JP2014207272A - Component mounting device and housing machine for nozzle exchange - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enrich a housing machine 7 for nozzle exchange by arraying a plurality of nozzle stockers 8 for housing a nozzle N in a nozzle housing part 81 and to make the plurality of nozzle stockers 8 freely movable up and down while preventing occurrence of interference with a member around a mounting head 5.SOLUTION: The nozzle stocker 8 mounts the nozzles onto the opposite mounting head 5 at an upward position Pu proximate to the mounting head 5. Upper parts of the nozzles N housed in the nozzle stockers 8 located at the upward position Pu protrude higher than a lower end of a camera 43. Since these nozzles N are deviated from the camera 43 in a Y direction, such that the nozzles are not interfered with the camera 43. On the other hand, the nozzles N housed in the nozzle stockers 8 located at a downward position Pd secure a clearance Δd from the lower end of the camera 43 while being positioned at a lower side of the camera 43.

Description

  The present invention relates to a technique for exchanging nozzles using a nozzle exchanging storage device for a mounting head in which the nozzles can be detachably mounted.

  2. Description of the Related Art Conventionally, there has been known a component mounting apparatus that mounts a component on a substrate by transferring the component supplied from the component supply unit to the substrate using a mounting head that holds the component with a nozzle provided at the tip thereof. ing. Further, Patent Document 1 describes a component mounting apparatus in which a nozzle to be mounted on a mounting head can be replaced using a nozzle replacement storage device (nozzle replacement device) that can store a plurality of nozzles. In such an apparatus, as exemplified in Patent Documents 2 and 3, a predetermined operation required for nozzle replacement is performed for the mounting head and the nozzle replacement in a state where the nozzle replacement storage device and the mounting head are close to each other. The nozzle of the mounting head can be exchanged by executing it with the storage machine.

  That is, the nozzle replacement storage device of Patent Document 2 has a configuration in which the nozzle can be stored in the opening provided in the base. Then, by bringing the mounting head close to the opening for storing the nozzle, the tip of the mounting head is pushed into the nozzle stored in the opening, and the nozzle is mounted on the mounting head.

  Further, in the nozzle replacement storage device of Patent Document 3, a nozzle stocker that stores nozzles in a nozzle storage portion is provided so as to be movable up and down. When the nozzle stocker rises from a state in which the nozzle storage portion and the mounting head face each other in the vertical direction, the nozzle storage portion of the nozzle stocker approaches the mounting head and executes a predetermined operation required for nozzle replacement. Specifically, each operation such as a mounting operation for mounting the nozzles stored in the nozzle storage unit on the mounting head and a storage operation for storing the nozzles mounted on the mounting head in the nozzle storage unit is appropriately executed, Nozzle replacement is performed.

JP 2008-021857 A JP 2008-041855 A JP 2006-269794 A

  By the way, in the above-mentioned nozzle replacement storage device, by arranging a plurality of nozzle stockers, it is possible to increase the number of nozzle storage portions and expand the nozzle replacement storage device. However, when the nozzle stocker is configured to be movable up and down as in Patent Document 3, when a plurality of nozzle stockers are raised, a part of the nozzle stocker is a member positioned above the nozzle replacement storage device. There was a risk of causing interference.

  That is, members other than the mounting head may be provided around the mounting head, which is the operation target of the nozzle stocker, so as to be movable along with the mounting head. As a specific example, in Patent Document 1, an optical detector that recognizes a component sucked by a nozzle of the mounting head is provided so as to be movable along with the mounting head while adjoining the tip of the mounting head from the horizontal direction. ing. When a head peripheral member such as this optical detector is provided with respect to the mounting head from the arrangement direction of the nozzle stocker, one of the plurality of nozzle stockers is used for mounting operation and storage operation. In the state facing the mounting head, the head peripheral member may be positioned above another nozzle stocker. Therefore, when the plurality of nozzle stockers are raised, there is a risk that the other nozzle stockers, the nozzles stored in the nozzle stockers, and the like will interfere with the head peripheral member.

  The present invention has been made in view of the above-mentioned problems, and by arranging a plurality of nozzle stockers each capable of storing nozzles in the nozzle storage section to expand the nozzle replacement storage machine, and with members around the mounting head It is an object of the present invention to provide a technique that makes it possible to move up and down a plurality of nozzle stockers while preventing occurrence of interference between them.

  In order to achieve the above object, the component mounting apparatus according to the present invention includes a mounting head in which a nozzle mounting portion to which a nozzle is detachably arranged is arranged in a first direction which is a predetermined direction, and a lower side than the mounting head. The nozzle stocker has a plurality of nozzle stockers arranged in the first direction that can store nozzles in a second direction intersecting the first direction, and is located at a position close to the nozzle mounting portion and below the lift position. A nozzle replacement storage machine capable of individually raising and lowering each nozzle stocker between a lowering position spaced apart from the nozzle mounting portion on the side, and a mounting head provided on a side in the second direction of the mounting head. By moving the mounting head in the horizontal direction while positioning each nozzle stocker in the lowered position, the nozzle peripheral of one of the plurality of nozzle stockers is moved. The nozzle storage part and the nozzle mounting part of the mounting head are made to face each other, then one nozzle stocker is raised to the raised position, and the nozzle stored in the nozzle storage part is attached to the opposing nozzle mounting part A control unit that performs an operation or a storing operation for storing the nozzle mounted in the nozzle mounting unit in the opposing nozzle storage unit, and the nozzle stocker and the nozzle are in a state in which the nozzle is stored in the nozzle storage unit. When the occupied area is the storage occupied area, the protruding range of at least a part of the storage area of the nozzle stocker that is close to the nozzle mounting portion in the raised position protrudes upward from the lower end of the head peripheral member, while in the lowered position. The storage area of a nozzle stocker during storage is located below the peripheral members of the head. Projecting range of the housing when the occupation area of the nozzle stocker nozzle housing portion opposite to the nozzle mounting portion of the head belongs is out of the head peripheral member in the second direction.

  In order to achieve the above-described object, the nozzle replacement storage machine according to the present invention has a plurality of nozzle stockers arranged in a predetermined arrangement direction, each capable of storing nozzles in a nozzle storage portion, and a plurality of nozzle stockers on the upper side. A lifting part that individually raises and lowers each nozzle stocker between a rising position close to the nozzle mounting part of the mounting head located and a lowering position that is lower than the rising position and separated from the nozzle mounting part, After the nozzle mounting part of the mounting head has moved to a position facing the nozzle storage part of one of the plurality of nozzle stockers with each nozzle stocker positioned at the lowered position, the one nozzle stocker is raised. To the position and mount the nozzle stored in the nozzle storage section on the opposite nozzle mounting section or mounted on the nozzle mounting section. When the storage operation of storing the nozzles in the nozzle storage part facing each other is executed, and the area occupied by the nozzle stocker and the nozzle is stored in the state where the nozzle stocker stores the nozzle in the nozzle storage part, the rising position In the storage area of the nozzle stocker that is close to the nozzle mounting portion, at least a part of the protruding range protrudes above the lower end of the head peripheral member that is arranged on the mounting head arrangement direction side and moves with the head. On the other hand, when the nozzle stocker in the lowered position is stored, the occupied area is below the head peripheral member, and when the nozzle stocker to which the nozzle storage portion facing the nozzle mounting portion of the mounting head belongs during the mounting operation or storage operation is stored. The projecting range of the occupied area deviates from the head peripheral member in the arrangement direction.

  In the present invention configured as above (component mounting device, nozzle replacement storage machine), a plurality of nozzle stockers each capable of storing a nozzle in the nozzle storage section (the first direction intersecting the first direction which is a predetermined direction) It is arranged in two directions or arranged in a predetermined arrangement direction, and the expansion of the nozzle replacement storage machine is achieved. Each nozzle stocker can be moved up and down individually between a rising position near the nozzle mounting portion of the mounting head and a lowering position below the rising position and separated from the mounting head. When performing the nozzle mounting operation or the storing operation with respect to the nozzle mounting portion of the mounting head, the mounting head is moved in the horizontal direction with each nozzle stocker positioned at the lowered position, so that a plurality of nozzles are moved. The nozzle storage part of one nozzle stocker of the stockers and the nozzle mounting part of the mounting head are opposed to each other. In this way, the nozzle storage portion that is the execution subject of the mounting / storage operation and the nozzle mounting portion that is the execution target of the mounting / storage operation face each other. Subsequently, by mounting the one nozzle stocker to the raised position, the nozzle storage portion is brought close to the nozzle mounting portion, and the mounting / storage operation is performed between the nozzle storage portion and the nozzle mounting portion facing each other. Is done.

  In the present invention, when performing the mounting / housing operation, the nozzle stocker is occupied when the nozzle stocker is stored so that the plurality of nozzle stockers and the nozzles stored therein do not interfere with the head peripheral members. The relationship between the area and the nozzle peripheral member is defined. Here, the occupied area during storage is an area occupied by the nozzle stocker and the nozzle in a state where the nozzle stocker stores the nozzle in the nozzle storage portion. That is, in performing the mounting / housing operation, one nozzle stocker of the plurality of nozzle stockers rises from the lowered position to the raised position and approaches the mounting head. At this time, at least a part of the protruding area of the occupied area of the one nozzle stocker that has risen to the raised position protrudes above the lower end of the head peripheral member. However, in a state where the nozzle storage portion of the one nozzle stocker faces the nozzle mounting portion of the mounting head, the protruding range of the one nozzle stocker is out of the head peripheral member. Therefore, the interference between the nozzle stocker that rises to the raised position for the mounting / housing operation and the nozzles and nozzle peripheral members housed therein is prevented. Further, when executing the mounting / housing operation, the nozzle stockers other than the one of the plurality of nozzle stockers are positioned at the lowered position. At this time, the occupied area of the nozzle stocker in the lowered position is located below the head peripheral member. Therefore, other nozzle stockers and nozzles accommodated therein are prevented from interfering with the head peripheral member. In this way, according to the present invention, a plurality of nozzle stockers that can store nozzles are arranged in the nozzle storage section to expand the nozzle replacement storage machine and prevent interference with members around the mounting head. However, a plurality of nozzle stockers can be moved up and down.

  At this time, the nozzle mounting unit is movable in the vertical direction, and the control unit raises the one nozzle stocker to the raised position and lowers the nozzle mounting unit, thereby connecting the one nozzle stocker and the nozzle mounting unit. The component mounting apparatus may be configured to execute the mounting operation or the storage operation close to each other. In such a configuration, when the nozzle mounting portion and the nozzle stocker are brought close to each other, both the nozzle mounting portion and the nozzle stocker move toward each other. Therefore, since the distance for raising the nozzle stocker in order to bring the nozzle mounting portion and the nozzle stocker close to each other can be kept short, the stroke of the nozzle stocker can be shortened and the nozzle replacement storage device can be configured compactly.

  In addition, the component mounting apparatus may be configured to further include a detection unit that detects a fully lowered state in which all the nozzle stockers are in the lowered position among the plurality of nozzle stockers. By comprising in this way, appropriate control can be performed, grasping | ascertaining the raising / lowering state of a nozzle stocker from the detection result of a detection part.

  Specifically, the control unit may configure the component mounting apparatus such that the movement of the mounting head in the parallel direction is prohibited while the detection unit cannot detect the fully lowered state. In other words, if the mounting head is moved in the parallel direction with any one of the plurality of nozzle stockers rising from the lowered position, the occupied area and the periphery of the nozzle of the nozzle stocker rising from the lowered position There is a risk of interference with the member. On the other hand, such interference can be reliably prevented by prohibiting the mounting head from moving in the parallel direction while the detection unit cannot detect the fully lowered state.

  Furthermore, the detection unit may configure the component mounting apparatus so as to further detect a partially raised state in which any one of the plurality of nozzle stockers is in the raised position. By comprising in this way, appropriate control can be performed, grasping | ascertaining the raising / lowering state of a nozzle stocker from the detection result of a detection part.

  Specifically, each of the plurality of nozzle stockers is fixed with a light shielding member in which three through holes penetrating in the second direction are arranged in the vertical direction. In the light blocking member of the nozzle stocker at the raised position, the lowermost through hole is positioned at the predetermined first height and the lowermost through hole is positioned at the first height. The detecting unit is disposed with a light sensor that emits light in parallel with the second direction from the light projecting unit to the light receiving unit with the light shielding members of the plurality of nozzle stockers interposed therebetween, at each of the first height and the second height. Of the photosensors of the first height and the second height, the light-receiving unit of both photosensors has received the light so that the fully lowered state is detected, and only the light-receiving unit of the photosensor of the first height has received light. The component mounting It may be configured. In such a configuration, the fully lowered state or the partially raised state can be easily detected from the light reception result of the light receiving unit of the optical sensor.

  Incidentally, the control unit may configure the component mounting apparatus so as to notify the abnormality when the contents of the lifting control performed on the plurality of nozzle stockers and the detection result of the detection unit do not match. That is, the occurrence of such inconsistency means that the raising / lowering control performed on the plurality of nozzle stockers has not been appropriately executed for some reason. Therefore, it is preferable to notify the abnormality and urge maintenance by an operator, for example.

  In addition, the camera further includes a mark imaging camera fixed to the head unit, and the control unit recognizes the position of the individual mark by imaging the individual mark attached to each nozzle stocker with the mark imaging camera. The component mounting device is configured so that the nozzle mounting part of the mounting head faces the nozzle storage part of one nozzle stocker by controlling the position of the mounting head based on the recognition result in the individual mark recognition operation You may do it. In such a configuration, since the position of the mounting head with respect to one nozzle stocker can be appropriately controlled based on the result of recognizing the position of the individual mark attached to one nozzle stocker, the nozzle mounting of the mounting head The part can be made to face the nozzle storage part of one nozzle stocker accurately.

  Further, the control unit executes a whole mark recognition operation for recognizing the position of the whole mark by imaging the whole mark attached to the nozzle replacement storage device with the mark imaging camera, and the recognition result in the whole mark recognition operation The component mounting apparatus may be configured to execute the individual mark recognition operation while controlling the position of the mark imaging camera with respect to the individual mark. In such a configuration, it is possible to appropriately control the position of the mark imaging camera when recognizing the individual mark, based on the result of recognizing the position of the entire mark attached to the nozzle replacement storage device.

  The mounting head is a rotary mounting head in which a plurality of nozzle mounting portions are arranged circumferentially, and the nozzle stocker corresponds to the arrangement of the plurality of nozzle mounting portions in the mounting head. The control unit has a plurality of nozzle mounting portions of the mounting head and a plurality of nozzle storage units, with the mounting head and the nozzle storage unit of one nozzle stocker facing each other. The component mounting device is configured to perform mounting operation or storage operation on a plurality of nozzle mounting portions by raising one nozzle stocker to the raised position after making the nozzle storage portions face each other. May be. With this configuration, it is possible to efficiently perform the mounting operation or the storing operation with respect to the plurality of nozzle mounting portions included in the rotary mounting head.

  Further, a plurality of mounting heads are arranged in an orthogonal direction orthogonal to the first direction, and the nozzle stocker has a plurality of nozzle storage units arranged in the orthogonal direction corresponding to the arrangement of the plurality of mounting heads, and is controlled. The plurality of mounting heads and the plurality of nozzle storage units of one nozzle stocker face each other, and the plurality of nozzle mounting portions of the plurality of mounting heads and the plurality of nozzle storage units of the plurality of nozzle storage units are mutually connected. The component mounting apparatus may be configured to perform mounting operation or storage operation on a plurality of nozzle mounting portions of a plurality of mounting heads by raising one nozzle stocker to the raised position after facing each other. good. With this configuration, the mounting operation or the storing operation can be efficiently performed on the plurality of nozzle mounting portions of the plurality of rotary mounting heads.

  The mounting head is a series mounting head in which a plurality of nozzle mounting portions are arranged in series. In the nozzle stocker, a plurality of nozzle storage portions are arranged in series corresponding to the arrangement of the plurality of nozzle mounting portions in the mounting head. The control unit causes the nozzle mounting unit of the mounting head and the nozzle storage unit of the single nozzle stocker to face each other, and then raises the single nozzle stocker to the raised position, thereby The component mounting apparatus may be configured to execute a mounting operation or a storing operation on the mounting unit. With this configuration, it is possible to efficiently perform the mounting operation or the storing operation with respect to the plurality of nozzle mounting portions included in the serial mounting head.

  Various members are assumed as the nozzle peripheral member. Specifically, a component imaging camera that captures an image of a component held by the nozzle of the mounting head, or a mark member with a mark indicating the position of the head unit can be a head peripheral member.

  According to the present invention, a plurality of nozzle stockers that can store nozzles are arranged in the nozzle storage portions to expand the nozzle replacement storage machine and prevent occurrence of interference with members around the mounting head. However, the plurality of nozzle stockers can be moved up and down.

It is a top view which illustrates typically the partial structure of the component mounting apparatus which can apply this invention. It is a side view which shows an example of the head unit with which the component mounting apparatus of FIG. 1 is provided. It is a fragmentary sectional view of the X direction which shows an example of the head unit with which the component mounting apparatus of FIG. 1 is provided. It is a perspective view which shows an example of the storage machine for nozzle replacement which can apply this invention. It is a top view which shows an example of the nozzle stocker which the storage machine for nozzle replacement of FIG. 4 comprises. It is a figure which shows typically the correspondence of the arrangement | sequence of the nozzle mounting part in a head unit, and the arrangement | sequence of the nozzle storage part in a nozzle stocker. It is a top view which shows an example of switching operation | movement of an insertion / extraction control state and an insertion / removal permission state. It is a side view which shows an example of the nozzle replacement storage machine of FIG. It is a front view which shows an example of the nozzle replacement storage machine of FIG. It is a front view which illustrates the state where one nozzle stocker rose selectively. It is a perspective view which shows typically an example of a raising / lowering state detection mechanism. It is operation | movement explanatory drawing which shows typically an example of operation | movement of the raising / lowering state detection mechanism of FIG. It is a block diagram which shows an example of the electrical constitution with which the component mounting apparatus of FIG. 1 is provided. It is a flowchart which shows an example of mounting | wearing, accommodation, and replacement | exchange of the nozzle performed with the component mounting apparatus of FIG. It is a flowchart which shows an example of "all the descent state confirmation" which is a subroutine performed with the flowchart of FIG. FIG. 15 is an operation explanatory diagram partially showing an example of an operation executed in steps S160 to S200 of FIG. 14. FIG. 17 is a flowchart showing an example of “partially raised state confirmation” which is a subroutine executed in the flowchart of FIG. 16. FIG. 15 is a flowchart showing an example of “nozzle mounting”, which is a subroutine executed in the flowchart of FIG. 14. 15 is a flowchart showing an example of “nozzle storage”, which is a subroutine executed in the flowchart of FIG. 14. It is a figure which shows the relationship between the occupation area at the time of accommodation of a nozzle stocker, and a camera.

  FIG. 1 is a plan view schematically illustrating a partial configuration of a component mounting apparatus to which the present invention is applicable. In the drawing and the drawings shown below, an XYZ orthogonal coordinate system including the substrate transport direction X, the width direction Y, and the vertical direction Z is shown as appropriate. The X-axis arrow side is referred to as one side, and the opposite side of the X-axis arrow is referred to as the other side as appropriate. The component mounting apparatus 1 has a schematic configuration in which a component supplied by a component supply unit 3 is transferred by a head unit 4 to a board loaded in a transport lane 2. More specifically, two transport lanes 2 extending in parallel with the substrate transport direction X, and two component supply units 3 provided on each side of the transport lane 2 in the width direction Y, The component mounting apparatus 1 includes four head units 4.

  Each of the two transport lanes 2 has a common configuration, and carries the substrate from the upstream side in the substrate transport direction X (on the one side when the substrate is transported from the right side to the left side in FIG. 1). A board carrying-in operation for stopping at a predetermined stop position 20 (the one-dot chain line in FIG. 1) and a board carrying-out operation for carrying out the board mounted with components at the stop position 20 to the downstream side in the board carrying direction X are executed. At this time, each transport lane 2 has a configuration capable of stopping the substrate at each of two different stop positions 20 in the substrate transport direction X, for example. Each of the two transfer lanes 2 includes two transfer conveyors 21 extending in parallel with the board transfer direction X. In the component mounting apparatus 1, the four transfer conveyors 21 are arranged in the width direction Y. Out of the four transport conveyors 21, the outer two are fixed conveyors fixed in the width direction Y, and the inner two are movable conveyors movable in the width direction Y. Therefore, by moving the movable conveyor 21 in the width direction Y, the width of the transport lane 2 can be adjusted according to the width of the substrate.

  Incidentally, the mode of substrate transfer in the two transfer lanes 2 is not limited to that illustrated in FIG. That is, FIG. 1 illustrates a case where two stop positions 20 are set in each of the two transfer lanes 2 and the substrate is transferred while setting a total of four stop positions 20. One stop position 20 can be set on each of the transport lanes 2, one on the right side and the other on the left side, so that a total of two stop positions 20 can be set. In addition, when the substrate width cannot be simultaneously executed in the two transfer lanes 2 due to the wide substrate width, the substrate transfer is executed only in one of the two transfer lanes, and the substrate is transferred in the other. Does not have to be executed.

  Two component supply units 3 are arranged in the substrate transfer direction X on both sides in the width direction Y of the transfer lane 2, and the component mounting apparatus 1 is provided with a total of four component supply units 3. Each component supply unit 3 has a configuration in which a plurality of tape feeders 31 are arranged in the substrate transport direction X. Each tape feeder 31 has a schematic configuration in which a tape for storing small-sized electronic components such as an integrated circuit (IC), a transistor, a capacitor and the like is wound around a reel, and the electronic lane 2 is intermittently conveyed from the reel. Electronic parts are supplied by feeding to the side end. The type of feeder constituting the component supply unit 3 is not limited to a tape-type feeder, and may be a tray-type feeder that supplies electronic components while being placed on a tray.

  Each of the four head units 4 has three mounting heads 5 arranged in the X direction, and a component is sucked from the end of each tape feeder 31 from the transport lane 2 side by a nozzle at the tip of each mounting head 5. As a result, the component supplied by the component supply unit 3 is transferred to the substrate stopped at the stop position 20. Further, the component mounting apparatus 1 is provided with a head driving mechanism 6 for moving the head unit 4. Specifically, four head driving mechanisms 6 are provided corresponding to the four component supply units 3 described above. The four head driving mechanisms 6 each drive one head unit 4.

  Each head driving mechanism 6 has a configuration in which an X-axis beam 61 extending in the X direction while supporting the head unit 4 movably in the X direction is supported movably in the Y direction. An X-axis ball screw 62 attached to the head unit 4 and extending in the X direction and an X-axis servo motor 63 that rotationally drives the X-axis ball screw 62 are attached to the X-axis beam 61. When the X-axis servomotor 63 rotationally drives the X-axis ball screw 62, the head unit 5 to which a nut (not shown) that is screwed into the X-axis ball screw 62 is fixed moves along the X-axis beam 61 in the X direction. Each head drive mechanism 6 includes a Y-axis ball screw 64 that is attached to one end of the X-axis beam 61 and extends in the Y direction above the transport lane 2, and a Y-axis servo motor that rotationally drives the Y-axis ball screw 64. 65. Then, when the Y-axis servomotor 63 rotationally drives the Y-axis ball screw 64, the X-axis beam to which a nut (not shown) screwed to the Y-axis ball screw 64 is fixed moves in the Y direction along with the head unit 5. The other end of the X-axis beam 61 is slidably supported by a shift of two rails 66 straddling the Y direction in the upper part of the X direction center of the two transport lanes 2.

  Each head drive mechanism 6 configured in this manner rotates the X-axis servomotor 63 and the Y-axis servomotor 65 as appropriate, so that the corresponding parts supply unit 3 and the stop position 20 are positioned above the substrate. The head unit 4 in charge can be moved. As a result, the head unit 4 can pick up the components supplied by the component supply unit 3 with the mounting head 5 and transfer them to the substrate stopped at the stop position 20.

  In addition, for each of the four component supply units 3, a camera 68 and a nozzle replacement storage device 7 are disposed adjacent to each other from the inside in the Y direction (conveyance lane 2 side). Thus, the camera 68 and the nozzle replacement storage device 7 are provided between the component supply unit 3 and the transport lane 2 (in other words, the movement path of the head unit 4). The camera 68 is arranged in parallel with the vertical direction Z and faces upward, and is held by the head unit 4 passing through the upper side, or a position recognition mark member 41 (described later) attached to the head unit 4. 3). The nozzle replacement storage machine 7 replaces nozzles attached to the mounting heads 5 of the head unit 4, and details thereof will be described later.

  FIG. 2 is a side view showing an example of a head unit provided in the component mounting apparatus of FIG. 3 is a partial cross-sectional view in the X direction showing an example of a head unit provided in the component mounting apparatus of FIG. Next, the configuration of each head unit 4 will be described in detail with reference to FIGS. Since the four head units 4 have the same configuration, only one head unit 4 will be described here.

  The head unit 4 includes three mounting heads 5 arranged in a straight line at a predetermined arrangement pitch Lh in the X direction. Each of the three mounting heads 5 has a schematic configuration in which the nozzle N is mounted on the lower end portion of the nozzle shaft 50 extending in the Z direction. Specifically, the mounting head 5 has eight nozzle shafts 50 arranged at an arrangement pitch equal to the circumferential direction around a central axis C51 parallel to the Z direction, and is provided at the lower end of each nozzle shaft 50. The nozzle N is detachably mounted on the nozzle mounting portion 51. (The X direction is the “first direction that is the predetermined direction” in the present invention.)

  In the nozzle mounting portion 51, a leaf spring 52 whose lower end is bent toward the shaft 50 is opposed to the outer periphery of the lower end of the nozzle shaft 50 with a gap. Then, when the nozzle N is pushed upward into the nozzle mounting portion 51 with the top of the nozzle N being fitted to the nozzle shaft 50 from the outside while the tip of the nozzle N is directed downward, the nozzle N is provided on the outer periphery of the nozzle N The engaging projection Ne enters the gap between the nozzle shaft 50 and the leaf spring 52 while pushing the lower end of the leaf spring 511 outward. As a result, the outer peripheral projection Ne of the nozzle N is engaged with the lower end portion of the leaf spring 52, and the nozzle N is mounted on the nozzle mounting portion 51 with its tip directed downward. The nozzle N thus mounted on the nozzle mounting portion 51 is held on the nozzle mounting portion 51 by the elastic force of the leaf spring 511. On the other hand, it is possible to remove the nozzle N from the nozzle mounting portion 51 by pulling the nozzle N mounted on the nozzle mounting portion 51 downward against the elastic force of the leaf spring 51. The nozzle N is formed with a flange Nf that protrudes laterally between the engagement protrusion Ne and the lower end (tip) of the nozzle N. The function of the bag Nf will be described later together with the nozzle replacement storage unit 7.

  A vent passage 53 extending in the Z direction from the nozzle mounting portion 51 is formed at the center of each nozzle shaft 50, while a nozzle hole Nv penetrating in the Z direction is formed at the center of the nozzle N. The nozzle hole Nv of the nozzle N attached to the attachment portion 51 communicates with the air passage 53. Therefore, it is possible to cause the mounting head 51 to perform component mounting while adjusting the air pressure of the nozzle hole Nv through the air passage 53. Specifically, when holding the component supplied by the component supply unit 3, negative pressure is applied to the nozzle hole Nv while the tip of the nozzle N is in contact with the component, and the component is adsorbed to the tip of the nozzle N. Can do. Further, when placing a component on the substrate, a positive pressure is applied to the nozzle hole Nv, and the component can be instantaneously transferred from the nozzle N to the substrate. The mounting head 51 can raise and lower the eight nozzle shafts 50 individually. Therefore, the holding of the component from the component supply unit 3 and the placement of the component on the board can be executed by selectively raising and lowering the nozzle shaft 50 on which the nozzle N as the execution subject is mounted. Further, the mounting head 51 is a rotary mounting head that can integrally rotate the eight nozzle shafts 50 around the central axis C51. Accordingly, the position of the nozzle N can be adjusted by appropriately rotating the eight nozzle shafts 50.

  On both outer sides in the X direction of the three heads 5 configured in this way, bar-shaped position recognition mark members 41 extending in the Z direction are arranged. Each mark member 41 is fixed to the head unit 3 and is imaged by the camera 68 and used for position recognition of the head unit 3. Further, the head unit 3 includes a camera 43 that captures an image of the component adsorbed by the nozzle N from the side, and an illumination 45 that illuminates the field of view of the camera 43. The camera 43 (the optical system 431 thereof) opposes the tip of the nozzle N mounted on the mounting head 5 from the Y direction, and images the component adsorbed by the nozzle N from the Y direction. Thus, the camera 43 is arranged on the Y direction side of the mounting head 5. Further, a rod-like reflecting member 47 is provided at the center of the eight nozzles N arranged in a circumferential shape in the mounting head 5. The light from the illumination 45 is reflected by the reflecting member 47, and the field of view of the camera 43 can be illuminated more brightly.

  The above is the outline of the component mounting apparatus 1. Next, the nozzle replacement storage machine 7 will be described in detail. FIG. 4 is a perspective view showing an example of a nozzle replacement storage machine to which the present invention is applicable. FIG. 4 shows a state where the nozzles N are stored in all the nozzle storage portions of the nozzle replacement storage machine 7. The nozzle replacement storage machine 7 performs an operation of mounting the nozzle N stored in the nozzle stocker 8 on the mounting head 5 and a storage operation of storing the nozzle N mounted on the mounting head 5 in the nozzle stocker 8. To do. Specifically, four nozzle stockers 8 having a common configuration are arranged at an equal pitch in the Y direction on the upper part of the nozzle replacement storage device 7 so that each nozzle stocker 8 can be mounted and stored. The action can be performed.

  FIG. 5 is a plan view illustrating an example of a nozzle stocker provided in the nozzle replacement storage device of FIG. 4. The nozzle stocker 8 will be described with reference to FIG. The nozzle stocker 8 has a rectangular parallelepiped stocker body 80 extending in the X direction, and a nozzle storage portion 81 that opens upward on the upper surface of the stocker body 80, and the nozzle N is inserted into and removed from the vertical direction Z. Store in the storage unit 81. Specifically, the nozzle N with the lower side (front end side) of the nozzle Nf inserted into the nozzle storage portion 81 and the upper side of the nozzle N protruding from the nozzle storage portion 81 (FIG. 4). The storage unit 81 stores the nozzle N. As shown in FIG. 5, on the upper surface of the stocker main body 80, one nozzle storage unit 81U is configured from eight nozzle storage portions 81 arranged circumferentially at an equal pitch, and further three nozzle storage units. 81U are linearly arranged in the X direction at an equal pitch. The arrangement of the nozzle storage portions 81 corresponds to the arrangement of the nozzle mounting portions 51 in the head unit 4.

  FIG. 6 is a diagram schematically illustrating the correspondence between the arrangement of nozzle mounting portions in the head unit and the arrangement of nozzle storage portions in the nozzle stocker. In the upper column of the figure, the arrangement of the nozzle mounting portions 51 in the head unit 4 is shown as viewed from below. In the lower column of the figure, the arrangement of the nozzle storage portions 81 in the nozzle stocker 8 is The state seen from is shown. In the figure, a state in which the rotation angles of the respective mounting heads 5 are adjusted to be equal to each other is shown. It is represented by

  As described above, in the head unit 4, the three mounting heads 5 are linearly arranged in the X direction with the arrangement pitch Lh. Further, in each mounting head 5, eight nozzle mounting portions 51 are arranged circumferentially at an arrangement pitch Lo in the circumferential direction.

  On the other hand, in the nozzle stocker 8, the three nozzle storage units 81U are linearly arranged in the X direction at an arrangement pitch equal to the arrangement pitch Lh. Further, in each nozzle storage unit 81U, eight nozzle storage portions 81 are arranged in the circumferential direction at an arrangement pitch equal to the arrangement pitch Lo. Incidentally, when the nozzle storage portions 81 are arranged in this way, the nozzle storage portions 81 belonging to different nozzle storage units 81U adjacent in the X direction and having the same arrangement in each nozzle storage unit 81U have an arrangement pitch Lh in the X direction. Arranged in

  In this way, the arrangement of the nozzle mounting portions 51 in the head unit 4 and the arrangement of the nozzle storage portions 81 in the nozzle stocker 8 are associated with each other. Therefore, if the rotation angle of each mounting head 5 of the head unit 5 is adjusted to match the arrangement angle of the nozzle mounting portion 51 and the arrangement angle of the nozzle storage portion 81 as shown in FIG. By making the nozzle stocker 8 face each other in the Z direction, the nozzle mounting portions 51 and the nozzle storage portions 81 can face each other in the Z direction in a one-to-one correspondence relationship. The above is an explanation of the correspondence between the arrangement of nozzle mounting portions in the head unit 4 and the arrangement of nozzle storage portions in the nozzle stocker 8. Returning to FIG. 4 and FIG. 5, the description of the nozzle stocker 8 will be continued.

  On the upper surface of the stocker body 80, bearing holes 801 that are recessed in a substantially disk shape are formed around each nozzle storage unit 81, and the eight nozzle storage portions 81 open at the bottom of the bearing holes 801. An annular shutter 82 having an outer diameter substantially the same as or slightly smaller than the inner diameter of the bearing hole 801 is fitted into each bearing hole 801 and provided to each nozzle housing unit 81U. In each nozzle storage unit 81, the center of the circumferential arrangement of the plurality of nozzle storage portions 81, the circular center of the bearing hole 801, and the center of the annular shape of the shutter 82 coincide with each other. 82 is rotatable around the nozzle housing unit 81 </ b> U while sliding between the inner wall of the bearing hole 801. On the upper surface of the stocker body 80, a presser plate 803 that protrudes inside the bearing hole 801 and positions the shutter 82 from above is screwed around each bearing hole 801. Dropping is prevented.

  Thus, the shutter 82 is provided for each of the three nozzle storage units 81U. Each shutter 82 has the following configuration, thereby restricting the insertion and removal of the nozzles N with respect to the eight nozzle storage portions 81 of the corresponding nozzle storage unit 81U. That is, the shutter 82 includes an annular peripheral portion 821 and eight projecting portions 822 that protrude inward from the peripheral portion 821. The peripheral edge portion 821 has an inner diameter larger than the diameter of a circumscribed circle circumscribing the eight nozzle storage portions 81 constituting the nozzle storage unit 81U, and surrounds the nozzle storage unit 81U from the outside. The eight protrusions 822 are arranged circumferentially at an equal pitch along the inner wall of the peripheral edge 821. That is, the same number of protrusions 822 are provided around the eight nozzle storage portions 81 constituting the nozzle storage unit 81U, and the eight nozzle storage portions 81 and the eight protrusion portions 822 are provided. It is associated. When the shutter 82 is rotated, each projection 822 is inserted into and removed from the insertion / removal restriction position Pr protruding from the insertion / removal path of the nozzle N with respect to the corresponding nozzle storage part 81, and the insertion / removal permission position Pp deviating from the insertion / removal path. (See FIG. 7). Each protrusion 822 restricts insertion / removal of the nozzle N with respect to the corresponding nozzle storage portion 81 at the insertion / removal restriction position Pr, while permitting insertion / removal of the nozzle N with respect to the corresponding nozzle storage portion 81 at the insertion / removal permission position Pp. . In FIG. 5, each protrusion 822 is located at the insertion / removal restriction position Pr.

  Since the shutter 82 has the above-described configuration, by restricting or rotating the shutter 82 as appropriate, the insertion / removal of the nozzles N is collectively controlled with respect to the eight nozzle storage portions 81 corresponding to the shutter 82. be able to. That is, when the shutter 82 takes a rotating state (insertion / removal restriction state) in which each protrusion 822 is located at the insertion / removal restriction position Pr, the eight nozzle storage portions 81 corresponding to the shutter 82 have no nozzles. N insertion / removal is regulated collectively. On the other hand, when the shutter 82 takes a rotating state (insertion / removal permitted state) in which each protrusion 822 is positioned at the insertion / removal permission position Pp, the nozzles corresponding to the eight nozzle storage portions 81 corresponding to the shutter 82 are not nozzles. N insertion / removal is permitted at once.

  Such rotation of the shutter 82 is performed via a crank plate 83 provided for each shutter 82 on the upper surface of the stocker body 80. That is, the shutter 82 has a pin 823 that protrudes upward from the peripheral edge 821. On the other hand, the crank plate 83 is provided adjacent to the bearing hole 801 in which the shutter 82 is fitted, and is configured to be rotatable while being engaged with the pin 823 of the shutter 82. Specifically, the crank plate 83 has an engaging portion 831 protruding inside the bearing hole 801, and engages with the pin 823 by a long hole 832 that penetrates the engaging portion 831 in the Z direction. Therefore, when the crank plate 83 rotates, the shutter 82 rotates in conjunction with the crank plate 83. Note that the length of the long hole 832 is longer than the outer diameter of the pin 823.

  A guide groove 805 extending from one side in the X direction (left side in FIG. 5) to the other side (right side in FIG. 5) is formed on the side surface of the stocker body 80 in the Y direction. A slider 84 that is longer than the guide groove 805 in the X direction is fitted into the guide groove 805. The slider 84 is provided so as to be movable in the X direction along the guide groove 805 while partially protruding from the end of the guide groove 805 on the other side in the X direction (right side in FIG. 5).

  Furthermore, the slider 84 has a pin 841 protruding upward, which is disposed below each of the three crank plates 83 arranged in the X direction. Thus, each of the three pins 841 arranged in the X direction engages with a notch 833 formed in the clamp plate 83 positioned above. Therefore, when the slider 84 is moved in the X direction, the three crank plates 83 that engage with the slider 84 via the three pins 841 rotate at once, and the three shutters 82 rotate at the same time. Move. By moving the slider 84 in the X direction in this way, the three shutters 82 interlocked with the slider 84 are rotated at once, and the three shutters 82 are set in either the insertion / removal restricted state or the insertion / removal permitted state. The state can be switched at once.

  FIG. 7 is a plan view illustrating an example of the switching operation between the insertion / removal restriction state and the insertion / removal permission state, and illustrates a state where the nozzles N are stored in the nozzle storage units 81 of the nozzle storage unit 81U. In the figure, the configuration related to one nozzle storage unit 81U is representatively shown, but the configuration related to three nozzle storage units 81U belonging to the same nozzle stocker 8 performs the same operation collectively. .

  As shown in the upper row of the figure, in the insertion / removal restricted state, the pin 841 is moved to one side Xl in the X direction along with the slider 84. Therefore, the crank plate 83 is in a state of being rotated clockwise Rf, and the shutter 82 is in a state of being rotated counterclockwise Rb. As a result, each protrusion 822 located at the insertion / removal restriction position Pr is located immediately above the flange Nf of the nozzle N stored in the nozzle storage portion 81 and restricts the removal of the nozzle N from the nozzle storage portion 81. .

  As shown in the lower column of the figure, in the insertion / removal permission state, the pin 841 is moved to the other side Xr in the X direction along with the slider 84. Therefore, the crank plate 83 is in a state of being rotated counterclockwise Rb, and the shutter 82 is in a state of being rotated clockwise Rf. As a result, each protrusion 822 located at the insertion / removal permission position Pp is disengaged from just above the flange Nf of the nozzle N stored in the nozzle storage portion 81 and permits the nozzle N to be taken out from the nozzle storage portion 81.

  Returning to FIG. 4 and FIG. The stocker body 80 incorporates an elastic member (not shown) such as a spring for urging the slider 84 to one side in the X direction (left side in FIG. 5), and each shutter 82 is inserted and removed by this elastic member. It is urged in the rotation direction Rb that is in the restricted state. On the other hand, the slider 84 has a shutter operation portion 843 protruding upward at a portion protruding from the stocker body 80 to the other side in the X direction (right side in FIG. 5). Therefore, by operating the shutter operation unit 843, the slider 84 can be moved in the X direction against the urging force of the elastic member. However, the stocker body 80 includes a stopper (not shown) provided on a mounting flat plate portion 75a described later in the movement path of the slider 84 on the other side in the X direction of the slider 84 (right side in FIG. 5). Therefore, when the slider 84 hits the stopper, further movement of the slider 4 against the urging force is restricted.

  The slider 84 is formed thick in the Y direction at the thick portion 845 where the pin 841 is provided. The thick portion 845 protrudes from the guide groove 805 in the Y direction, and moves as the slider 84 moves. On the other hand, a cover member 807 that covers the guide groove 805 is screwed to the side surface of the slider body 80 while avoiding the movement range of the thick portion 845 of the slider 84. The cover member 807 prevents the slider 84 from falling off the guide groove 805.

  Next, a stocker lifting mechanism 71 that lifts and lowers the nozzle stocker 8 will be described with reference to FIGS. 4, 8, and 9. Here, FIG. 8 is a side view showing an example of the nozzle replacement storage machine of FIG. 4, and FIG. 9 is a front view of an example of the nozzle storage exchange machine of FIG. On the upper surface of the base 70 of the nozzle replacement storage machine 7, four stocker lifting mechanisms 71 having a common configuration are arranged at an equal pitch in the Y direction. The nozzle stockers 8 are arranged at an equal pitch in the Y direction. The arrangement pitch of the stocker elevating mechanism 71 and the arrangement pitch of the nozzle stocker 8 are equal to each other, and the four stocker elevating mechanisms 71 and the four nozzle stockers 8 are associated with each other. And each stocker raising / lowering mechanism 71 raises / lowers the nozzle stocker 8 just provided correspondingly. The Y direction in which the four nozzle stockers 8 are arranged is the “second direction intersecting the first direction” or the “predetermined arrangement direction” in the present invention. Here, the orthogonal direction orthogonal to the first direction is used. It is also a direction.

  The support frame 710 that forms the skeleton of the stocker lifting mechanism 71 is erected on the base 70 and extends in the Z direction. The stocker elevating mechanism 71 includes a Z-axis cylinder 712 fixed to the lower portion of the support frame 710 and an elevating plate 713 provided on the upper portion of the support frame 710 so as to be movable up and down. The Z-axis cylinder 712 is a rod cylinder (air cylinder) that advances and retracts the cylinder rod 712a in the Z direction by air. The Z-axis cylinder 712 is supplied with air from an air supply device 701 housed in the lower part of the base 70 via an air hose 702. The cylinder rod 712a is moved up and down. The elevating plate 713 is supported by a guide member 714 fixed to the upper part of the support frame 710 so as to be movable up and down. The upper part of the cylinder rod 712a of the Z-axis cylinder 712 is attached to the elevating plate 713 by a joint 715, and the upper part of the elevating plate 713 is fixed to a support bottom plate 716 that supports the nozzle stocker 8 from the lower side. Therefore, the nozzle stocker 8 moves up and down together with the lifting plate 713 by the Z-axis cylinder 712.

  Such a stocker raising / lowering mechanism 71 can raise / lower the corresponding nozzle stocker 8 by moving the cylinder rod 712a of the Z-axis cylinder 712 forward and backward in the Z direction. Further, in the nozzle replacement storage machine 7, a stocker lifting mechanism 71 is individually provided for each of the four nozzle stockers 8. Therefore, the four nozzle stockers 8 can be raised and lowered individually.

  Further, the nozzle replacement storage device 1 has a shutter operation mechanism 73 that operates the shutter 82 by operating the shutter operation unit 843 of the nozzle stocker 8 that has risen among the four nozzle stockers 8. The shutter operation mechanism 73 is disposed on the other side in the X direction of the four nozzle stockers 8 (the right side in FIG. 9), and is attached to the support frame 710 via the connection frame 75. As will be described below, the shutter operation mechanism 73 has a schematic configuration in which a clutch member 731 facing the shutter operation unit 843 of the nozzle stocker 8 from above is driven in the X direction by an X-axis cylinder 732. The shutter operation unit 843 is connected to the other end (right side in FIG. 9) of the slider 84 in the X direction, and the shutter operation unit 843 and the slider 84 move integrally in the X direction.

  The connection frame 75 includes a mounting plate portion 75a provided in parallel to the YZ plane on the other side in the X direction of the four nozzle stockers 8 and the support frame 710 (the right side in FIG. 9), and a Y direction of the mounting plate portion 75a. On both sides, there are two bent flat plate portions 75b bent in the X direction toward the support frame 710, and these bent flat plate portions 75b are screwed to the support frames 710 located at both ends in the Y direction. The frame member 730 of the shutter operation mechanism 73 is attached to the upper end of the attachment flat plate portion 75a and protrudes from the attachment flat plate portion 75a to the other side in the X direction (the right side in FIG. 9). The frame member 730 has a flat plate shape parallel to the XY plane, and is positioned at the center of the arrangement of the four nozzle stockers 8 in the Y direction.

  The clutch member 731 is attached to the upper surface of the frame member 730 via the X-axis guide mechanism 733, and is movable in the X direction. Specifically, the X-axis guide mechanism 733 includes an X-axis rail 733a fixed to the upper surface of the frame member 730, and an X-axis slider 733b movable in the X direction along the X-axis rail 733a. A clutch member 731 is screwed to the shaft slider 733b. The clutch member 731 is a plate-like member, and includes a first extending plate portion 731a, a second extending plate portion 731b, and an engaging claw 731c. The first extending plate portion 731a is a plate-like member extending in the X direction from the X-axis slider 733b toward the nozzle stocker side 8, and is bent stepwise at a portion protruding from the X-axis slider 733b. The second extending plate 731 part b is a plate-like member extending in the X direction from the first extending plate part 731 a to above the four nozzle stockers 8. The second extending plate portion 731b has a width wider than the arrangement of the four shutter operation units 843 in the Y direction, and faces the four shutter operation units 843 arranged in the Y direction from above. The engaging claw 731c is bent downward from the tip in the X direction on the nozzle stocker side 8 of the second extending plate portion 732b, and has the same width as the second extending plate 731b in the Y direction.

  The X-axis cylinder 732 is attached to the lower surface of the frame member 730 and has a cylinder rod 732a extending in the X direction toward the nozzle stocker 8 side. The cylinder rod 732a extends through the through hole (not shown) provided in the attachment flat plate portion 75a of the connection frame 75 in the X direction and extends from the attachment flat plate portion 75a to the nozzle stocker 8 side. The X-axis cylinder 732 is a rod cylinder (air cylinder) that advances and retracts the cylinder rod 732a in the X direction by air, and receives supply of air from the air supply device 701 housed in the lower part of the base 70 via the air hose 703. To move the cylinder rod 732a. The tip of the cylinder rod 732 a on the nozzle stocker 8 side is connected to an engagement flat plate 735 that engages with the clutch member 731. Specifically, rod members 736 that are spaced apart in the X direction and extend in the Y direction are fixed to the bottom surface of the clutch member 731, and the engaging flat plate 735 is free to play between the rod members 736. And is engaged with the clutch member 731. Therefore, the clutch member 731 can be moved in the X direction by moving the cylinder rod 732a of the X axis cylinder 732 forward and backward in the X direction.

  The thus configured clutch member 731 of the shutter operation mechanism 73 selectively engages with the shutter operation portion 843 of the nozzle stocker 8 raised by the stocker elevating mechanism 71, and the shutter 82 of the nozzle stocker 8 raised. Can be operated. Such an operation will be described with reference to FIG. Here, FIG. 10 is a front view illustrating a state where one nozzle stocker is selectively raised. In the example shown in FIG. 10, when the cylinder rod 732a extends to the nozzle stocker 8 side and the clutch member 731 is close to the nozzle stocker 8 side, the nozzle stocker 8 at the left end (Y direction + side end) in FIG. This shows a situation where only the nozzle is raised and the other nozzle stocker 8 is lowered.

  The stocker elevating mechanism 71 described above raises and lowers the nozzle stocker 8 between the raised position Pu and the lowered position Pd below the raised position Pu. On the other hand, the second extending plate portion 731b of the clutch member 731 faces the operation portion 843 of each of the four nozzle stockers 8 from above. The lowering position Pd of the nozzle stocker 8 is set to a height at which the upper end of the operation portion 843 is below the lower end of the engaging claw 731c of the clutch member 731 fixed to the support frame 710, and the rising position Pu of the nozzle stocker 8 is The upper end of the operation unit 843 is set to a height above the lower end of the engaging claw 731c. Specifically, there is a clearance between the upper end of the operation portion 843 of the nozzle stocker 8 at the raised position Pu and the second extending plate portion 731b of the clutch member 731. Further, in a state where the cylinder rod 732a is extended, the engaging claw 731c of the clutch member 731 is located on the one side Xl in the X direction further than the operation portion 843 pushed to the one side Xl in the X direction by the urging force. . Accordingly, the operation portion 843 of the nozzle stocker 8 located at the raised position Pu is located at the lowered position Pd while the engaging claw 731c of the clutch member 731 is engaged on one side Xl in the X direction. The engaging claw 731c of the clutch member 731 is disengaged upward and does not engage with the operation portion 843 of the nozzle stocker 8.

  In such a nozzle replacement storage device 7, the shutter operation mechanism 73 can operate the nozzle stocker 8 at the raised position Pu via the clutch member 731. That is, when the shutter operating mechanism 73 operates the X-axis cylinder 732 and contracts the cylinder rod 732a, the operation portion 843 of the nozzle stocker 8 is pulled to the other side Xr in the X direction by the clutch member 731. As a result, the slider 84 moves to the other side Xr in the X direction, and the shutters 82 of the nozzle stocker 8 are collectively switched from the insertion / removal prohibited state to the insertion / removal permitted state. When the shutter operating mechanism 73 operates the X-axis cylinder 732 and extends the cylinder rod 732a, the elastic member (not shown) such as a spring is used as the clutch member 731 moves to one side Xl in the X direction. The slider 84 is moved to one side X1 in the X direction by the urging force, and the shutters 82 of the nozzle stocker 8 are collectively switched from the insertion / removal permitted state to the insertion / removal prohibited state. Thus, the clutch member 731 can switch the shutters 82 of the nozzle stocker 8 at the raised position Pu between the insertion / removal permitted state and the insertion / removal prohibited state. On the other hand, the operation portion 843 of the nozzle stocker 8 at the lowered position Pd does not engage with the clutch member 731. Therefore, the shutters 82 of the nozzle stocker 8 at the lowered position Pd are maintained in the insertion / removal prohibited state regardless of the operation of the shutter operation mechanism 73.

  That is, the nozzle replacement storage machine 7 can not only simply move the nozzle stocker 8 up and down by the stocker lifting mechanism 71 but also control the formation and blocking of the power transmission path between the shutter 82 of the nozzle stocker 8 and the shutter operation mechanism 73. can do. That is, if the nozzle stocker 8 is raised to the raised position Pu by the nozzle stocker lifting mechanism 71 in a state where the clutch member 731 is close to the nozzle stocker 8 side, power transmission between the nozzle stocker 8 and the shutter operation mechanism 73 is performed. A path can be formed. Further, if the nozzle stocker 8 is lowered to the lowered position Pd by the nozzle stocker raising / lowering mechanism 71, the power transmission path between the nozzle stocker 8 and the shutter operation mechanism 73 can be interrupted.

  Further, the nozzle replacement storage machine 7 has an up / down state detection mechanism 76 for detecting the up / down state of the four nozzle stockers 8. FIG. 11 is a perspective view schematically showing an example of the lift state detection mechanism. As shown in the figure, the raising / lowering state detection mechanism 76 includes four light shielding plates 761 and two sets of optical sensors 762 and 763. The four light shielding plates 761 are arranged in the Y direction so as to correspond to the four nozzle stockers 8 respectively. Since each light shielding plate 761 moves up and down with the corresponding nozzle stocker 8, the light shielding plates 761 of the nozzle stocker 8 at the same height among the lowered position Pd and the raised position Pu are located at the same height. The respective light shielding plates 761 of the nozzle stocker 8 at different heights are positioned at different heights.

  In each light shielding plate 761, three through holes 761a, 761b, and 761c arranged in a straight line in the Z direction penetrate in the Y direction. In each light shielding plate 761, a gap c1 is provided between the uppermost through hole 761a and the central through hole 761b, and between the central through hole 761b and the lowermost through hole 761c. An interval c2 different from the interval c1 is provided. Specifically, the interval c1 is equal to the interval in the Z direction between the lowered position Pd and the raised position Pu of the nozzle stocker 8, and the interval c2 is shorter than the interval c1 (c1> c2). Further, in each light shielding plate 761, the distance c3 in the Z direction between the lowermost through hole 761c and the lower end of the light shielding plate 761 is based on the distance c1 between the lowered position Pd and the raised position Pu of the nozzle stocker 8 in the Z direction. Long (c3> c1). As shown by the broken line in FIG. 11, between the light shielding plates 761 of the nozzle stocker 8 at the same height in the descending position Pd and the ascending position Pu, the uppermost through holes 761 a pass through the central part. The holes 761b and the lowermost through holes 761c are arranged in a straight line in the Y direction.

  Each of the two sets of optical sensors 762 and 763 has a configuration in which a light projector Sa and a light receiver Sb are arranged in parallel in the Y direction, and the light emitted from the light projector Sa in parallel in the Y direction is received by the light receiver Sb. . The optical sensor 762 (upper sensor) is disposed at the first height h1, and the light emitting location of the light projector Sa and the light receiving location of the light receiver Sb of the optical sensor 762 are respectively positioned at the first height h1. The light sensor 763 (lower sensor) is disposed at a second height h2 (h1−h2 = c1 + c2) lower than the first height h1 by a distance (c1 + c2) (h1−h2 = c1 + c2). The light receiving points of the light receiver Sb are positioned at the second height h2.

  Incidentally, in FIG. 11, the positions of the respective light shielding plates 761 when the four nozzle stockers 8 are all in the lowered position Pd are shown. As shown in the figure, in the light shielding plate 761 attached to the nozzle stocker 8 at the lowered position Pd, the uppermost through hole 761a is positioned at the first height h1, and the lowermost through hole 761c is at the second height. Located at h2. On the other hand, the interval c1 between the uppermost through hole 761a and the central through hole 761b in each light shielding plate 761 is set equal to the interval between the lowered position Pd and the raised position Pu in the z direction. Is raised to the raised position Pu, in the light shielding plate 761 attached to the nozzle stocker 8, the central through hole 761b rises to the first height h1.

  By using such an up / down state detection mechanism 76, the up / down state of the four nozzle stockers 8 can be detected. Specifically, as shown in FIG. 12, all the four nozzle stockers 8 are in a fully lowered state in which they are in the lowered position Pd, at least one nozzle stocker 8 is in a partially raised state in the raised position Pu, and at least One of the transition states in which one nozzle stocker 8 is in the middle between the lowered position Pd and the raised position Pu is detected.

  FIG. 12 is an operation explanatory view schematically showing an example of the operation of the lifting state detection mechanism of FIG. In FIG. 12, a state where the light receiver Sb receives light is represented as “ON”, and a state where the light receiver Sb does not receive light is represented as “OFF”. As shown in the uppermost column of FIG. 12, when all of the four nozzle stockers 8 are in the lowered position Pd, the through holes 761a of the respective light shielding members are aligned with the first height h1, and the respective light shielding members are arranged. Through-holes 761c are aligned at the second height h2. Therefore, in the optical sensor 762, the light emitted from the light projector Sa passes through each through hole 761a and is received by the light receiver Sb. Further, in the optical sensor 763, the light emitted from the light projector Sa passes through each through hole 761c and is received by the light receiver Sb. That is, it is possible to detect the fully lowered state by confirming that the light receivers Sb of both the optical sensors 762 and 763 have received light.

  As shown in the middle column of FIG. 12, when a part of the four nozzle stockers 8 is in the middle position between the lowered position Pd and the raised position Pu, the light shielding plate 761 attached to the nozzle stocker 8 in the middle position ( In FIG. 12, in the second light shielding plate 761) from the left, any of the through holes 761a, 761b, and 761c are out of both the first and second heights h1 and h2. At this time, since the distance c1 between the through hole 761a and the through hole 761b is equal to the distance between the lowered position Pd and the raised position Pu, the portion of the light shielding plate 761 between the through holes 761a and 761b has the first height h1. Intersect. Further, since the distance c3 between the through hole 761c and the lower end of the light shielding plate 761 is longer than the interval between the lowered position Pd and the raised position Pu, the portion of the light shielding plate 761 below the through hole 761c has the second height h2. Intersect. Accordingly, in both the optical sensors 762 and 763, the light emitted from the projector Sa is blocked by the light shielding plate 761 attached to the nozzle stocker 8 at an intermediate position and does not reach the light receiver Sb. That is, the transition state can be detected by confirming that the light receivers Sb of both the optical sensors 762 and 763 do not receive light.

  As shown in the lowermost column of FIG. 12, when a part of the four nozzle stockers 8 is at the raised position Pu, the light shielding plate 761 attached to the nozzle stocker 8 at the raised position Pu (from the left in FIG. 12). In the second light shielding plate 761), the through hole 761b is located at the first height h1, while any through holes 761a, 761b, 761c are removed from the second height h2. At this time, since the distance c3 between the through hole 761c and the lower end of the light shielding plate 761 is longer than the interval between the lowered position Pd and the raised position Pu, the portion of the light shielding plate 761 below the through hole 761c has the second height h2. Intersect. Therefore, in the optical sensor 762, the light emitted from the light projector Sa passes through the through holes 761a and 761b and is received by the light receiver Sb. On the other hand, in the optical sensor 763, the light emitted from the projector Sa is blocked by the light shielding plate 761 attached to the nozzle stocker 8 at the raised position Pu and does not reach the light receiver Sb. That is, by confirming that the light receiver Sb of the optical sensor 762 receives light while the light receiver Sb of the optical sensor 763 does not receive light, a partially raised state can be detected.

  When the nozzle replacement storage device 7 having such a configuration is used, it is possible to easily determine whether the nozzle stocker 8 is fully lowered, transitioned, or partially raised based on the light reception results of the light receiving portions Sb of the optical sensors 762 and 763. Can be detected. In addition, by including the lift state detection mechanism 76 (detection unit) that detects each state, it is possible to execute appropriate control while grasping the lift state of the nozzle stocker 8 from the detection results of the optical sensors 762 and 763. it can. Note that specific control based on the detection results of the optical sensors 762 and 763 will be described later.

  By the way, when the nozzle mounting unit 51 of the mounting head 5 is used to mount, store, and replace the nozzle N using the nozzle stocker 8 provided in the nozzle replacement storage device 7, the nozzle replacement storage is performed. It is required to appropriately grasp the positions of the machine 7 and the nozzle stocker 8. Accordingly, the nozzle replacement storage unit 7 and the nozzle stocker 8 are provided with an overall mark M1 or an individual mark M2 indicating their positions. As shown in FIG. 4, the whole mark M1 is attached with the connection frame 75 and the frame member 730 fixed to the base 70 via the support frame 710 facing upward in the Y direction. The position of the nozzle replacement storage machine 7 is shown. Two individual marks M2 are provided for each of the four nozzle stockers 8. As shown in FIG. 5, the individual mark M2 is attached to both ends of the nozzle stocker 8 in the X direction so as to indicate the position of the nozzle stocker 8 in the XY plane.

  The above is an example of the mechanical configuration of the component mounting apparatus 1 including the nozzle replacement storage machine 7. Subsequently, an example of an electrical configuration provided in the component mounting apparatus 1 of FIG. 1 will be described. FIG. 13 is a block diagram illustrating an example of an electrical configuration included in the component mounting apparatus of FIG. 1. The component mounting apparatus 1 controls the operation of each part of the apparatus 1 by the control unit 100. The control unit 100 includes a main control unit 110 that comprehensively controls the entire control unit 100, a drive control unit 120 that controls driving of a servo motor and a cylinder, an image processing unit 130 that performs image processing on captured images of each camera, An input / output control unit 140 and a storage unit 150 that perform input / output control are included. The main control unit 110 is a computer composed of a CPU (Central Processing Unit) and a memory, and is electrically connected to the drive control unit 120, the image processing unit 130, the input / output control unit 140, and the storage unit 150 via the bus 105. It is connected to the.

  The drive control unit 120 controls the X-axis servo motor 63 and the Y-axis servo motor 65 to control the movement of the head unit 4 in the XY plane, and also controls the elevation and rotation of the nozzle shaft 50 of the mounting head 5. . Specifically, the head unit 4 includes a Z-axis servo motor 55 that drives the nozzle shaft 50 of each mounting head 5 in the Z direction, and a circumferential direction having eight shafts 50 of each mounting head 5 as the central axis C51. An R-axis servo motor 57 is mounted for driving. The drive control unit 120 controls the Z-axis servomotor 55 to control the raising / lowering of the shaft 50, and controls the R-axis servomotor 57 to control the rotation of the eight shafts 50.

  Further, the drive control unit 120 individually controls the Z-axis cylinders 712 provided in the four nozzle stockers (that is, controls the electric switching valve (not shown) to control the pistons in the Z-axis cylinders 712. Control the supply of air pressure to the two sandwiched pressure chambers) and individually control the raising and lowering of each of the four nozzle stockers. The drive control unit 120 controls the X-axis cylinder 732 (that is, controls the electric switching valve (not shown) to supply air pressure to the two pressure chambers sandwiching the piston in the X-axis cylinder 732. And the rotation of each shutter 82 of the nozzle stocker 8 at the raised position Pu is collectively controlled.

  The image processing unit 130 performs image processing in which the camera 68 extracts a reference position in the XY plane of the head unit 4 from an image obtained by capturing the mark member 41 of the head unit 4 from below, and determines the reference position of the head unit 4. The head reference position information shown is output to the drive control unit 120. The drive control unit 120 corrects the target positions of the encoders (not shown) of the X-axis servomotor 63 and the Y-axis servomotor 65 based on the head reference position information, so that the position of the head unit 4 in the XY plane is corrected. Can be controlled appropriately. In addition, the image processing unit 130 performs image processing for extracting the deviation of the component with respect to the nozzle N from the image obtained by capturing the component with the nozzle 68 attracted to the nozzle N from below, and the camera 43 is attracted to the nozzle N. The image processing for extracting the posture of the component attracted by the nozzle N from the image obtained by imaging the component from the side is performed, and the component shift information indicating the component shift and the component posture information indicating the component posture are driven and controlled. 120 is output. The drive control unit 120 adjusts the X-direction position, the Y-direction position of the head unit 4 and the rotation angle of the nozzle shaft 50 based on this component deviation information, and further, the height of the shaft 50 of the mounting head 5 based on the component posture information. The component can be placed on the board at an appropriate position and orientation.

  Further, the image processing unit 130 also performs image processing for grasping the position of the nozzle replacement storage device 7. Specifically, the head unit 4 has a camera 49 (mark imaging camera) that is attached facing downward to capture the fiducial mark. Then, image processing in which the camera 49 extracts the position in the XY plane of the nozzle replacement storage device 7 from the image obtained by capturing the entire mark M1 of the nozzle replacement storage device 7, and the individual mark M2 of the nozzle stocker 8 by the camera 49. The image processing unit 130 executes image processing for extracting the position of the nozzle stocker 8 in the XY plane from the image obtained by capturing the image. As will be described later, the position information indicating the position of the nozzle replacement storage device 7 obtained by the image processing and the position of the nozzle stocker 8 with reference to the overall mark M1 of the nozzle replacement storage device 7 are indicated. Based on the position information, the drive control unit 120 executes alignment of the head unit 4 and the nozzle stocker 8 in the XY plane.

  The input / output control unit 140 receives the light receiving states (that is, ON and OFF states) of the light receivers Sb of the optical sensors 762 and 763 from the optical sensors 762 and 763 and transfers them to the main control unit 110. The main control unit 110 can determine the up / down state of the nozzle stocker 8 based on the reception result. At this time, the main control unit 110 permits the movement of the head unit 4 in the XY plane while the fully lowered state can be confirmed, and on the XY plane of the head unit 4 while the fully lowered state cannot be confirmed. Is controlled so that no interference occurs between the raised nozzle stocker 8 (or the nozzle N accommodated therein) and the camera 43 attached to the head unit 4. In addition, the component mounting apparatus 1 includes a user interface 69 such as a display or a notification buzzer. The input / output control unit 140 controls the output content of the user interface 69 based on a command from the main control unit 110.

  The storage unit 150 is configured by a memory, a hard disk, and the like, and stores various programs and data required for controlling the operation of the component mounting apparatus 1. As a specific example, the storage unit 150 stores head data Dh and storage status data Dn used for controlling mounting, storage, and replacement of the nozzles N, which will be described later.

  The above is an example of the electrical configuration of the component mounting apparatus 1. In the component mounting apparatus 1 including the nozzle replacement storage device 7 as described above, the mounting, storage, and replacement of the nozzles N can be appropriately performed on the mounting head 5 using the nozzle replacement storage device 7. Subsequently, an example of these contents will be described. FIG. 14 is a flowchart illustrating an example of nozzle mounting, storage, and replacement executed in the component mounting apparatus of FIG. 1. 14 is stored in the storage unit 150 and executed under the control of the main control unit 110.

  In step S100, the head data Dh and the storage status data Dn are read from the storage unit 150. Among the nozzle mounting portions 51 of the three mounting heads 5, the head data Dh is the nozzle mounting portion 51 to be subjected to the mounting, storing, and replacement of the nozzle N, and the nozzle N to the nozzle mounting portion 51. This data includes the mounting status including the type information, the type information of the nozzle N to be mounted next, and the like. The storage status data Dn is data indicating the storage status of the nozzles N in the respective nozzle storage units 81 of the nozzle replacement storage unit 7, and the location of the nozzle storage unit 81 in which the various nozzles N are stored, the nozzles The location etc. of the nozzle accommodating part 81 in the empty state in which N is not accommodated are shown. The main control unit 110 sets the nozzle mounting unit 51 to be mounted, stored, and exchanged and the operation content to the nozzle mounting unit 51 based on the head data Dh, and then executes the operation content. The nozzle storage unit 81 used for this purpose is set based on the storage status data Dn.

  In step S110, the main control unit 110 outputs a lowering command to the Z-axis cylinders 712 of the four nozzle stockers 8 via the drive control unit 120, and positions all the nozzle stockers 8 at the lowering position Pd. . In step S120 “confirm all lowered state”, the main control unit 110 confirms that the four nozzle stockers 8 are in the fully lowered state. FIG. 15 is a flowchart showing an example of “all lowered state confirmation” which is a subroutine executed in the flowchart of FIG. In step S121, it is confirmed whether or not the light receivers Sb of both the upper sensor 762 and the lower sensor 763 are receiving light, that is, in the ON state. When it is confirmed that both the light receivers Sb are in the ON state and the nozzle stocker 8 is fully lowered ("YES" in step S121), the process returns to the main routine of FIG. On the other hand, if the fully lowered state cannot be confirmed (in the case of “NO” in step S121), at least some of the nozzle stockers 8 are not positioned at the lowered position Pd despite the lowering command in step S110. The main control unit 110 determines that some abnormality has occurred. Then, after the abnormality is notified to the worker in step S122 and the operation of the component mounting apparatus 1 is stopped in step S123, the flow ends. In addition, the abnormality notification in step S122 is executed via the user interface 69, and is executed by, for example, performing a predetermined display on the display or sounding a notification buzzer. Thereby, the maintenance by an operator can be urged.

  When the fully lowered state is confirmed in step S120, the movement of the head unit 4 on the XY plane is permitted. In subsequent step S130 of FIG. 14, the entire mark M1 is imaged. Specifically, the main control unit 110 moves the head unit 4 in the XY plane and takes an image of the mark M1 with the camera 49 in a state where the camera 49 is positioned above the entire mark M1. In step S140, the position of the camera 49 when the individual mark M2 provided in each nozzle stocker 8 is imaged is corrected based on the captured image of the whole mark M1, and the individual mark M2 is imaged by the camera 49. The position information of the individual mark M2 provided in each nozzle stocker 8 is corrected from the imaging result of the individual mark M2. That is, the storage unit 150 stores in advance the relative positional relationship between the entire mark M1 and each individual mark M2, and images each mark member 41 fixed to the head unit 3 to mount the component. The reference position of the head unit 3 that moves in the XY directions with respect to a base (not shown) of the apparatus 1 is recognized, and the main control unit 110 actually performs the reference position of the mark M1 extracted from the captured image of the mark M1. And the actual position of each individual mark M2 with respect to the whole mark M1, the actual position with respect to the reference position of each individual mark M2 is obtained.

  In step S150, it is confirmed which operation of mounting / housing / replacement of the nozzle N is performed on the nozzle mounting unit 51 to be executed. And when mounting | wearing with the nozzle N, step S160-S200 is performed. FIG. 16 is an operation explanatory diagram partially showing an example of the operation executed in steps S160 to S200 of FIG. FIG. 16 illustrates a case where the nozzles N are not attached to all the nozzle attachment parts 51 of the mounting head 5 and the nozzle stocker 8 on the left end executes the attachment of the nozzles N to these nozzle attachment parts 51. Yes.

  First, in “head unit movement” in step S160, the head unit 4 is moved in the XY plane, and the alignment between the head unit 4 and the nozzle stocker 8 is executed. That is, based on the position information of the individual mark M2 provided in each nozzle stocker 8 acquired in step S140, the nozzle shaft of the mounting head 5 is placed in the nozzle storage portion 81 of the nozzle stocker 8 in which the nozzle N to be mounted is stored. The position of the head unit 4 in the XY plane is adjusted so that the 50 nozzles N face the unmounted nozzle mounting part 51.

  The uppermost column in FIG. 16 shows a state where the movement of the head unit 4 is completed. The movement of the head unit 4 is executed in a fully lowered state in which all the nozzle stockers 8 are at the lowered position Pd. Therefore, as shown in the same column, the movement of the previous head unit 4 with the clearance Δd provided between the nozzle N housed in each nozzle stocker 8 and the lower end of the camera 43 attached to the head unit 4. (Step S160) is executed. Thus, the movement of the head unit 4 is executed while preventing the interference between the camera 43 that moves with the head unit 4 and the nozzles N accommodated in the nozzle stockers 8.

  When the movement of the head unit 4 is completed, in step S170 of FIG. ) To the Z-axis cylinder 712, and only the nozzle stocker 8 is positioned at the raised position Pu. The middle column of FIG. 16 shows a state in which the ascent of the nozzle stocker 8 (the leftmost nozzle stocker 8 in the same column) facing the mounting head 5 is completed. As will be described later, the nozzle stocker 8 performs nozzle mounting on the facing mounting head 5 at the raised position Pu close to the mounting head 5. Incidentally, as shown in the same column, the upper part of the nozzle N accommodated in the nozzle stocker 8 at the raised position Pu projects upward from the lower end of the camera 43. However, since these nozzles N are out of the camera 43 in the Y direction, they do not interfere with the camera 43. On the other hand, the nozzle N housed in each nozzle stocker 8 at the lowered position Pd is positioned below the camera 43 and has a clearance Δd between the lower end of the camera 43. As can be understood from the same column, when these nozzle stockers 8 are positioned at the raised position Pu, the nozzles N accommodated in these nozzle stockers 8 and the camera 43 cause interference. On the other hand, the occurrence of such interference is prevented by selectively positioning only the nozzle stocker 8 facing the mounting head 5 at the raised position Pu and positioning the other nozzle stocker 8 at the lowered position Pd. Yes.

  In “partially raised state confirmation” in step S180 of FIG. 14, the main control unit 110 confirms that the four nozzle stockers 8 are partly raised. FIG. 17 is a flowchart showing an example of “partially raised state confirmation” which is a subroutine executed in the flowchart of FIG. In step S181, it is confirmed whether or not the light receiver Sb of the upper sensor 762 is receiving light (that is, in the ON state) and the light receiver Sb of the lower sensor 763 is not receiving light (that is, in the OFF state). As a result, when it is confirmed that the raising / lowering state of the nozzle stocker 8 is partially raised (“YES” in step S181), the process returns to the main routine of FIG. On the other hand, when the partially raised state cannot be confirmed (in the case of “NO” in step S181), the nozzle stocker 8 is not positioned at the raised position Pu in spite of the raising command in step S170, and some abnormality is present. The main control unit 110 determines that it has occurred. Then, steps S182 and 183 are executed in the same manner as steps S122 and S123 described above, and abnormality notification, operation stop, and flow end are executed in order. Also in the subroutine of FIG. 18, the main control unit 110 notifies an abnormality when the contents of the lifting control performed on the plurality of nozzle stockers 8 and the detection results of the optical sensors 762 and 763 do not match. In other words, the occurrence of such inconsistency means that the raising / lowering control performed on the plurality of nozzle stockers 8 has not been appropriately executed for some reason. Therefore, it is preferable to notify the abnormality and urge maintenance by an operator, for example.

  When the partially raised state is confirmed, the process proceeds to “nozzle mounting” in step S190 of FIG. 14, and the nozzle stocker 8 and the mounting head 5 at the rising position Pu close to the mounting head 5 cooperate to execute nozzle mounting. To do. FIG. 18 is a flowchart showing an example of “nozzle mounting” which is a subroutine executed in the flowchart of FIG. In step S191, the main control unit 110 operates the X-axis cylinder 732 via the drive control unit 120 to move the clutch member 731 to the other side Xr in the X direction (see FIG. 10). As a result, the shutters 82 of the nozzle stocker 8 at the raised position Pu are collectively switched from the insertion / removal prohibited state to the insertion / removal permitted state (shutter open). In step S192, the nozzle shaft 50 of the mounting head 5 is lowered. As a result, the nozzle mounting portion 51 of the nozzle shaft 50 is lowered and fitted to the nozzle N of the nozzle storage portion 581 of the nozzle stocker 8 at the raised position Pu, and nozzle mounting is executed. When the nozzle mounting is completed in this way, the shaft 50 is raised in step S193, and the nozzle N mounted at the nozzle mounting position 51 comes out of the nozzle storage portion 81. This state is shown in the lowermost column of FIG. As illustrated in FIG. 16, when nozzle mounting is performed on the plurality of nozzle shafts 50 of the mounting head 5, the shaft 50 is lowered and raised (steps S <b> 192 and S <b> 193) simultaneously on the plurality of shafts 50. You may go in order. In step S194, the main control unit 110 operates the X-axis cylinder 732 via the drive control unit 120 to move the clutch member 731 to one side Xl in the X direction. As a result, the shutters 82 of the nozzle stocker 8 at the raised position Pu are collectively switched from the insertion / removal permitted state to the insertion / removal prohibited state (shutter closed).

  Incidentally, in the example of FIG. 16, in step S190, the eight nozzle shafts 50 provided with the nozzle mounting portions 51 are lowered with respect to all the eight nozzle mounting portions 51 of the rotary mounting head 5. The nozzle was installed. In this case, nozzle mounting can be efficiently performed on the eight nozzle mounting portions included in the mounting head 5. However, in step S190, nozzle mounting is performed by lowering only the nozzle shaft 50 provided with the nozzle mounting portion 51 with respect to some of the eight nozzle mounting portions 51 of the mounting head 5. Of course. Alternatively, since the three nozzle storage units 81U are opposed to the three mounting heads 5, nozzle mounting is executed on the nozzle mounting portions 81 of the three mounting heads 5 in step S190. You can also. In this case, nozzle mounting can be efficiently performed on the nozzle mounting portions 51 of the three mounting heads 5. However, it is of course possible to mount nozzles only on one or two mounting heads 5.

  In the subsequent step S200 of FIG. 14, the nozzle stocker 8 that has finished mounting the nozzle is lowered to the lowered position Pd and separated downward from the mounting head 5. In this way, the raising / lowering state of the nozzle stocker 8 is switched from the partially raised state to the fully lowered state, and the movement of the head unit 4 in the XY plane is permitted. Can be moved within. In step S210, it is confirmed whether or not all of the mounting / storage / replacement set in step S100 has been completed. When it is confirmed that the process has been completed (in the case of “YES” in step S210), the flow of FIG. 14 ends. On the other hand, if it is confirmed that it has not been completed (“NO” in step S210), the process returns to step S150. The above is the operation when it is determined as “attached” in step S150.

  On the other hand, if it is determined in step S150 that the nozzle N is to be stored or replaced with respect to the nozzle mounting portion 51 to be executed, steps S220 to S270 are executed. Incidentally, the nozzle storage is executed by executing steps S220 to S270 and storing the nozzle N mounted on the nozzle mounting portion 51 in the nozzle storage portion 81. On the other hand, in the nozzle replacement, steps S220 to S270 are executed to store the nozzle N mounted on the nozzle mounting portion 51 in the nozzle storage portion 81 and remove it from the nozzle mounting portion 81, and then the above-described steps S160 to S200. This is executed by mounting a new nozzle N on the nozzle mounting portion 51.

  First, in the “head unit movement” in step S220, the nozzle N for which the storage of the nozzle N is determined to be empty is determined based on the position information of the individual mark M2 provided in each nozzle stocker 8 acquired in step S140. The XY plane of the head unit 4 is arranged so that the nozzle mounting portions 51 mounted with the nozzles N of the three nozzle shafts 50 of the mounting head 5 that stores or replaces the nozzles N are respectively opposed to the three nozzle storage portions 81. The head unit 4 is moved in the XY plane while the position inside is adjusted. Also in step S220, since the head unit 4 is moved in the XY plane in the fully lowered state in which all the nozzle stockers 8 are at the lowered position Pd, the camera 43 that moves with the head unit 4 and the nozzle stocker 8 are moved. Interference with the accommodated nozzle N is prevented.

  When the movement of the head unit 4 is completed, in step S230, the main control unit 110 is the nozzle stocker 8 that becomes the main body of nozzle storage / replacement via the drive control unit 120 (that is, the nozzle stocker 8 that the mounting head 4 faces). The ascending command is output to the Z-axis cylinder 712, and only the nozzle stocker 8 is positioned at the ascending position Pu. At this time, for example, when the nozzle N is stored in a part of the nozzle storage portion 81 of the nozzle stocker 8 at the raised position Pu, the upper portion of the nozzle N protrudes above the lower end of the camera 43. However, similarly to the above description using FIG. 16, also in step S <b> 230, the nozzle N is not in the Y direction from the camera 43, and thus does not interfere with the camera 43. Further, the nozzles N accommodated in the nozzle stockers 8 at the lowered position Pd are positioned below the camera 43 and have a clearance Δd between the lower end of the camera 43. Similarly to the above description using FIG. 16, when these nozzle stockers 8 are positioned at the raised position Pu, the nozzles N accommodated in these nozzle stockers 8 and the camera 43 cause interference. On the other hand, also in step S230, only the nozzle stocker 8 facing the mounting head 5 is selectively positioned at the raised position Pu while the other nozzle stocker 8 is positioned at the lowered position Pd. Occurrence is prevented.

  In “partially lifted state confirmation” in step S240, the subroutine shown in FIG. 17 is executed to check whether or not the four nozzle stockers 8 are in the partially lifted state. In “nozzle storage” in step S250, the nozzle stocker 8 and the mounting head 5 that are close to the mounting head 5 cooperate with each other at the raised position Pu, and the nozzle N mounted on the nozzle mounting portion 51 of the mounting head 5 is replaced with the nozzle N. Store in the storage unit 81. FIG. 19 is a flowchart showing an example of “nozzle storage” which is a subroutine executed in the flowchart of FIG. In step S251, the shutters 82 of the nozzle stocker 8 at the raised position Pu are collectively switched from the insertion / removal prohibited state to the insertion / removal permitted state (shutter open). Thus, in a state where the nozzles can be inserted into and removed from the nozzle storage unit 51, in step S252, the nozzle shaft 50 of the mounting head 5 provided with the nozzle mounting unit 51 to which the nozzle N to be stored or replaced is mounted is provided. Descend. As a result, the nozzle stocker 8 at the ascending position Pu receives the nozzle N of the nozzle shaft 50 that is descending into the nozzle accommodating portion 81 and performs nozzle accommodation. When the nozzle storage is completed in this way, in step S253, the shutters 82 of the nozzle stocker 8 at the raised position Pu are collectively switched from the insertion / removal permitted state to the insertion / removal prohibited state (shutter closed). Removal of the stored nozzle N is restricted. In step S254, the nozzle shaft 50 at the lowered position of the mounting head 5 is raised. Thereby, the nozzle N accommodated in the nozzle accommodating part 81 in the state in which the taking-out from the nozzle accommodating part 81 was controlled remove | deviates from the nozzle shaft 50 which raises.

  Incidentally, in step S250, when there are eight nozzle shafts 50 provided with the nozzle mounting portions 51 to which the nozzles N to be stored or exchanged are mounted, all eight nozzles N of the rotary mounting head 5 are used. Thus, the nozzle can be stored and the nozzle can be stored efficiently. However, it is of course possible to store the nozzles of the nozzles N of some of the nozzle mounting portions 51 of the eight nozzle mounting portions 51 of the mounting head 5 in step S250. Alternatively, in step S250, the nozzles N of the nozzle mounting portions 81 of the three mounting heads 5 that face each other with respect to the three nozzle storage portions 81 of the nozzle stocker 8 in which the nozzle N that is determined to be stored is empty. Nozzle storage can also be performed. In this case, the nozzle shafts 50 of the mounting head 5 provided with the three nozzle mounting portions 51 to be mounted on the mounting head 5 are lowered together. However, it is of course possible to store the nozzle only for one or two mounting heads 5.

  In the subsequent step 260 of FIG. 14, the nozzle stocker 8 that has finished storing the nozzles is lowered to the lowered position Pd and separated downward from the mounting head 5. In this way, the raising / lowering state of the nozzle stocker 8 is switched from the partially raised state to the fully lowered state, and the movement of the head unit 4 in the XY plane is permitted. Can be moved within. In step 270, it is confirmed whether the execution content confirmed in step S150 was nozzle storage or nozzle replacement. If the execution content is nozzle storage, the process proceeds to step S210. If the execution content is nozzle replacement, the process proceeds to step S160, and the nozzle N is removed in nozzle storage in step S250. A new nozzle N is mounted on the mounting portion 51, and nozzle replacement is executed.

  As described above, in this embodiment, the plurality of nozzle stockers 8 each capable of storing the nozzle N in the nozzle storage portion 51 are arranged in the Y direction (arrangement direction). Is planned. Further, each nozzle stocker 8 can be moved up and down individually between a raised position Pu close to the nozzle mounting portion 51 of the mounting head 5 and a lowered position Pd separated from the mounting head 5 below the raised position Pu. ing. When the nozzle N mounting operation (step S192) or the storage operation (step S252) is performed on the nozzle mounting portion 51 of the mounting head 5, the mounting head 5 is in a state where each nozzle stocker is positioned at the lowered position. Is moved in the horizontal direction (moving in the XY plane), so that the nozzle storage portion 81 of one of the plurality of nozzle stockers 5 and the nozzle mounting portion 51 of the mounting head 5 are opposed to each other. (Steps S160 and S220). In this way, the nozzle storage portion 81 that is the execution subject of the mounting / storage operation and the nozzle mounting portion 51 that is the execution target of the mounting / storage operation face each other. Subsequently, by raising the one nozzle stocker 8 to the raised position (steps S170 and S230), the nozzle storage part 81 is brought close to the nozzle mounting part 51, and the nozzle storage part 81 and the nozzle mounting part that are opposed to each other. The mounting / housing operation of the nozzle N is performed with respect to the nozzle 51 (steps S192 and S252).

  In this embodiment, when performing the mounting / housing operation, a plurality of nozzle stockers and the nozzles N accommodated therein are head peripheral members provided around the mounting head 5 (in the example of this embodiment). The relationship between the occupied area Q of the nozzle stocker 8 and the camera 43 is defined so as not to cause interference with the camera 43) (FIG. 21). Here, FIG. 20 is a diagram showing the relationship between the occupied area of the nozzle stocker 8 and the camera.

  In the figure, instead of showing the nozzles N housed in the nozzle stocker 8, the range Qn occupied by the nozzles N when housed in the nozzle stocker 8 is shown by broken lines. As shown in the figure, the storage occupation area Q is an area occupied by the nozzle stocker 8 and the nozzle N in a state where the nozzle stocker 8 stores the nozzle N in the nozzle storage portion 81. That is, in performing the mounting / housing operation, one nozzle stocker 8 of the plurality of nozzle stockers 8 rises from the lowered position Pd to the raised position Pu and approaches the mounting head 81. At this time, at least a part of the protruding range Qp (the upper end portion of the nozzle N) of the occupied area Q of the one nozzle stocker 8 that has moved up to the raised position Pu protrudes above the lower end of the head peripheral member 43. However, as shown in the figure, in the state where the nozzle storage portion 81 of the one nozzle stocker 8 faces the nozzle mounting portion 51 of the mounting head 5, the protruding range Qp of the one nozzle stocker 8 is The head peripheral member 43 deviates in the Y direction. Accordingly, interference between the nozzle stocker 8 that rises to the raised position Pu for mounting / housing operation and the nozzle N that is housed therein and the head peripheral member 43 is prevented.

  Furthermore, when performing the mounting / housing operation, the nozzle stockers 8 other than the one of the plurality of nozzle stockers 8 are positioned at the lowered position Pd (FIG. 18). At this time, the storage area Q of the nozzle stocker 8 at the lowered position Pd is below the head peripheral member 43. Therefore, the other nozzle stocker 8 and the nozzles N accommodated therein are prevented from interfering with the head peripheral member 43. In this way, in this embodiment, a plurality of nozzle stockers 8 capable of storing the nozzles N in the nozzle storage portion 81 are arranged to expand the nozzle replacement storage device 7 and between the members around the mounting head 81. The plurality of nozzle stockers 8 can be moved up and down while preventing the occurrence of interference.

  In this embodiment, the nozzle mounting part 51 is configured to be movable in the Z direction. Then, the nozzle stocker 8 is raised to the raised position Pu and the nozzle mounting portion 51 is lowered, so that the nozzle stocker 8 and the nozzle mounting portion 51 are brought close to each other, and the mounting operation or the storing operation is executed. In such a configuration, when the nozzle mounting part 51 and the nozzle stocker 8 are brought close to each other, both the nozzle mounting part 51 and the nozzle stocker 8 move toward each other. Therefore, since the distance for raising the nozzle stocker 8 in order to bring the nozzle mounting portion 51 and the nozzle stocker 8 close to each other can also be kept short, the stroke of the nozzle stocker 8 can be shortened to make the nozzle replacement storage device 7 compact. Can do.

  The present invention is not limited to the above-described embodiment, and various modifications can be made to the above-described one without departing from the spirit of the present invention. For example, in the above embodiment, when the nozzle stocker 8 is at the raised position Pu, the nozzle stocker 8 is located below the head peripheral member 43 in the storage occupation region Q, and only the upper end of the nozzle N is the head peripheral member. It protruded above the lower end of 43. However, after removing the entire occupied area Q from the head peripheral member 43 in the Y direction, not only the upper end portion of the nozzle N but also the nozzle stocker 8 is partially or entirely above the lower end of the head peripheral member 43. It can also be configured to project.

  In the above embodiment, an example in which the camera 43 is provided as a head peripheral member has been described. However, a member that prevents interference with the nozzle stocker 8 and the nozzles N accommodated therein as the head peripheral member is not limited thereto. Specifically, when the mark member 41 provided in the head unit 4 is provided on the Y direction side of the nozzle stocker 8, the mark member 41 is handled as a head peripheral member and stored in the nozzle stocker 8 or in this. You may comprise so that interference with the nozzle N may be prevented.

  In the above embodiment, the nozzle shaft 50 is lowered and the nozzle stocker 8 is raised to bring the nozzle storage portion 81 and the nozzle mounting portion 51 close to each other. However, the nozzle storage part 81 and the nozzle mounting part 51 may be brought close to each other only by raising the nozzle stocker 8 without moving the nozzle shaft 50.

  Further, the number of nozzle stockers 8 included in the nozzle replacement storage machine 7, the number of nozzle storage units 81 U included in the nozzle stocker 8, the number of nozzle storage portions 81 constituting the nozzle storage unit 81 U, and the like are appropriately changed. Can do. Similarly, the number of mounting heads 5 included in the head unit 4 and the number of nozzle mounting portions 51 included in the mounting head 5 can be appropriately changed.

  Moreover, the structure which raises / lowers the nozzle stocker 8 individually and the structure which switches the shutter 82 can also be changed suitably.

  Moreover, in the said embodiment, each shutter 82 with which the nozzle stocker 8 is provided was switched collectively between the insertion / removal prohibition state and the insertion / removal permission state. However, each shutter 82 may be switched individually.

  Further, in the above embodiment, the case where the rotary shutter 82 is used is exemplified. However, the shutter 82 may be linearly moved in the X direction to restrict / permit the insertion / removal of the nozzle N from the nozzle storage portion 81.

  In the above embodiment, the nozzle N is held in the nozzle mounting portion 51 by the elastic force of the leaf spring 52. However, the configuration for holding the nozzle N in the nozzle mounting portion 51 is not limited to this.

  Moreover, in the said embodiment, the raising / lowering state of the nozzle stocker 8 was detected by the optical sensors 762 and 763. However, without providing the optical sensors 762 and 763, it may be configured to grasp the lifting / lowering state of the nozzle stocker 8 from the lifting / lowering command history output by the main control unit 110.

  In the above embodiment, the positioning of the mounting head 5 and the nozzle stocker 8 is controlled based on the result of imaging the whole mark M1 and the individual mark M2. However, the mounting unit 5 and the nozzle stocker 8 may be positioned by moving the head unit 4 in accordance with the contents taught in advance without imaging the whole mark M1 or the individual mark M2. In this case, it is not necessary to provide the whole mark M1 or the individual mark M2.

  Moreover, in the said embodiment, the case where the rotary type mounting head 5 was used was illustrated. However, the present invention can also be applied when the nozzle N is mounted / stored in the serial mounting head 5 in which the nozzle mounting portions 51 are arranged in series. In this case, for example, a plurality of nozzle storage portions 81 may be arranged in series in each nozzle stocker 8 in correspondence with the arrangement of the plurality of nozzle mounting portions 51 in the mounting head 5. Further, after the plurality of nozzle mounting portions 51 of the mounting head 5 and the plurality of nozzle storage portions 81 of the nozzle stocker 8 are opposed to each other, the nozzle stocker 81 is raised to the raised position Pu, thereby mounting the plurality of nozzles. You may comprise so that mounting | wearing / storage of the nozzle N may be performed with respect to the part 51. FIG. With this configuration, it is possible to efficiently perform mounting / housing of the nozzles N on the plurality of nozzle mounting portions 51 included in the serial mounting head 5.

DESCRIPTION OF SYMBOLS 1 ... Component mounting apparatus 43 ... Camera (head peripheral member)
49 ... Camera (Mark imaging camera)
DESCRIPTION OF SYMBOLS 5 ... Mounting head 51 ... Nozzle mounting part 7 ... Storage machine for nozzle replacement 71 ... Stocker raising / lowering mechanism (elevating part)
76 ... Lifting state detection mechanism (detection unit)
761 ... Light shielding plate (light shielding member)
762 ... Optical sensor 763 ... Optical sensor 8 ... Nozzle stocker 81 ... Nozzle storage unit 81U ... Nozzle storage unit 82 ... Shutter 100 ... Control unit (control unit)
N ... Nozzle Pu ... Up position Pd ... Down position Q ... Occupied area during storage Qp ... Projection range M1 ... Overall mark M2 ... Individual mark Y ... Arrangement direction

Claims (15)

A mounting head in which nozzle mounting parts to which the nozzles are detachable are arranged in a first direction which is a predetermined direction;
Below the mounting head, the nozzle mounting portion has a plurality of nozzle stockers in which a plurality of nozzle storage portions capable of storing the nozzles are arranged in the first direction in a second direction intersecting the first direction. A nozzle replacement storage machine capable of individually raising and lowering each nozzle stocker between a close ascending position and a descending position separated from the nozzle mounting portion below the ascending position;
A head peripheral member that is provided on a side of the mounting head in the second direction and moves with the mounting head;
The nozzle storage portion of one of the plurality of nozzle stockers and the nozzle mounting portion of the mounting head by moving the mounting head in a horizontal direction while positioning each nozzle stocker at the lowered position, After the nozzles are opposed to each other, the one nozzle stocker is raised to the raised position, and the nozzle stored in the nozzle storage part is mounted on the nozzle mounting part facing, or the nozzle mounting A control unit that performs a storing operation of storing the nozzle mounted in the unit in the nozzle storing unit facing the nozzle,
When the area occupied by the nozzle stocker and the nozzle in the state in which the nozzle stocker stores the nozzle in the nozzle storage portion is an occupied area when stored,
The protruding range of at least a part of the occupied area of the nozzle stocker adjacent to the nozzle mounting portion at the raised position protrudes above the lower end of the head peripheral member, while the nozzle stocker at the lowered position The stowage occupied area is below the head peripheral member,
When the mounting operation or the storage operation is performed, the projecting range of the storage time area of the nozzle stocker to which the nozzle storage portion facing the nozzle mounting portion of the mounting head belongs is from the head peripheral member to the second portion. Component mounting equipment that is out of direction. The nozzle mounting portion is movable in the vertical direction,
The control unit raises the one nozzle stocker to the raised position and lowers the nozzle mounting unit to bring the one nozzle stocker and the nozzle mounting unit close to each other so that the mounting operation or the storage is performed. The component mounting apparatus according to claim 1, which performs an operation.   The component mounting apparatus according to claim 1, further comprising a detection unit that detects a fully lowered state in which all of the plurality of nozzle stockers are in the lowered position.   The component mounting apparatus according to claim 3, wherein the control unit prohibits the mounting head from moving in a parallel direction while the detection unit cannot detect the fully lowered state.   The component mounting apparatus according to claim 3, wherein the detection unit further detects a partially raised state in which any one of the plurality of nozzle stockers is in the raised position. In each of the plurality of nozzle stockers, a light shielding member in which three through holes penetrating in the second direction are arranged in a vertical direction is fixed, and in the light shielding member of the nozzle stocker at the lowered position, In the light shielding member of the nozzle stocker in which the through hole is located at a predetermined first height and the lowermost through hole is located at a predetermined second height and is in the raised position, the through hole in the center portion Is located at the first height,
The detection unit includes an optical sensor that emits light in parallel with the second direction from the light projecting unit to the light receiving unit with the light shielding members of the plurality of nozzle stockers interposed therebetween, respectively, at the first height and the second height. Of the first height and the second height of the photosensors, the light receiving portions of both photosensors receive light to detect the fully lowered state, and the first height The component mounting apparatus according to claim 5, wherein only the light receiving unit of the optical sensor receives the light and detects the partially raised state.   The said control part alert | reports abnormality, when the content of the raising / lowering control performed with respect to these nozzle stockers and the detection result of the said detection part do not correspond. Component mounting equipment. A mark imaging camera fixed to the head unit;
The controller performs an individual mark recognition operation for recognizing the position of the individual mark by imaging the individual mark attached to each nozzle stocker with the mark imaging camera, and the recognition in the individual mark recognition operation. The component according to claim 1, wherein the nozzle mounting portion of the mounting head is made to face the nozzle storage portion of the one nozzle stocker by controlling the position of the mounting head based on a result. Mounting device.   The control unit performs an overall mark recognition operation for recognizing the position of the overall mark by imaging the overall mark attached to the nozzle replacement storage device with the mark imaging camera, and the overall mark recognition operation The component mounting apparatus according to claim 8, wherein the individual mark recognition operation is executed while controlling a position of the mark imaging camera with respect to the individual mark based on the recognition result. The mounting head is a rotary mounting head in which a plurality of nozzle mounting portions are arranged in a circumferential shape.
The nozzle stocker has a nozzle storage unit in which the plurality of nozzle storage portions are arranged in a circumferential shape corresponding to the arrangement of the plurality of nozzle mounting portions in the mounting head,
The control unit causes the mounting head and the nozzle storage unit of the one nozzle stocker to face each other so that the plurality of nozzle mounting portions of the mounting head and the plurality of nozzle storage portions of the nozzle storage unit are mutually connected. 10. The mounting operation or the storing operation is executed with respect to the plurality of nozzle mounting portions by raising the one nozzle stocker to the raised position after facing each other. The component mounting apparatus described in 1. A plurality of the mounting heads are arranged in an orthogonal direction orthogonal to the first direction;
The nozzle stocker has a plurality of the nozzle storage units arranged in the orthogonal direction corresponding to the arrangement of the plurality of mounting heads,
The control unit causes the plurality of mounting heads and the plurality of nozzle storage units of the one nozzle stocker to face each other, so that the plurality of nozzle mounting portions of the plurality of mounting heads and the plurality of nozzle storage units After the plurality of nozzle storage portions are opposed to each other, the one nozzle stocker is raised to the raised position, whereby the mounting operation or the storage is performed with respect to the plurality of nozzle mounting portions of the plurality of mounting heads. The component mounting apparatus according to claim 10, which performs an operation. The mounting head is a series type mounting head in which a plurality of the nozzle mounting portions are arranged in series.
In the nozzle stocker, a plurality of the nozzle storage portions are arranged in series corresponding to the arrangement of the plurality of nozzle mounting portions in the mounting head,
The control unit raises the one nozzle stocker to the raised position after the plurality of nozzle mounting portions of the mounting head and the plurality of nozzle storage portions of the one nozzle stocker face each other. The component mounting apparatus according to claim 1, wherein the mounting operation or the storage operation is performed on the plurality of nozzle mounting portions.   The component mounting apparatus according to claim 1, wherein the head peripheral member is a component imaging camera that images a component held by the nozzle of the mounting head.   The component mounting apparatus according to claim 1, wherein the head peripheral member is a mark member to which a mark indicating a position of the head unit is attached. A plurality of nozzle stockers that are capable of storing nozzles in the nozzle storage section, arranged in a predetermined arrangement direction;
The nozzle stockers are individually moved up and down between a rising position close to the nozzle mounting portion of the mounting head located above the plurality of nozzle stockers and a lowering position below the rising position and separated from the nozzle mounting portion. An elevating part to be
The elevating part is configured such that the nozzle mounting part of the mounting head is located at a position facing the nozzle storage part of one of the plurality of nozzle stockers with the nozzle stockers positioned at the lowered position. After moving, the one nozzle stocker is raised to the raised position, and the mounting operation of mounting the nozzle stored in the nozzle storage portion on the opposing nozzle mounting portion or mounted on the nozzle mounting portion is performed. A storing operation for storing the nozzles in the nozzle storage unit facing each other is executed,
When the area occupied by the nozzle stocker and the nozzle in the state in which the nozzle stocker stores the nozzle in the nozzle storage portion is an occupied area when stored,
At least a part of the protruding area of the storage area of the nozzle stocker that is close to the nozzle mounting portion at the raised position is arranged on the arrangement direction side of the mounting head and moves with the head. While projecting upward from the lower end of the peripheral member, the occupied area of the nozzle stocker in the lowered position is below the head peripheral member,
When the mounting operation or the storage operation is performed, the protruding range of the storage area of the nozzle stocker to which the nozzle storage portion that faces the nozzle mounting portion of the mounting head belongs is the arrangement direction from the head peripheral member Nozzle replacement storage machine.

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