the near side, This means that electronic components are mounted on the printed circuit board P on the right transport device 2B2 of the transport device 2B on the near side, and step numbers “0013” to “0024” and “0037” to “0048” This means that an electronic component is mounted on the printed circuit board P of the left transport device 2A1 of the rear transport device 2A using the mounting head 6 (head number “1”) provided on the beam 4A.

また、前記RAM13には、図5に示すように、前記各部品供給ユニットの部品供給ユニット配置番号に対応した各電子部品の種類(部品ID)の情報、即ち部品配置データが格納されており、更には形状データ・認識データ・制御データ・部品供給データから成る部品ライブラリデータ等が格納されている。   Further, as shown in FIG. 5, the RAM 13 stores information on the types (component IDs) of electronic components corresponding to the component supply unit arrangement numbers of the component supply units, that is, component arrangement data. Furthermore, component library data including shape data, recognition data, control data, and component supply data are stored.

22はインターフェース17を介して前記CPU11に接続される認識処理装置で、前記基板認識カメラ8や部品認識カメラ10により撮像して取込まれた画像の認識処理が該認識処理装置22にて行われ、CPU11に処理結果が送出される。即ち、CPU11は基板認識カメラ8や部品認識カメラ10により撮像された画像を認識処理(位置ずれ量の算出など)するように指示を認識処理装置22に出力すると共に、認識処理結果を認識処理装置22から受取るものである。   A recognition processing device 22 is connected to the CPU 11 via the interface 17. The recognition processing device 22 performs recognition processing of an image captured by the board recognition camera 8 or the component recognition camera 10. The processing result is sent to the CPU 11. In other words, the CPU 11 outputs an instruction to the recognition processing device 22 so as to perform recognition processing (calculation of misalignment amount, etc.) on an image captured by the board recognition camera 8 or the component recognition camera 10, and also recognizes the recognition processing result. 22 is received.

以上の構成により、以下動作について説明する。先ず、図2(A)に示すように、初めにベルトコンベアから構成される奥側と手前側の搬送装置2A、2Bの左搬送装置2A1、2B1及び右搬送装置2A2、2B2は全て停止状態であって、ストッパ7A1、7B1及び7A2、7B2が上昇して搬送路内に突出してプリント基板Pを係止可能な状態にある。   With the above configuration, the operation will be described below. First, as shown in FIG. 2 (A), the left conveying devices 2A1 and 2B1 and the right conveying devices 2A2 and 2B2 of the conveying devices 2A and 2B on the back side and the near side, which are first composed of a belt conveyor, are all stopped. Thus, the stoppers 7A1, 7B1, 7A2, and 7B2 are raised and protrude into the conveyance path so that the printed circuit board P can be locked.

次に、図2(B)に示すように、奥側の搬送装置2Aはストッパ7A1、7A2を上昇させたまま、上流側装置からプリント基板Pを受け継ぐために、左搬送装置2A1を運転状態とし、また手前側の搬送装置2Bはストッパ7B1を下降させ(ストッパ7A2は上昇したまま)、上流側装置からプリント基板Pを受け継ぐために、左搬送装置2A1、2B1及び右搬送装置2B2を運転状態とする。   Next, as shown in FIG. 2 (B), the transport device 2A on the back side puts the left transport device 2A1 into an operating state in order to inherit the printed circuit board P from the upstream device while raising the stoppers 7A1 and 7A2. Further, the transport device 2B on the near side lowers the stopper 7B1 (while the stopper 7A2 is still lifted), and the left transport devices 2A1, 2B1 and the right transport device 2B2 are put into operation to inherit the printed circuit board P from the upstream device. To do.

この状態で、図2(C)に示すように、奥側の搬送装置2Aでは上流側装置から移載されたプリント基板Pがストッパ7A1に係止し、手前側の搬送装置2Bでは上流側装置から移載されたプリント基板Pがストッパ7B2に係止するが、このプリント基板Pがストッパ7B1を通過したら、ストッパ7B1を上昇させる。   In this state, as shown in FIG. 2C, the printed circuit board P transferred from the upstream device is locked to the stopper 7A1 in the transport device 2A on the back side, and the upstream device is transported on the transport device 2B on the front side. The printed circuit board P transferred from is locked to the stopper 7B2. When the printed circuit board P passes through the stopper 7B1, the stopper 7B1 is raised.

そして、この奥側の搬送装置2Aではプリント基板Pを左搬送装置2A1の位置決め装置により、また手前側の搬送装置2Bではプリント基板Pを右搬送装置2B2の位置決め装置により、平面方向及び上下方向における位置決めがなされ、以下電子部品の装着動作に移ることとなる。なお、奥側の搬送装置2Aではプリント基板Pを右搬送装置2A2の位置決め装置により、また手前側の搬送装置2Bではプリント基板Pを左搬送装置2B2の位置決め装置により位置決めして、電子部品の装着動作を行ってもよく、いずれにおいても、各位置決め装置によりプリント基板を位置決めする位置が互いに搬送方向においてずらしているので、両装着ヘッド6が衝突することを防止することができる。   Then, in the transport device 2A on the back side, the printed circuit board P is positioned by the positioning device of the left transport device 2A1, and in the transport device 2B on the near side, the printed circuit board P is positioned by the positioning device of the right transport device 2B2, The positioning is performed, and the operation for mounting the electronic component is started. The printed circuit board P is positioned by the positioning device of the right transport device 2A2 in the rear transport device 2A, and the printed circuit board P is positioned by the positioning device of the left transport device 2B2 in the front transport device 2B, and the electronic components are mounted. In any case, the positions where the printed circuit boards are positioned by the positioning devices are shifted from each other in the transport direction, so that the mounting heads 6 can be prevented from colliding with each other.

そして、各プリント基板Pの位置決めがされると、CPU11はRAM13に格納された装着データ(図4参照)に従って、両ビーム4A、4Bの装着ヘッド6が部品供給ユニット3B群から電子部品を同時(「同期」ではない。)に取出して、各プリント基板P上に同時に装着するように制御する。この電子部品の取出し及び装着に際して、Y方向については両ビーム4A、4Bが必要以上に近づかないように制御されると共にX方向については両装着ヘッド6が必要以上に近づかないように制御されて、両ビーム4A、4Bの装着ヘッド6の衝突が防止される。   When each printed circuit board P is positioned, the CPU 11 simultaneously mounts electronic components from the component supply unit 3B group by the mounting heads 6 of both beams 4A and 4B in accordance with mounting data (see FIG. 4) stored in the RAM 13. It is not “synchronous”) and is controlled to be mounted on each printed circuit board P at the same time. When the electronic components are taken out and mounted, both beams 4A and 4B are controlled so as not to approach more than necessary in the Y direction, and both mounting heads 6 are controlled not to approach more than necessary in the X direction. Collision between the mounting heads 6 of both beams 4A and 4B is prevented.

初めに、ステップ番号「0001」から「0012」まで、部品供給ユニット3B群から手前側のビーム4Bに設けられた装着ヘッド6(ヘッド番号「2」)により電子部品が順に取出されると同時に、ステップ番号「0013」から「0024」まで、部品供給ユニット3B群から奥側のビーム4Bに設けられた装着ヘッド6(ヘッド番号「1」)により電子部品が順に取出される。即ち、ステップ番号「0001」において、手前側のビーム4Bに設けられた装着ヘッド6の吸着ノズル5のノズル番号「1」が配置番号「211」の部品供給ユニット3Bから電子部品を取出すと同時に、ステップ番号「0013」において、奥側のビーム4Aに設けられた装着ヘッド6の吸着ノズル5のノズル番号「1」が配置番号「241」の部品供給ユニット3Bから電子部品を取出すというように、それぞれ対応するステップ番号に従って12個の電子部品を吸着して取出す。   First, from step numbers “0001” to “0012”, electronic components are sequentially taken out by the mounting head 6 (head number “2”) provided on the beam 4B on the near side from the component supply unit 3B group, From the step numbers “0013” to “0024”, the electronic components are sequentially taken out from the component supply unit 3B group by the mounting head 6 (head number “1”) provided on the back beam 4B. That is, at the step number “0001”, the electronic component is taken out from the component supply unit 3B having the arrangement number “211” when the nozzle number “1” of the suction nozzle 5 of the mounting head 6 provided on the beam 4B on the near side is In step number “0013”, the nozzle number “1” of the suction nozzle 5 of the mounting head 6 provided on the back beam 4A is taken out from the component supply unit 3B having the arrangement number “241”, respectively. Twelve electronic components are picked up and taken out according to the corresponding step number.

また、この取出した後は、両装着ヘッド6の吸着ノズル5を上昇させて、両ビーム4A、4Bの装着ヘッド6を各部品認識カメラ10上方を通過させ、この移動中に両装着ヘッド6の12本の吸着ノズル5に吸着保持された12個の電子部品を一括して撮像して、この撮像された画像を認識処理装置22が認識処理して吸着ノズル5に対する位置ズレを把握する。   Further, after the removal, the suction nozzles 5 of both mounting heads 6 are raised so that the mounting heads 6 of both beams 4A and 4B pass over the respective component recognition cameras 10, and the two mounting heads 6 are moved during this movement. The twelve electronic components sucked and held by the twelve suction nozzles 5 are collectively picked up, and the recognition processing device 22 recognizes the picked-up images to grasp the positional deviation with respect to the suction nozzles 5.

その後、両ビーム4A、4Bの装着ヘッド6に設けられた基板認識カメラ8を各プリント基板P上方へ移動させて、奥側の搬送装置2Aの左搬送装置2A1、手前側の搬送装置2Bの右搬送装置2B2上で位置決めされている各プリント基板Pに付された位置決めマークを撮像し、この撮像された画像を認識処理装置22が認識処理して各プリント基板Pの位置を把握する。そして、装着データの装着座標にそれぞれのプリント基板Pの位置認識結果及び各部品認識処理結果を加味して、各吸着ノズル5が位置ずれを補正しつつ、それぞれ電子部品を各プリント基板P上に装着する。   After that, the substrate recognition camera 8 provided on the mounting head 6 for both beams 4A and 4B is moved above each printed circuit board P to the left of the left transport device 2A1 of the rear transport device 2A and the right of the transport device 2B on the near side. The positioning mark attached to each printed circuit board P positioned on the transport device 2B2 is imaged, and the recognition processing device 22 recognizes the captured image to grasp the position of each printed circuit board P. Then, by adding the position recognition result of each printed circuit board P and the result of each component recognition process to the mounting coordinates of the mounting data, each suction nozzle 5 corrects the positional deviation, and each electronic component is placed on each printed circuit board P. Installing.

即ち、ステップ番号「0001」から「0012」までの電子部品について、手前側のビーム4Bに設けられた装着ヘッド6に設けられ右側に位置した吸着ノズル5に吸着保持された電子部品を手前側の搬送装置2Bの右搬送装置2B2上のプリント基板P上に補正しつつ順次装着すると同時に、ステップ番号「0013」から「0024」までの電子部品について、奥側のビーム4Aに設けられ左側に位置した装着ヘッド6に設けられた吸着ノズル5に吸着保持された電子部品を奥側の搬送装置2Aの左搬送装置2A1上のプリント基板P上に補正しつつ順次装着する。この場合にも、両ビーム4A、4Bの装着ヘッド6が衝突しないように対応するY方向リニアモータ9及びX方向リニアモータ19がCPU11により制御される。   That is, for the electronic components from step numbers “0001” to “0012”, the electronic components sucked and held by the suction nozzle 5 provided on the mounting head 6 provided on the beam 4B on the near side are placed on the near side. At the same time as mounting on the printed circuit board P on the right transport device 2B2 of the transport device 2B while correcting, the electronic components from step numbers “0013” to “0024” are provided on the back beam 4A and located on the left side. The electronic components sucked and held by the suction nozzle 5 provided in the mounting head 6 are sequentially mounted on the printed circuit board P on the left transport device 2A1 of the rear transport device 2A while being corrected. Also in this case, the CPU 11 controls the corresponding Y-direction linear motor 9 and X-direction linear motor 19 so that the mounting heads 6 of both beams 4A and 4B do not collide.

次に、ステップ番号「0025」から「0036」まで、部品供給ユニット3B群から手前側のビーム4Bに設けられた装着ヘッド6により電子部品が順に取出されると同時に、ステップ番号「0037」から「0048」まで、部品供給ユニット3B群から奥側のビーム4Aに設けられた装着ヘッド6により電子部品が順に取出される。   Next, from step numbers “0025” to “0036”, electronic components are sequentially taken out from the component supply unit 3B group by the mounting head 6 provided on the beam 4B on the near side, and at the same time, from step numbers “0037” to “0036”. Up to “0048”, the electronic components are sequentially taken out from the component supply unit 3B group by the mounting head 6 provided on the back beam 4A.

この場合、ステップ番号「0001」から「0012」までは、手前側のビーム4Bの装着ヘッド6は部品供給ユニット配置番号「211」から「222」までの部品供給ユニット3B群から電子部品を取出し、またステップ番号「0013」から「0024」までは、奥側のビーム4Aの装着ヘッド6は部品供給ユニット配置番号「241」から「252」までの部品供給ユニット3B群から電子部品を取出すので、図6に示すように、手前側のビーム4Bの装着ヘッド6が部品供給ユニット3B群の右半分の領域から取出すと共に奥側のビーム4Aの装着ヘッド6は左半分の領域から取出していたが、ステップ番号「0025」から「0036」まで及びステップ番号「0037」から「0048」までは、図7に示すように、両装着ヘッド6を左右入れ替える必要がある。   In this case, from the step numbers “0001” to “0012”, the mounting head 6 of the beam 4B on the front side takes out the electronic components from the component supply units 3B group from the component supply unit arrangement numbers “211” to “222”, Also, from step numbers “0013” to “0024”, the mounting head 6 of the back beam 4A takes out the electronic components from the component supply units 3B group from the component supply unit arrangement numbers “241” to “252”. As shown in FIG. 6, the mounting head 6 of the beam 4B on the near side has taken out from the right half area of the component supply unit 3B group and the mounting head 6 of the beam 4A on the back side has taken out from the left half area. As shown in FIG. 7, the numbers “0025” to “0036” and step numbers “0037” to “0048” are displayed on both attachments. There is a need to replace the left and right of the de-6.

即ち、図7に示すように、部品供給ユニット3B群からの電子部品の取出しに際して、今まで左方に位置していた奥側のビーム4Aの装着ヘッド6は右方に、また今まで右方に位置していた手前側のビーム4Bの装着ヘッド6は右方に移動しなければならず、電子部品の取出し後の各プリント基板Pへの装着に際しては再び元に戻し、奥側のビーム4Aの装着ヘッド6を左方に且つ手前側のビーム4Bの装着ヘッド6を左方に移動させることとなる。   That is, as shown in FIG. 7, when the electronic component is taken out from the component supply unit 3B group, the mounting head 6 of the back beam 4A, which has been located on the left side until now, is on the right side and on the right side until now. The mounting head 6 of the near-side beam 4B located in the position must move to the right. When the electronic component is mounted on each printed circuit board P, it is returned to its original position, and the back-side beam 4A is returned. The mounting head 6 is moved to the left and the mounting head 6 of the beam 4B on the near side is moved to the left.

また、ステップ番号「0025」から「0036」、「0037」から「0048」までの電子部品を取出した後は、両装着ヘッド6の吸着ノズル5を上昇させて、両ビーム4A、4Bの装着ヘッド6を部品認識カメラ10上方を通過させ、この移動中に両装着ヘッド6の12本の吸着ノズル5に吸着保持された12個の電子部品を一括して撮像して、この撮像された画像を認識処理装置22が認識処理して吸着ノズル5に対する位置ズレを把握する。   In addition, after taking out the electronic components from step numbers “0025” to “0036” and “0037” to “0048”, the suction nozzle 5 of both mounting heads 6 is raised to mount the mounting heads of both beams 4A and 4B. 6 is passed over the component recognition camera 10, and 12 electronic components sucked and held by the 12 suction nozzles 5 of the both mounting heads 6 during the movement are collectively imaged, and the captured images are displayed. The recognition processing device 22 performs recognition processing and grasps the positional deviation with respect to the suction nozzle 5.

そして、装着データの装着座標にそれぞれのプリント基板Pの位置認識結果及び各部品認識処理結果を加味して、各吸着ノズル5が位置ずれを補正しつつ、それぞれ電子部品を各プリント基板P上に装着する。即ち、ステップ番号「0025」から「0036」までの電子部品について、手前側のビーム4Bに設けられた装着ヘッド6に設けられた吸着ノズル5に吸着保持された電子部品を手前側の搬送装置2Bの右搬送装置2B2上のプリント基板P上に補正しつつ順次装着すると同時に、ステップ番号「0037」から「0048」までの電子部品について、奥側のビーム4Aに設けられた装着ヘッド6に設けられた吸着ノズル5に吸着保持された電子部品を奥側の搬送装置2Aの左搬送装置2A1上のプリント基板P上に補正しつつ順次装着する。   Then, by adding the position recognition result of each printed circuit board P and the result of each component recognition process to the mounting coordinates of the mounting data, each suction nozzle 5 corrects the positional deviation, and each electronic component is placed on each printed circuit board P. Installing. That is, for the electronic components from step numbers “0025” to “0036”, the electronic components sucked and held by the suction nozzle 5 provided in the mounting head 6 provided in the beam 4B on the front side are transferred to the transport device 2B on the front side. At the same time, the electronic components from step numbers “0037” to “0048” are provided on the mounting head 6 provided on the back beam 4A. The electronic components sucked and held by the suction nozzle 5 are sequentially mounted on the printed circuit board P on the left transport device 2A1 of the rear transport device 2A while being corrected.

次に、各プリント基板P上への全ての電子部品の装着を終了した後に、下流側装置へこれらのプリント基板Pを排出する動作について、図8に基づいて説明する。先ず、図8(A)に示すように、奥側の搬送装置2Aの左搬送装置2A1上のプリント基板Pはストッパ7A1に係止し、また手前側の搬送装置2Bの右搬送装置2B2上のプリント基板Pはストッパ7B2に係止して位置決め状態にある状態で、全ての電子部品の装着動作が終了する。次に、図8(B)に示すように、奥側の搬送装置2Aにおいては、ストッパ7A1を下降させて、左搬送装置2A1及び右搬送装置2A2を運転させて、プリント基板Pを左搬送装置2A1から右搬送装置2A2への移載を開始させ、手前側の搬送装置2Bでは、右搬送装置2B2のストッパ7B2に装着済みのプリント基板Pが係止すると共に上流側装置からの新たなプリント基板Pの受け継ぎを開始する。   Next, the operation of discharging these printed circuit boards P to the downstream apparatus after all electronic components have been mounted on each printed circuit board P will be described with reference to FIG. First, as shown in FIG. 8A, the printed circuit board P on the left transport device 2A1 of the rear transport device 2A is locked to the stopper 7A1, and on the right transport device 2B2 of the front transport device 2B. The mounting operation of all the electronic components is completed in a state where the printed circuit board P is locked to the stopper 7B2 and is in a positioning state. Next, as shown in FIG. 8B, in the transport device 2A on the back side, the stopper 7A1 is lowered and the left transport device 2A1 and the right transport device 2A2 are operated to move the printed board P to the left transport device. The transfer from 2A1 to the right transport device 2A2 is started, and in the transport device 2B on the near side, the printed circuit board P already mounted on the stopper 7B2 of the right transport device 2B2 is locked and a new printed circuit board from the upstream device Start inheriting P.

そして、図8(C)に示すように、奥側の搬送装置2Aでは、左搬送装置2A1上のプリント基板Pがストッパ7A1を通過したら、このストッパ7A1が上昇して新たなプリント基板Pの受け継ぎが開始される。次に、図8(D)に示すように、奥側の搬送装置2Aでは、受け継いだ新たなプリント基板Pがストッパ7A1に係止すると共に装着済みのプリント基板はストッパ7A2に係止したら、左搬送装置2A1及び右搬送装置2A2を停止させ、手前側の搬送装置2Bでは、受け継いだ新たなプリント基板Pがストッパ7B1に係止したら、左搬送装置2B1を停止させる。   As shown in FIG. 8C, in the transport device 2A on the back side, when the printed circuit board P on the left transport device 2A1 passes through the stopper 7A1, the stopper 7A1 rises and the new printed circuit board P is inherited. Is started. Next, as shown in FIG. 8D, in the transport device 2A on the back side, the new printed circuit board P inherited is locked to the stopper 7A1, and the mounted printed circuit board is locked to the stopper 7A2. The transport device 2A1 and the right transport device 2A2 are stopped, and the front transport device 2B stops the left transport device 2B1 when the inherited new printed circuit board P is locked to the stopper 7B1.

次に、図8(E)に示すように、奥側の搬送装置2Aの右搬送装置2A2及び手前側の搬送装置2Bの右搬送装置2B2のストッパ7A2、7B2を下降させると共に両右搬送装置2A2及び2B2の運転を開始させ、下流側装置に装着済みの各プリント基板Pを受け渡す。   Next, as shown in FIG. 8E, the stoppers 7A2 and 7B2 of the right transport device 2A2 of the rear transport device 2A and the right transport device 2B2 of the front transport device 2B are lowered and the right transport device 2A2 And the operation of 2B2 is started, and each printed circuit board P mounted on the downstream apparatus is delivered.

そして、図8(F)に示すように、下流側装置への装着済みの各プリント基板Pの排出が完了したら、両ストッパ7A2、7B2を上昇させる共に両右搬送装置2A2及び2B2を停止させる。次いで、図8(G)に示すように、手前側の搬送装置2Bの左搬送装置2B1のストッパ7B1を下降させると共に左右搬送装置2B1及び2B2の運転を開始させ、新たなプリント基板Pを左搬送装置2B1から右搬送装置2B2へと移載する。   Then, as shown in FIG. 8 (F), when the discharge of each printed circuit board P attached to the downstream apparatus is completed, both stoppers 7A2 and 7B2 are raised and both right transport apparatuses 2A2 and 2B2 are stopped. Next, as shown in FIG. 8G, the stopper 7B1 of the left transport device 2B1 of the transport device 2B on the near side is lowered and the operation of the left and right transport devices 2B1 and 2B2 is started, and a new printed board P is transported to the left. Transfer from the device 2B1 to the right transport device 2B2.

そして、図8(H)に示すように、手前側の搬送装置2Bの右搬送装置2B2のストッパ7B2に新たなプリント基板Pが係止するので、手前側の搬送装置2Bの右搬送装置2B2及び奥側の搬送装置2Aの左搬送装置2A1において、各新たなプリント基板Pが各ストッパ7B2、7A1に係止し、装着済みのプリント基板Pの下流側装置への受け渡し及び新たなプリント基板Pの上流側装置からの受け継ぎが終了する。以後は、前述したように、これらのプリント基板Pを位置決めして、電子部品の装着動作に移ることができる。   Then, as shown in FIG. 8H, the new printed circuit board P is locked to the stopper 7B2 of the right transport device 2B2 of the transport device 2B on the front side, so that the right transport device 2B2 of the transport device 2B on the front side and In the left transport device 2A1 of the rear transport device 2A, each new printed circuit board P is locked to each stopper 7B2, 7A1, and the mounted printed circuit board P is transferred to the downstream device and the new printed circuit board P is transferred. The inheritance from the upstream device is completed. Thereafter, as described above, these printed circuit boards P can be positioned and the operation of mounting electronic components can be started.

以上のように、本実施形態によれば、設置スペースの関係等から部品供給装置3を搬送装置2A、2Bの一外方に配設し、両ビーム4A、4Bに設けられた装着ヘッド6が部品供給装置3に同時に乗り入れて、同時進行する形で電子部品の吸着取出しを行い、各プリント基板Pへの装着動作も同時に行うので、プリント基板の生産効率の向上を図ることができる。特に、プリント基板への装着点数が多いプリント基板の生産に効果的である。また、搬送装置が二列なので、プリント基板への装着終了後、すぐに下流側へ排出することができる。更に、両搬送装置に夫々搬送させるプリント基板は、同一種類でも、異なる種類のものでもよい。   As described above, according to the present embodiment, the component supply device 3 is disposed outside the transfer devices 2A and 2B due to the installation space and the like, and the mounting head 6 provided on both beams 4A and 4B is provided. Since the electronic components are picked up at the same time and are picked up and taken out at the same time and are mounted on the printed circuit boards P at the same time, the production efficiency of the printed circuit boards can be improved. In particular, it is effective for the production of a printed circuit board having a large number of mounting points on the printed circuit board. Moreover, since the conveying device is in two rows, it can be discharged immediately downstream after the mounting on the printed circuit board. Furthermore, the printed circuit boards to be transported by both transport apparatuses may be the same type or different types.

装着データと一対になった基板種毎に設けられたデータであって、搬送モード(例えば、一列の搬送装置又は二列の搬送装置のモード)を指定するデータによって、上述した基板の搬送及びタイミングで行わせるように制御することができる。   The above-described substrate transport and timing according to data that is provided for each substrate type paired with the mounting data and that designates a transport mode (for example, a mode of a single-row transport device or a double-row transport device). It can be controlled to be performed in.

なお、電子部品の品種が少なければ、フィーダベース上の片側寄りに配設された部品供給ユニットから電子部品を取出し、各ビームに設けられた装着ヘッドを左右入れ替えないようにしてもよい。   If there are few types of electronic components, the electronic components may be taken out from a component supply unit disposed on one side of the feeder base so that the mounting heads provided on each beam are not switched left and right.

また、大きなプリント基板にあっては、両搬送装置ともに左右の搬送装置にまたがって位置決めして電子部品を装着してもよいし、どちらかの搬送装置のみを使用して左右の搬送装置にまたがって位置決めして電子部品を装着してもよい。   For a large printed circuit board, both transport devices may be positioned across the left and right transport devices and electronic components may be mounted, or only one of the transport devices may be used to span the left and right transport devices. The electronic parts may be mounted after positioning.

以上のように本発明の実施態様について説明したが、上述の説明に基づいて当業者にとって種々の代替例、修正又は変形が可能であり、本発明はその趣旨を逸脱しない範囲で前述の種々の代替例、修正又は変形を包含するものである。   Although the embodiments of the present invention have been described above, various alternatives, modifications, and variations can be made by those skilled in the art based on the above description, and the present invention is not limited to the various embodiments described above without departing from the spirit of the present invention. It encompasses alternatives, modifications or variations.

電子部品装着装置の概略平面図である。It is a schematic plan view of an electronic component mounting apparatus. 2枚のプリント基板を上流側装置から受け継いで、それぞれ位置決めするまでの各動作を説明するための概略図である。It is the schematic for demonstrating each operation | movement until inheriting two printed circuit boards from an upstream apparatus, and positioning each. 制御ブロック図である。It is a control block diagram. 装着データを示す図である。It is a figure which shows mounting data. 部品配置データを示す図である。It is a figure which shows component arrangement | positioning data. 装着動作を示す電子部品装着装置の概略平面図である。It is a schematic plan view of the electronic component mounting apparatus showing a mounting operation. 電子部品の取出しの際の装着ヘッドの動きを説明するための図である。It is a figure for demonstrating a motion of the mounting head at the time of taking out an electronic component. 電子部品の装着後に2枚のプリント基板を下流側装置に受け渡すまでの各動作を説明するための概略図である。It is the schematic for demonstrating each operation | movement until 2 printed circuit boards are delivered to a downstream apparatus after mounting | wearing an electronic component.

符号の説明Explanation of symbols

1 電子部品装着装置
2A、2B 搬送装置
3 部品供給装置
3A フィーダベース
3B 部品供給ユニット
4A、4B ビーム
5 吸着ノズル
6 装着ヘッド
11 CPU
13 RAM
DESCRIPTION OF SYMBOLS 1 Electronic component mounting apparatus 2A, 2B Conveyance apparatus 3 Component supply apparatus 3A Feeder base 3B Component supply unit 4A, 4B Beam 5 Adsorption nozzle 6 Mounting head 11 CPU
13 RAM

Claims (2)

各プリント基板を搬送すると共に各プリント基板を各位置決め装置で位置決めするように並設された二列の搬送装置と、この二列の搬送装置の一外方にのみ設けられて電子部品を供給する部品供給装置と、駆動源により一方向に移動可能な一対のビームと、各ビームに沿った方向に各駆動源により移動可能でそれぞれ吸着ノズルを備えた装着ヘッドとを備え、前記部品供給装置から電子部品を前記各装着ヘッドの吸着ノズルが取り出して前記各プリント基板に装着する電子部品の装着方法であって、前記一列目の搬送装置において位置決め装置によりプリント基板を位置決めする位置と前記二列目の搬送装置において位置決め装置によりプリント基板を位置決めする位置とを搬送方向においてずらし、前記一列目の搬送装置上の一方のプリント基板には一方の前記ビームに設けられた装着ヘッドが前記部品供給装置から電子部品を取り出して装着すると共に、前記二列目の搬送装置上の他方のプリント基板上には他方の前記ビームに設けられた装着ヘッドが前記部品供給装置から電子部品を取り出して装着することを特徴とする電子部品の装着方法。   Two rows of conveyance devices arranged in parallel so as to convey each printed circuit board and position each printed circuit board with each positioning device, and supply electronic components provided only outside one of these two rows of conveyance devices A component supply device, a pair of beams that can be moved in one direction by a drive source, and a mounting head that can be moved by each drive source in a direction along each beam and that has a suction nozzle. An electronic component mounting method in which an electronic component is picked up by a suction nozzle of each mounting head and mounted on each printed circuit board, wherein a position where the printed circuit board is positioned by a positioning device in the first row transport device and the second row The position of the printed circuit board positioned by the positioning device in the transport direction is shifted in the transport direction, and one print on the transport device in the first row is shifted. A mounting head provided on one of the beams is mounted on the substrate by taking out an electronic component from the component supply device and mounting the electronic component on the other printed circuit board on the second row conveying device. An electronic component mounting method, wherein the mounted head removes and mounts the electronic component from the component supply device. 前記二列の搬送装置をそれぞれ上流側搬送装置と下流側搬送装置とで構成し、前記二列の搬送装置のうちの一方の搬送装置を構成する上流側搬送装置又は下流側搬送装置の位置決め装置で一方のプリント基板を位置決めし、他方の搬送装置を構成する下流側搬送装置又は上流側搬送装置の位置決め装置で他方のプリント基板を位置決めして、それぞれ対応するビームに設けられた装着ヘッドで電子部品を装着することを特徴とする請求項1に記載の電子部品の装着方法。   The two rows of conveying devices are each composed of an upstream conveying device and a downstream conveying device, and an upstream conveying device or a downstream conveying device positioning device constituting one of the two rows of conveying devices. Position one printed circuit board, position the other printed circuit board with the downstream conveying apparatus or upstream positioning apparatus constituting the other conveying apparatus, and use the mounting heads provided on the corresponding beams to 2. The electronic component mounting method according to claim 1, wherein the component is mounted.
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