JP2021052058A - Method for correcting suction position of component mounting device and component mounting device - Google Patents

Abstract

To provide a method of correcting a suction position of a component mounting device and a component mounting device capable of correcting each suction position so that a plurality of components can be suctioned at an appropriate respective suction position when a plurality of components is suctioned at approximately the same time by each of a plurality of suction nozzles.SOLUTION: The method of correcting a suction position includes the steps of obtaining, for each of the plurality of suction nozzles 15b, an amount of positional deviation Δ1 to Δ5 from normal positions NL1 to NL6 between the suction nozzles 15b and a tape feeder 5a corresponding to the suction nozzles 15b and rotating the plurality of suction nozzles 15b to correct the obtained positional deviations Δ1 to Δ5 at each of the suction nozzles 15b for each of the plurality of suction nozzles 15b mentioned above when each of the plurality of suction nozzles 15a is rotatable with respect to a predetermined rotation axis, and has a suction aperture NP at which negative pressure is generated at an aperture position off from the position of the rotation axis, and a component is sucked by each of the plurality of suction nozzles 15b.SELECTED DRAWING: Figure 10

Description

The present invention relates to a component mounting device for mounting a component sucked by a suction nozzle on a substrate to be mounted at a predetermined position, a suction position correction method for the component mounting device for correcting the suction position of the suction nozzle, and the component mounting device. Regarding.

In recent years, there has been known a component mounting device that mounts components such as integrated circuits (ICs), transistors, capacitors, and resistance elements sucked by a suction nozzle at predetermined positions on a board to be mounted such as a printed circuit board. .. In such a component mounting device, it is desired to align the suction nozzle with a predetermined position on the component, such as the center position of the component, in order to avoid, for example, a suction defect or a mounting position defect. Therefore, in the component mounting device, when there is a deviation between a predetermined position on the component and the position of the suction nozzle, a technique for correcting the suction position so as to eliminate the deviation is desired. As such a technique, for example, a suction position correction method in a component mounting device disclosed in Patent Document 1 has been proposed.

The suction position correction method in the component mounting device disclosed in Patent Document 1 has a suction nozzle capable of raising and lowering and rotating, and the component sucked from the component supply unit is conveyed onto the mounted substrate by the suction nozzle. A mounting head for mounting at a predetermined position on the substrate to be mounted is provided, and after the parts are sucked by the suction nozzle, the parts sucked by the suction nozzle are recognized with the suction nozzle at a predetermined recognition height. This is a suction position correction method in a component mounting device equipped with a recognition means, and the amount of change in the horizontal position of the tip of the suction nozzle when the suction nozzle is at the recognition height and when it is lowered to the component suction height. A nozzle tip position change amount detection step for detecting the nozzle tip position change amount, and a correction control step for correcting the component suction position by a suction position correction amount including a correction amount corresponding to the nozzle tip position change amount at the time of component suction. Has. As described in paragraph [0051] of Patent Document 1, for example, when the nozzle shaft to which the suction nozzle is attached is tilted with respect to the Z-axis direction, the position of the suction nozzle shifts due to the lowering of the suction nozzle. In addition, the position of the suction nozzle shifts due to the rotation of the suction nozzle. The suction position correction method in the component mounting device disclosed in Patent Document 1 corrects these deviations by the above configuration.

JP-A-2009-164276

In a component mounting device including a plurality of component supply devices for supplying components, when the component supply device is arranged in the component mounting device, the component supply device may be ideally arranged as designed, but in reality, it is sufficient. At the time of arrangement, an error occurs in the parallel direction (X direction) of the plurality of component supply devices. Therefore, normally, the component mounting device has a correction value (offset amount in the X direction) in the parallel direction for correcting this error, and when the component is sucked from the component supply device by the suction nozzle, the suction position is only this correction value. The parts are adsorbed by shifting. By the way, when a plurality of parts are sucked substantially simultaneously by each of the plurality of suction nozzles, if the plurality of suction nozzles are shifted by one correction value and the plurality of parts are sucked substantially simultaneously, usually, each of the plurality of parts supply devices is used. Since the errors are different, it is difficult for each of the plurality of suction nozzles to suck each of the plurality of parts at an appropriate suction position.

On the other hand, even if the component supply device is arranged according to the design value, a plurality of suction nozzles are used for each of the plurality of suction nozzles due to the nozzle shaft error generated when the nozzle shaft (head shaft) for attaching the suction nozzle to the component mounting device is arranged. When the parts of the above are sucked substantially at the same time, it is difficult for each of the plurality of suction nozzles to suck each of the plurality of parts at appropriate suction positions, as described above.

The suction position correction method in the component mounting device disclosed in Patent Document 1 is a technique for correcting the position shift of the suction nozzle caused by the descent of the suction nozzle and the position shift amount of the suction nozzle caused by the rotation of the suction nozzle. , It is difficult to correct the amount of misalignment described above that occurs when a plurality of parts are simultaneously sucked by each of the plurality of suction nozzles.

The present invention has been made in view of the above circumstances, and an object of the present invention is to suck a plurality of parts substantially simultaneously by a plurality of suction nozzles so that each suction can be carried out at an appropriate suction position. It is an object of the present invention to provide a suction position correction method of a component mounting device capable of correcting the position and a component mounting device.

As a result of various studies, the present inventor has found that the above object can be achieved by the following invention. That is, in the suction position correction method of the component mounting device according to one aspect of the present invention, the components are adsorbed from each of a plurality of component supply units that are juxtaposed along one direction and supply components and the plurality of component supply units. A suction position correction method for a component mounting device, which comprises a plurality of suction nozzles to be mounted and mounts a plurality of the components simultaneously sucked by each of the plurality of suction nozzles at predetermined mounting positions on a substrate to be mounted. Each of the plurality of suction nozzles has a suction opening that is rotatable with respect to a predetermined rotation axis and generates a negative pressure at an opening position deviating from the position of the rotation axis, and the component is taken from each of the plurality of component supply units. When suction is performed by each of the plurality of suction nozzles, a position for obtaining the amount of misalignment from the normal position generated between the suction nozzle and the component supply unit corresponding to the suction nozzle for each of the plurality of suction nozzles. Each of the plurality of suction nozzles is provided with a deviation amount determination step and a correction step of rotating the suction nozzle so as to correct the position deviation amount obtained in the position deviation amount determination step in the suction nozzle.

In such a suction position correction method of the component mounting device, each of the plurality of suction nozzles has a suction opening at an opening position deviating from the position of the rotation axis. Therefore, in the suction position correction method of the component mounting device, the displacement amount according to the suction nozzle can be corrected by rotating the suction nozzle for each of the plurality of suction nozzles, so that each suction position is appropriate. Each suction position can be corrected so that it can be sucked with.

In another aspect, in the suction position correction method of the component mounting device described above, the displacement amount from the normal position includes the displacement amount generated when the plurality of component supply units are juxtaposed.

Such a suction position correction method of the component mounting device can correct the amount of misalignment that occurs when a plurality of component supply units are juxtaposed.

In another aspect, in the suction position correction method of the component mounting device described above, the position deviation amount from the normal position includes the position deviation amount generated when the plurality of suction nozzles are attached.

Such a suction position correction method of the component mounting device can correct the amount of misalignment that occurs when a plurality of suction nozzles are attached.

In another aspect, in the suction position correction method of the component mounting device described above, the component mounting device further includes a trolley on which the plurality of component supply units are mounted side by side, and the amount of misalignment from the normal position is provided. Includes the amount of misalignment that occurs when the dolly is attached.

Such a suction position correction method of the component mounting device can correct the amount of misalignment that occurs when the trolley is attached.

In another aspect, in the suction position correction method of the component mounting device described above, each of the plurality of component supply units supplies the component by transporting the component in a transport direction orthogonal to the one direction. The plurality of suction nozzles are arranged so as to be juxtaposed along the one direction when sucking the parts, and the misalignment amount is a length along the one direction and the misalignment amount. The determination step corresponds to the suction nozzle and the suction nozzle by rotating the suction nozzle so as to correct the determined displacement amount in the suction nozzle for each of the plurality of suction nozzles. The amount of the second misalignment from the normal position generated along the transport direction with the component supply unit was further obtained, and the correction step was obtained in the misalignment amount determination step for each of the plurality of suction nozzles. The transport of the component in the component supply unit corresponding to the suction nozzle is further controlled so as to correct the second misalignment amount.

Since the suction nozzle has the suction opening at the opening position deviated from the position of the rotation axis, when the suction nozzle is rotated so as to correct the amount of misalignment along one direction, the suction nozzle is rotated from the normal position along the transport direction. The second position shift amount causes a shift. If the second position deviation amount is a length that can be ignored from the viewpoint of, for example, suction failure or mounting position failure, correction is not necessary. However, the suction position correction method of the component mounting device is the second position deviation amount. Can be corrected, so that, for example, suction defects and mounting position defects can be avoided more appropriately.

The component mounting device according to another aspect of the present invention is juxtaposed along one direction and has a plurality of component supply units for supplying components and a plurality of suction nozzles for sucking the components from each of the plurality of component supply units. A component mounting device that mounts a plurality of the components simultaneously adsorbed by the plurality of suction nozzles at predetermined mounting positions on the substrate to be mounted, and each of the plurality of suction nozzles rotates at a predetermined position. When the suction opening which is rotatable with respect to the shaft and generates negative pressure is held at an opening position deviating from the position of the rotation shaft, and the component is sucked from each of the plurality of component supply units by each of the plurality of suction nozzles. In addition, for each of the plurality of suction nozzles, a position deviation amount determining unit for obtaining a position deviation amount from a normal position generated between the suction nozzle and the component supply unit corresponding to the suction nozzle, and the plurality of suction nozzles. For each of the nozzles, the suction nozzle is further provided with a correction unit that rotates the suction nozzle so as to correct the position deviation amount obtained by the position deviation amount determination unit.

In such a component mounting device, each of the plurality of suction nozzles has a suction opening at an opening position deviating from the position of the rotation axis. Therefore, the component mounting device can correct the amount of misalignment according to the suction nozzles by rotating the suction nozzles for each of the plurality of suction nozzles, so that the suction nozzles can be sucked at appropriate suction positions. Each suction position can be corrected.

The suction position correction method of the component mounting device and the component mounting device according to the present invention correct each suction position so that when a plurality of parts are sucked substantially simultaneously by each of the plurality of suction nozzles, the suction positions can be sucked at the appropriate suction positions. it can.

It is a top view which shows the schematic structure of the component mounting apparatus in an embodiment. It is a partial front view of the component mounting apparatus. It is a figure for demonstrating the suction nozzle used in the said component mounting apparatus. It is an overall perspective view which shows the schematic structure of the component supply unit used for the said component mounting apparatus. It is a perspective view of the said component supply unit which made it possible to see the mounting state of a tape feeder. It is a perspective view which shows the schematic structure of the tape feeder used for the said component mounting apparatus. It is a block diagram which shows the electrical structure of the component mounting apparatus. It is a figure for demonstrating the amount of change of the suction opening position with rotation of a suction nozzle stored in the component mounting apparatus. It is a flowchart which shows the operation of the said component mounting apparatus with respect to the suction position correction. It is a figure for demonstrating the suction position correction which concerns on 1st Embodiment. It is a figure for demonstrating the suction position correction which concerns on the 2nd aspect.

Hereinafter, one or more embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the disclosed embodiments. It should be noted that the configurations with the same reference numerals in the respective drawings indicate that they are the same configurations, and the description thereof will be omitted as appropriate. In the present specification, when they are generically referred to, they are indicated by reference numerals without subscripts, and when they refer to individual configurations, they are indicated by reference numerals with subscripts.

The component mounting device according to the embodiment includes a plurality of component supply units that are juxtaposed along one direction and supply components, and a plurality of suction nozzles that suck the components from each of the plurality of component supply units. It is a device that mounts a plurality of the above-mentioned parts simultaneously adsorbed by each of the suction nozzles at a predetermined mounting position on the board to be mounted. In the present embodiment, each of the plurality of suction nozzles has a suction opening that is rotatable with respect to a predetermined rotation axis and generates a negative pressure at an opening position deviating from the position of the rotation axis. Then, when the component is sucked from each of the plurality of component supply units by the plurality of suction nozzles, the component mounting device corresponds to the suction nozzle and the suction nozzle for each of the plurality of suction nozzles. For each of the position shift amount determining unit that obtains the position shift amount from the normal position generated between the component supply unit and the plurality of suction nozzles, the position shift obtained by the position shift amount determination unit in the suction nozzle. A correction unit that rotates the suction nozzle is further provided so as to correct the amount. Such a component mounting device will be described in more detail below. Then, by explaining the operation of the component mounting device, the suction position correction method of the component mounting device will be described.

FIG. 1 is a plan view showing a schematic configuration of a component mounting device according to an embodiment. FIG. 2 is a partial front view of the component mounting device. FIG. 3 is a diagram for explaining a suction nozzle used in the component mounting device. 3A and 3B show the mounting head 15 used in the component mounting device according to the embodiment, FIG. 3A is a side view thereof, and FIG. 3B shows the mounting head 15 shown in FIG. 3A on the suction opening side. It is a plan view seen from. 3C and 3D show a mounting head 115 of a comparative example, FIG. 3C is a side view thereof, and FIG. 3D is a plan view of the mounting head 115 shown in FIG. 3C as viewed from the suction opening side. is there. FIG. 4 is an overall perspective view showing a schematic configuration of a component supply unit used in the component mounting device. FIG. 5 is a perspective view of the component supply unit so that the mounting state of the tape feeder can be seen. FIG. 6 is a perspective view showing a schematic configuration of a tape feeder used in the component mounting device. FIG. 7 is a block diagram showing an electrical configuration of the component mounting device.

XYZ right angle axes are shown in FIG. 1 and other drawings for clarification of directional relationships. The X direction is, for example, a direction parallel to the horizontal plane, the Y direction is a direction orthogonal to the X direction on the horizontal plane, and the Z direction is a direction orthogonal to the X direction and the Y direction, respectively (vertical direction, The direction normal to the horizontal plane).

In the component mounting device D of the embodiment, as shown in FIGS. 1 to 7, for example, as shown in FIGS. 1 to 7, the component PZ such as, for example, an integrated circuit (IC), a transistor, a capacitor, and a resistance element is predetermined by the operation of each part mechanism. At the mounting position MP, for example, a main body mechanism unit 1 to be mounted on a mounted substrate K such as a printed circuit board, a control processing unit 61 for controlling the operation thereof, and a display unit 71 for displaying, as shown in FIG. 7, for example. For example, it includes a storage unit 81 that stores predetermined information such as programs and data. The mounting position MP shown in FIG. 1 is an example and is not limited to this, and is appropriately set according to the board to be mounted K and the component PZ.

The main body mechanism unit 1 has a mounting machine main body including a base 2 and the like, and a head unit 3 movable with respect to the mounting machine main body. A conveyor 4 for transporting the substrate is arranged on the base 2, and the conveyor 4 conveys the substrate K to be mounted on the base 2 at a predetermined mounting work position (position shown in FIG. 1). It is designed to be stopped. Two component supply units 5 arranged side by side along the X direction are mounted and arranged on both sides of the conveyor 4. Therefore, in the example shown in FIG. 1, the main body mechanism unit 1 includes a total of four component supply units 5. Each of these component supply units 5 is provided with a plurality of tape feeders 5a arranged side by side along the X direction to supply components. The X direction corresponds to an example of one direction, and the tape feeder 5a corresponds to an example of a component supply unit that supplies components. The component supply unit 5 and the tape feeder 5a will be further described later.

The head unit 3 is arranged above the base 2 and is movable over a mounting work position where the component supply unit 5 and the board to be mounted K are arranged. More specifically, the head unit 3 is movable along the X-axis (X-direction) and the Y-axis (Y-direction) that are orthogonal to each other on a plane substantially parallel to the surface of the substrate K to be mounted.

That is, a fixed rail 7 extending along the Y direction and a ball screw shaft 9 driven by the Y-axis servomotor 8 are arranged on the base 2. A support member 10 that supports the head unit 3 is arranged on the fixed rail 7, and a nut portion 10a provided on the support member 10 is screwed onto the ball screw shaft 9. The support member 10 is provided with a guide member 11 extending along the X direction and a ball screw shaft 13 driven by the X-axis servomotor 12, and the head unit 3 is movably held by the guide member 11. A nut portion (not shown) provided on the head unit 3 is screwed onto the ball screw shaft 13. With such a configuration, the support member 10 moves in the Y direction by driving the Y-axis servomotor 8, and the head unit 3 moves in the X direction with respect to the support member 10 by driving the X-axis servomotor 12. As a result, the movement of the head unit 3 along the X-axis and the Y-axis is realized.

The head unit 3 is provided with mounting heads 15, and in the examples shown in FIGS. 1 and 2, six mounting heads 15 are provided in a row along the X direction. The number of mounting heads 15 is not limited to six, and may be arbitrary as long as it is a plurality, and is appropriately determined according to, for example, the specifications of the component mounting device. Each mounting head 15 includes a hollow head shaft 15a extending in the vertical direction (Z direction) and a suction nozzle 15b detachably attached to the tip (lower end) of the head shaft 15a, and has a negative pressure (not shown). Due to the negative pressure supplied from the supply means to the suction nozzle 15b through the head shaft 15a, a negative pressure is generated at the suction opening NP formed at the tip (lower end) of the suction nozzle 15b, so that parts can be sucked. .. As the suction nozzle 15b, a plurality of types having different sizes, shapes, and the like are prepared, and the suction nozzle 15b selected according to the type of the component to be sucked is attached to the tip of the head shaft 15a.

The head unit 3 is provided with an elevating mechanism for moving the mounting head 15 in the vertical direction (Z direction) and a rotating mechanism for rotating the mounting head 15 around an axis (R axis). The elevating mechanism has a Z-axis servomotor 16 (see FIG. 7), and the Z-axis servomotor 16 moves the mounting head 15 in the vertical direction via a ball screw or the like. The rotation mechanism has an R-axis servomotor 17 (see FIG. 7) for each mounting head 15 (and therefore for each suction nozzle 15b), and responds to each rotation drive of each of these R-axis servomotors 17. Each of the mounting heads 15 is rotated around the R axis. Therefore, the R axis is the rotation axis of the mounting head 15 (head shaft 15a and suction nozzle 15b). In the examples shown in FIGS. 1 and 2, the rotation mechanism includes six R-axis servomotors 17 according to the six mounting heads 15.

Here, the suction nozzle 115b of the mounting head 115 of the comparative example has a suction opening NPa in which a negative pressure is generated at a position RP of the R axis, which is a predetermined rotation axis, as shown in FIGS. 3C and 3D, for example. Have in CPa. That is, in the suction nozzle 115b of the comparative example, the suction opening NPa is the suction nozzle 115b by matching the position RP of the R axis with the center position (center position) CPa of the suction opening NPa on the plane whose normal line is the R axis. An opening is formed at the tip. Therefore, the opening position CPa of the suction opening NPa is the center position CPa of the suction opening NPa.

On the other hand, the suction nozzle 15b of the mounting head 15 in the present embodiment sets the suction opening NP where negative pressure is generated from the position RP of the R axis, which is a predetermined rotation axis, as shown in FIGS. 3A and 3B, for example. Hold at the detached opening position CP. That is, in the suction nozzle 15b in the embodiment, the position RP of the R axis and the center position (center position) CP of the suction opening NP are deviated by the deviation amount δ and eccentric in the plane whose normal line is the R axis. An opening is formed at the tip of the suction nozzle 15b for the NP. Therefore, the opening position CP of the suction opening NP is the center position CP of the suction opening NP.

The head unit 3 is further provided with a first imaging unit 18 for substrate recognition that recognizes the mounted substrate K by imaging a fiducial mark attached to the mounted substrate K or the like. In the present embodiment, the first imaging unit 18 images the tape feeder 5a or the like from above in order to obtain the amount of misalignment from the normal position of the component supply unit that occurs when a plurality of tape feeders 5a are juxtaposed. To do.

As a recognition means for recognizing the parts sucked by the suction nozzle 15b, the second imaging unit 19 is provided at a predetermined position on the base 2 within the movement range of the head unit. The second imaging unit 19 captures the component (or the tip of the suction nozzle) adsorbed on the tip of the suction nozzle 15b from below under the reflected illumination condition by the lighting device (not shown) attached to the component. It is possible to obtain a reflected image of the bottom surface (or the tip of the suction nozzle). In the present embodiment, the second imaging unit 19 is arranged on each side of the conveyor 4 in response to the component supply unit 5 being arranged on each side of the conveyor 4. Then, in the present embodiment, the second imaging unit 19 obtains the amount of displacement of the suction nozzles from the normal position, which occurs when the plurality of suction nozzles 15b are attached to the head unit 3 via the head shaft 15a. , The mounting head 15 (head shaft 15a and suction nozzle 15b) is imaged from below.

Each of the first and second imaging units 18 and 19 is arranged, for example, an imaging optical system for forming an optical image to be imaged on a predetermined imaging surface, and a light receiving surface aligned with the imaging surface. An image sensor that converts the optical image of the imaging target into an electrical signal, an image processing unit that generates image data that represents the image of the imaging target by image processing the output of the image sensor, and the like. It is a digital camera equipped with.

Next, the component supply unit 5 and the tape feeder 5a will be described.

The component supply unit 5 mounts a plurality of tape feeders 5a so as to be juxtaposed along the X direction, and is detachably mounted on the main body mechanism unit 1. As a result, a plurality of tape feeders 5a can be exchanged with the main body mechanism 1 at once. For the attachment / detachment, the component supply unit 5 is provided with an engaging pin (not shown), and the main body mechanism 1 is provided with an engaging hole for engaging the engaging pin, for example, by fitting or the like. ing. Each tape feeder 5a is configured such that the tapes that store and hold the component PZ at predetermined intervals lead out the component PZ from the reel, and the tape feeder 5a can be taken out by the head unit 3. The component PZ is intermittently fed to the suction position AD. The suction position AD is a position where the suction nozzle 15b sucks the component PZ housed and held in the tape. In the present embodiment, as will be described later, the suction nozzle 15b and the tape feeder 5a corresponding to the suction nozzle 15b (the tape feeder 5a that houses and holds the component PZ to be sucked by the suction nozzle 15b) are used. The suction position AD shifted due to the position shift from the normal position NL generated during the period is corrected, and the suction position AD is optimized.

More specifically, in the present embodiment, the parts supply unit 5 is, for example, as shown in FIGS. 4 and 5, a hand-push type carriage with casters that detachably supports a plurality of tape feeders 5a. In the present embodiment, the parts supply unit 5 can also accommodate the reel. Such a component supply unit 5 includes a carriage main body 20 and a feeder support base 21 supported on the upper portion of the carriage main body 20.

The carriage main body 20 includes a base 22 having casters 23 on the lower surface thereof, and a box-shaped tape holder (reel holder) 24 provided on the upper portion thereof. The tape holder 24 is a plan-view U-shaped frame 25 having a pair of side plates 25a and 25b and a front plate 25c in the X direction and opened rearward (−Y direction) and upward (+ Z direction). have. Inside the frame 25, a plurality of tape accommodating portions 26 partitioned by a plurality of partition plates 26a erected at equal intervals in the X direction at intervals corresponding to the width of the reel and the like are arranged side by side in the X direction. There is. Although not shown, the reels around which the tape is wound are rotatably accommodated in these tape accommodating portions 26. A plurality of tape guides 27 are arranged side by side in the X direction on the upper portion of the frame 25, and the tape drawn from the reel housed in the tape accommodating portion 26 to the tape feeder 5a is guided by these tape guides 27. ..

The feeder support base 21 is provided above the front portion of the tape holder 24 so as to project forward (+ Y direction) from the tape holder 24. The feeder support base 21 was erected on a table 28 having a rectangular shape in a plan view, a pair of guide blocks 29A and 29B in the X direction (a pair of left and right) provided at both ends of the table 28 in the X direction, and a front portion of the table 28. A positioning plate 31 is provided. On the upper surface of the table 28, a plurality of parallel slots 30 extending in the Y direction and lining up in the X direction are provided by a plurality of ridges 30a extending in the Y direction and provided at regular intervals in the X direction. Is provided. These slots 30 are slit-shaped grooves formed on the upper surface of the table 28 for mounting a tape feeder. The tape feeder 5a is supported on the table 28 with the bottom of the supporting blanket 54 (see FIG. 6) inserted into the slot 30. Although one of the plurality of tape feeders 5a is shown in FIG. 4 for convenience, the tape feeder 5a is mounted (set) in each slot 30 during the production of the board to be mounted K. As a result, the plurality of tape feeders 5a are arranged in parallel and in close proximity to each other in the X direction. The positioning plate 31 is formed with a pair of pin holes 31a, 31a in the Z direction corresponding to each slot 30, and these pin holes 31a, 31a are provided at the tip of the tape feeder 5a. A pair of pins 51, 51 (see FIG. 5) are inserted. As a result, the tape feeder 5a is positioned with respect to the feeder support base 21 in each direction of XYZ (left-right, front-back, and up-down directions). The feeder support base 21 is provided with a front-view U-shaped cover having a pair of side plates 32a and 32b in the X direction and a top plate 32c arranged between the side plates 32a and 32b. An opening (not shown) for taking out parts that is opened and closed by the operation of the shutter 33 is provided on the upper part of the front end of the cover. The shutter 33 slides in the + Y direction (forward) (see the arrow in FIG. 4) to open the opening. As a result, the component PZ can be taken out from the tape feeder 5a by the head unit 3 at the suction position AD.

More specifically, in the present embodiment, the tape feeder 5a includes, for example, a main body member 50 formed in a long shape in the Y direction as shown in FIG. 6, and the pair of pins 51 at the tip thereof. , 51 and a rotating body 52 for driving the tape. Each of the pair of pins 51, 51 projects in the + Y direction (forward). The rotating body 52 is a member for feeding the tape, and is driven by a drive motor (not shown) so as to rotate by a predetermined angle. A connector 53 is provided at a substantially central portion of the main body member 50 in the Y direction and at a lower end portion. The connector 53 electrically connects the tape feeder 5a and the control processing unit 61 via the component supply unit 5. A blanket 54 for support is provided at the rear end of the main body member 50. The blanket 54 is provided so as to project in the −Z direction (downward).

In the component supply unit 5 and the tape feeder 5a having such a configuration, the tape is pulled out from the reel housed in the tape accommodating portion 26, and the pulled out tape is delivered to the tape feeder via the tape guide 27. It is set to 5a. The set tape is conveyed along the Y direction by the intermittent rotation of the rotating body 52 by the drive motor that rotates by a predetermined angle, and is intermittently fed out. As a result, each component PZ housed and held in the tape is intermittently and sequentially supplied to the suction position AD. In the present embodiment, the Y direction is an example of the transport direction, and the transport direction is orthogonal to one direction (X direction in this example). The supplied component PZ is sucked by the suction nozzle 15b of the mounting head 15 in the head unit 3 through the opening opened by the operation of the shutter 33, and is taken out from the tape. After taking out the component PZ, the tape is guided to the cutter unit 34 from the tip of the tape feeder 5a, shredded by the cutter unit 34, and stored in the dust box (not shown).

Next, the electrical configuration of the component mounting device will be described.

Electrically, as shown in FIG. 7, the component mounting device according to the embodiment includes an X-axis servomotor 12, a Y-axis servomotor 8, a Z-axis servomotor 16, an R-axis servomotor 17, and the like. It includes a first imaging unit 18, a second imaging unit 19, a tape feeder 5a, a control processing unit 61, a display unit 71, and a storage unit 81. The X-axis servomotor 12, the Y-axis servomotor 8, the Z-axis servomotor 16, the R-axis servomotor 17, the first imaging unit 18, the second imaging unit 19, the tape feeder 5a, the display unit 71, and the storage unit 81 are Each is electrically connected to the control processing unit 61, and operates according to the functions of the devices 12, 8, 16, 17, 18, 19, 5a, 71, and 81 according to the control of the control processing unit 61.

The display unit 71 is a device that displays predetermined information such as images captured by the first and second imaging units 18 and 19 and the operating status of the component mounting device D under the control of the control processing unit 61. The display unit 71 is, for example, a display device such as a CRT display, an LCD (liquid crystal display device), or an organic EL display.

The storage unit 81 is a circuit that stores various predetermined programs and various predetermined data under the control of the control processing unit 61. In the various predetermined programs, the components 12, 8, 16, 17, 18, 19, 5a, respectively, of the component mounting device D are used so that the component PZ is mounted at a predetermined mounting position MP on the board K to be mounted. An implementation program or the like that operates 71 and 81 according to the function is included. The mounting program includes a control program that controls the transport of the board K to be mounted and controls the entire component mounting device, an X-axis servomotor 12, a Y-axis servomotor 8, a Z-axis servomotor 16, and an R-axis. When a motor control program that controls each of the servomotors 17 or a component PZ is sucked from each of the plurality of tape feeders 5a by each of the plurality of suction nozzles 15b, the suction nozzle 15b and the suction nozzle 15b are used for each of the plurality of suction nozzles 15b. The position shift amount determination program for obtaining the position shift amount Δ from the normal position NL generated between the tape feeder 5a (an example of the component supply unit) corresponding to the suction nozzle 15b and the plurality of suction nozzles 15b are said to be concerned. In the suction nozzle 15b, the suction nozzle 15b is rotated by controlling the R-axis servomotor 17 corresponding to the suction nozzle 15b so as to correct the position shift amount Δ obtained by the position shift amount determination program. A correction program, a supply control program that controls the tape feeder 5a so as to supply the component PZ stored and held in the tape to the suction position AD, and the like are included. The various predetermined data include, for example, predetermined transport system data relating to the transport system for transporting the board K to be mounted, equipment-specific data unique to each equipment of the component mounting device D, suction nozzle 15b, and the suction. It includes data necessary for executing each program, such as correction data for correcting the displacement amount Δ from the normal position NL generated between the tape feeder 5a corresponding to the nozzle 15b. In order to store the mounting program, the transport system data, the equipment-specific data, and the correction data, the storage unit 81 includes the mounting program storage unit 811, the transport system data storage unit 812, the equipment-specific data storage unit 813, and the correction data storage unit. 814 is functionally provided. The storage unit 81 includes, for example, a ROM (Read Only Memory) which is a non-volatile storage element, an EEPROM (Electrically Erasable Programmable Read Only Memory) which is a rewritable non-volatile storage element, and the like. The storage unit 81 includes a RAM (Random Access Memory) or the like that serves as a working memory of the so-called control processing unit 61 that stores data or the like generated during the execution of the predetermined program.

The correction data will be further described. FIG. 8 is a diagram for explaining the amount of change in the suction opening position due to the rotation of the suction nozzle, which is stored in the component mounting device.

In the present embodiment, as described above with reference to FIG. 3, the suction opening NP of the suction nozzle 15b is biased by shifting the R-axis position RP and the center position (center position) CP of the suction opening NP by the deviation amount δ. I have a heart. Therefore, by rotating the suction nozzle 15b around the R axis, the position of the suction opening NP can be changed with respect to the position RP of the R axis (that is, the mounting position of the head shaft 15a). The change in the position of the suction opening NP cancels out and corrects the misalignment amount Δ. Therefore, the amount of change in the position of the suction opening NP is stored in the correction data storage unit 814 as the correction data.

For example, the reference for rotation of the suction nozzle 15b is set in the −Y direction (rotation angle θ = 0 °), and the rotation angle θ counterclockwise from the −Y direction is set as a positive value (rotation clockwise from the −Y direction). When the angle θ is a negative value) and the angle of rotation θ = 0 °, and the center position (center position) CP of the suction opening NP is located on the −Y axis (point (0, −δ)), The amount of change in the position of the suction opening NP at the angle of rotation θ is (−δsinθ, −δcosθ) (X component VMx (θ) = −δsinθ of the amount of change VM at the angle of rotation θ, and the amount of change VM at the angle of rotation θ. Y component VMy (θ) = −δcosθ. As an example, the amount of change VM when the deviation amount δ = 100 μm is shown in FIG. 8. In FIG. 8, the rotation angles θ = −90 ° and −60 °. , -30 °, 0 °, + 45 °, + 90 °, the amount of change VM is indicated by a specific numerical value. For example, when the angle of rotation θ = −90 °, the center of the suction opening NP. When the position CP is located at the point CP1 and the amount of change VM is (+100, 0) [μm], and the rotation angle θ = -60 °, for example, the center position CP of the suction opening NP is the point CP2. The amount of change VM is (+86.6, -50) [μm]. For example, when the angle of rotation θ = + 45 °, the center position CP of the suction opening NP is located at the point CP5. , The amount of change VM is (-70.7, -70.7) [μm].

The deviation amount δ is not limited to 100 [μm], and is appropriately set according to, for example, the size of the component PZ, the size of the suction nozzle 15b, and the like. Further, the reference for the rotation of the suction nozzle 15b is not limited to the −Y direction, and may be arbitrarily defined, for example, in the + X direction or the −X direction. Further, the counterclockwise rotation angle θ from the −Y direction is set as a positive value, but the present invention is not limited to this. For example, the clockwise rotation angle θ may be set as a positive value from the reference of rotation, and is arbitrary. It may be defined as appropriate.

The amount of change VM at the angle of rotation θ is, for example, VMx (θ) = −δsinθ, VMy (θ) = −δcosθ (or θ = sin ^-1 (−VMx / δ), VMy (θ) = − It may be stored in the correction data storage unit 814 by a mathematical formula (such as δcosθ). Further, for example, the amount of change VM at the rotation angle θ may be stored in the data storage unit 814 in a table format showing the correspondence between the rotation angle θ and the specific numerical value as described above corresponding to the rotation angle θ. ..

The control processing unit 61 controls each of the devices 12, 8, 16, 17, 18, 19, 5a, 71, and 81 of the component mounting device D according to the function, and determines the component PZ on the mounted substrate K. It is a circuit for mounting at the mounting position MP of. The control processing unit 61 includes, for example, a CPU (Central Processing Unit) and peripheral circuits thereof. The control processing unit 61 functionally includes a control unit 611, a motor control unit 612, a correction unit 613, a misalignment amount determination unit 614, and a supply control unit 615 by executing each of the programs.

The control unit 611 controls the transfer of the board to be mounted K, and controls the entire component mounting device.

The motor control unit 612 sucks each component PZ from each of the plurality of tape feeders 5a by each suction nozzle 15b, and simultaneously sucks the plurality of component PZs by each of the plurality of suction nozzles 15b on the mounted substrate K. Each of the X-axis servomotor 12, the Y-axis servomotor 8, the Z-axis servomotor 16 and the R-axis servomotor 17 is controlled so as to be mounted at a predetermined mounting position NL.

When the component PZ is sucked from each of the plurality of tape feeders 5a by the plurality of suction nozzles 15b, the misalignment amount determining unit 614 corresponds to the suction nozzle 15b and the suction nozzle 15b for each of the plurality of suction nozzles 15b. The amount of misalignment Δ from the normal position NL generated between the tape feeder 5a and the tape feeder 5a is obtained. In the present embodiment, the misalignment amount determining unit 614 calculates the misalignment amount Δ based on the image generated by at least one of the first and second imaging units 18 and 19.

The correction unit 613 corrects the misalignment amount Δ obtained by the misalignment amount determination unit 614 in the suction nozzle 15b for each of the plurality of suction nozzles 15b, so that the R-axis servo corresponding to the suction nozzle 15b is corrected. By controlling the motor 17, the suction nozzle 15b is rotated.

In the present embodiment, the misalignment amount determining unit 614 functionally includes a first misalignment amount determining unit 6141 and a second misalignment amount determining unit 6142.

When the component PZ is sucked from each of the plurality of tape feeders 5a by each of the plurality of suction nozzles 15b, the first displacement amount determining unit 6141 attaches the component PZ to each of the plurality of suction nozzles 15b in the X direction (an example in one direction). The amount of first position deviation from the normal position NL generated between the suction nozzle 15b and the tape feeder 5a corresponding to the suction nozzle 15b is obtained. The first misalignment amount is a length along one direction (X direction in this example).

The second displacement amount determining unit 6142 corrects the first displacement amount obtained by the first displacement amount determining unit 6141 in the suction nozzle 15b for each of the plurality of suction nozzles 15b. The amount of second misalignment from the normal position that occurs along the Y direction (an example of the tape transport direction) between the suction nozzle 15b and the tape feeder 5a corresponding to the suction nozzle 15b. Is what you want.

Then, the correction unit 613 corrects the second positional deviation amount obtained by the second displacement amount determining unit 6142 for each of the plurality of suction nozzles 15b in the tape feeder 5a corresponding to the suction nozzle 15b. Further control the transport of parts.

The supply control unit 615 controls the tape feeder 5a so as to supply the parts stored and held in the tape to the suction position AD.

The control processing unit 61, the display unit 71, and the storage unit 81 are, for example, a desktop type or a node type provided with an interface circuit for transmitting and receiving data to and from each device 12, 8, 16, 17, 18, 19, and 5a. It can be configured by a computer such as.

Next, the operation of this embodiment will be described mainly with respect to the suction position correction. FIG. 9 is a flowchart showing the operation of the component mounting device with respect to the suction position correction. FIG. 10 is a diagram for explaining the suction position correction according to the first aspect. FIG. 11 is a diagram for explaining the suction position correction according to the second aspect.

In the component mounting device D having such a configuration, the operator (user) mounts (sets) a plurality of tape feeders 5a on the component supply unit 5, and mounts (sets) the plurality of reels around which the tape is wound on the component supply unit 5. Each tape is pulled out from each of the plurality of reels, and each of the pulled out tapes is set in each of the plurality of tape feeders 5a. The operator mounts the component supply unit 5 on the main body mechanism unit 1.

Then, in FIG. 9, the power switch (not shown) is turned on (S1), and the component mounting device D starts operation. When the component mounting device D starts operation, the component mounting device D, for example, returning the head unit 3 or the conveyor 4 to the origin, is initialized (S2). The control processing unit 61 is functionally configured with the control unit 611, the motor control unit 612, the correction unit 613, the misalignment amount determination unit 614, and the supply control unit 615 by executing the mounting program or the like. The misalignment amount determination unit 614 is functionally configured with a first deviation amount determination unit 6141 and a second deviation amount determination unit 6142.

Subsequently, regarding the suction position correction, in the component mounting device D, for example, the tape feeder 5a is set in the component supply unit 5 by a sensor (not shown) such as a mechanical switch, and the component supply unit 5 is the main body mechanism unit 1. Confirm that it is set to (S3).

Subsequently, the component mounting device D identifies the positions (feeder positions) of all the tape feeders 5a by imaging a plurality of tape feeders 5a and the like with the first imaging unit 18 (S4).

More specifically, the motor control unit 612 controls the X-axis servomotor 12 and the Y-axis servomotor 8 so that the first imaging unit 18 of the head unit 3 can image a plurality of tape feeders 5a and the like. , Move the head unit 3. When the head unit 3 moves, the misalignment amount determining unit 614 causes the first imaging unit 18 to take an image, generates an image of a plurality of tape feeders 5a, etc., and acquires (receives) this image from the first imaging unit 18. ). The misalignment amount determination unit 614 obtains and identifies each feeder position of each of the plurality of tape feeders 5a by performing image processing on the image. For example, the misalignment amount determination unit 614 extracts an edge by performing image processing on the image with a so-called edge filter, and from the extracted edge, a pocket in the tape (each region in which each component C is housed). The contour is extracted, and the center position (center position) of the pocket is obtained as the feeder position of the tape feeder 5a from the contour of the extracted pocket. Further, for example, the misalignment amount determining unit 6141 extracts both side ends of the tape feeder 5a from the extracted edges, and obtains the center position of these extracted both side ends as the feeder position of the tape feeder 5a.

Subsequently, the component mounting device identifies the positions (nozzle position, shaft position, R-axis position RP) of all the mounting heads 15 by imaging a plurality of mounting heads 15 with the second imaging unit 19. (S5).

More specifically, the motor control unit 612 controls the X-axis servomotor 12 and the Y-axis servomotor 8 so that the second imaging unit 19 can image a plurality of mounting heads 15 of the head unit 3. , Move the head unit 3. When the head unit 3 moves, the misalignment amount determining unit 614 causes the second imaging unit 19 to take an image, generates an image of a plurality of mounting heads 15, and acquires (receives) this image from the second imaging unit 19. ). The misalignment amount determination unit 614 obtains and specifies each nozzle position (each shaft position) of each of the plurality of mounting heads 15 by performing image processing on the image. For example, the misalignment amount determining unit 614 extracts an edge by performing image processing on the image with a so-called edge filter, extracts the contour of the mounting head 15 from the extracted edge, and extracts the extracted mounting head 15. The center position (center position) of the mounting head 15 is obtained as the nozzle position (shaft position) from the contour of.

When extracting the contour or the like, image processing such as Hough transform (Hough transform) of a straight line or a curved line may be used.

Subsequently, the component mounting device obtains the amount of misalignment Δ from the normal position NL generated between the suction nozzle 15b and the tape feeder 5a corresponding to the suction nozzle 15b (S6).

More specifically, first, when the first displacement amount determining unit 6141 sucks the component PZ from each of the plurality of tape feeders 5a by the plurality of suction nozzles 15b, each of the plurality of suction nozzles 15b The first position deviation amount from the normal position NL generated between the suction nozzle 15b and the tape feeder 5a corresponding to the suction nozzle 15b is obtained in the X direction (one direction).

For example, as shown in FIG. 10, when each of the plurality of mounting heads 15 is attached to the head unit 3 at equal intervals at the regular position NL of the suction nozzle, or as a premise, each of the plurality of mounting heads 15 is attached. Assuming that the head unit 3 is attached to the head unit 3 at equal intervals at the normal position NL, the position deviation amount Δ from the normal position NL of the component supply unit is obtained as the first position deviation amount. In this case, the misalignment amount Δ from the normal position NL includes the misalignment amount generated when the plurality of component supply units (tape feeder 5a in the present embodiment) are juxtaposed. In addition, in FIG. 10, each suction nozzle 15b is shown in a state after rotation by correction as described later. The normal position of the suction nozzle is a design position (ideal position) for mounting the mounting head 15 on the head unit 3. As an example, in the example shown in FIG. 10, each normal position of the suction nozzle in each of the six mounting heads 15 (head shaft 1 to head shaft 6) is set to each position at an interval of 12 [mm]. Similarly, the spacing between the mounting heads 15 and the tape feeder 5a, which will be described later, is not limited to 12 [mm], and is appropriately set according to, for example, the specifications of the component mounting device D. The regular position of the component supply unit is the design position (ideal position) of the tape feeder 5a mounted on the component supply unit. As an example, in the example shown in FIG. 10, each normal position NL1 to NL6 of the component supply unit in each of the six tape feeders 5a (FDR1 to FDR6) is set to each position at an interval of 12 [mm].

More specifically, the first displacement amount determining unit 6141 refers to the first displacement amount of each tape feeder 5a with reference to the tape feeder 5a corresponding to the mounting head 15 of any of the plurality of mounting heads 15. Is obtained from each feeder position of each tape feeder 5a obtained in the process S4. In the example shown in FIG. 10, the first deviation amount is based on the tape feeder 5a (FDR1) corresponding to the mounting head 15 located at the most end (right end of the paper surface in this example) of the six mounting heads 15. For each of the remaining tape feeders 5a (FDR2 to FDR6), the determination unit 6141 sets the amount of deviation from the interval 12 [mm] between the tape feeders 5a, and the amount of deviation of each first position of each of the remaining tape feeders 5a. As Δ1 to Δ5, it is obtained from each feeder position of each tape feeder 5a obtained in the process S4. In the example shown in FIG. 10, for example, the distance between the reference tape feeder 5a (FDR1) and the tape feeder 5a (FDR2) adjacent thereto is 12.05 [mm], and the tape feeder 5a (FDR2). The first misalignment amount Δ1 of is +0.05 [mm] (= +50 [μm]). Further, for example, the distance between the tape feeder 5a (FDR2) and the tape feeder 5a (FDR3) adjacent thereto is 11.93 [mm], and the first misalignment amount Δ2 of the tape feeder 5a (FDR3) is , -0.07 [mm] (= -70 [μm]). Further, for example, the distance between the tape feeder 5a (FDR4) and the tape feeder 5a (FDR5) adjacent thereto is 12.086 [mm], and the first misalignment amount Δ4 of the tape feeder 5a (FDR5) is It is +0.086 [mm] (= -86 [μm]). Here, by obtaining the actual length reflected in one pixel in advance, the amount of the first position shift can be obtained by the actual length, but by generating the correction data in units of the size of one pixel, the correction data can be obtained. The first position shift amount may be obtained from the number of pixels.

When each of the plurality of mounting heads 15 shown in FIG. 10 is attached to the head unit 3 at regular positions of the suction nozzles at equal intervals, or as a premise, each of the plurality of mounting heads 15 is in the regular position. In the case where the head units 3 are attached to the head units 3 at equal intervals, the first positional deviation amount can be obtained only from the processing result of the processing S4 as described above, so that the processing S5 can be omitted.

Further, for example, as shown in FIG. 11, when each of the plurality of tape feeders 5a is mounted on the component supply unit 5 at regular positions of the component supply unit at equal intervals, or as a premise, each of the plurality of tape feeders 5a Assuming that the component supply unit 5 is mounted at regular positions of the component supply unit at equal intervals, the amount of displacement of the suction nozzle from the regular position is obtained as the first displacement amount. In this case, the misalignment amount from the normal position includes the misalignment amount generated when the plurality of suction nozzles 5b are attached. As an example, in the example shown in FIG. 11, each normal position of the suction nozzle NL11, NL12, NL13, ... And each normal position of the component supply unit are set to each position at an interval of 12 [mm]. In FIG. 11, for convenience, three sets of mounting heads 15 and a tape feeder 5a are shown, and other drawings are omitted. FIG. 11A shows the situation of each mounting head 15 and the tape feeder 5a before the correction, and FIG. 11B shows each mounting head 15 after the rotation by the correction.

More specifically, the first displacement amount determining unit 6141 determines the first displacement amount of each mounting head 15 in the process S5 with reference to the mounting head 15 of any of the plurality of mounting heads 15. It is obtained from each nozzle position (each shaft position) of each mounting head 15 obtained. In the example shown in FIG. 11, the first deviation amount determining unit 6141 is based on the mounting head 15 (head shaft 1) located at the most end (right end of the paper surface in this example) of the plurality of mounting heads 15. For each of the remaining mounting heads 15 (head shaft 2, head shaft 3, ...), The amount of deviation from the distance of 12 [mm] between the mounting heads 15 is set for each of the remaining mounting heads 15. The first position deviation amounts Δ11, Δ12, ... Are obtained from the nozzle positions of the mounting heads 15 obtained in the process S5. In the example shown in FIG. 11, for example, the distance between the reference mounting head 15 (head shaft 1) and the mounting head 15 (head shaft 2) adjacent thereto is 12.05 [mm]. The first misalignment amount Δ11 of the mounting head 15 (head shaft 2) is −0.05 [mm] (= −50 [μm]). Further, for example, the distance between the mounting head 15 (head shaft 2) and the mounting head 15 (head shaft 3) adjacent thereto is 11.93 [mm], and the mounting head 15 (head shaft 3) ), The first displacement amount Δ12 is +0.07 [mm] (= +70 [μm]).

When each of the plurality of tape feeders 5a shown in FIG. 11 is mounted on the component supply unit 5 at regular positions of the component supply unit at equal intervals, or as a premise, each of the plurality of tape feeders 5a supplies components. If the parts are mounted on the component supply unit 5 at regular positions at equal intervals, the first position shift amount can be obtained only from the processing result of the processing S5 as described above, so that the processing S4 can be omitted. ..

Further, for example, although not shown, in the case shown in FIG. 10 or not in the case shown in FIG. 11, the first deviation amount determining unit 6141 is based on each tape feeder 5a, and each mounting head 15 is used as a reference. (For each tape feeder 5a), each first position shift amount is obtained from each feeder position of each tape feeder 5a obtained in the process S4 and each nozzle position of each mounting head 15 obtained in the process S5. More specifically, the first deviation amount determining unit 6141 determines the feeder position of the tape feeder 5a obtained in the process S4 and the mounting head corresponding to the tape feeder 5a obtained in the process S5 for each mounting head 15. The difference from the nozzle position of 15 is obtained as the first position deviation amount. In the above case, each of the plurality of mounting heads 15 may be used as a reference. In this case, as can be seen from the above description in the case shown in FIG. 10 and the above description in the case shown in FIG. The sign of the first misalignment amount is reversed.

Further, for example, although not shown, when the component supply unit 5 is mounted on the main body mechanism unit 1, the amount of misalignment of the component supply unit 5 with respect to the main body mechanism 1 from the normal position is defined as the first misalignment amount. Is also good. In this case, the amount of misalignment from the normal position includes the amount of misalignment that occurs when the carriage (parts supply unit 5 as an example in the present embodiment) is attached. Since the tape feeder 5a is mounted on the component supply unit 5, the amount of misalignment from the regular position in the component supply unit is superimposed on the amount of misalignment from the regular position of the component supply unit. Therefore, the amount of misalignment from the normal position in the component supply unit is the first by the calculation of the first misalignment amount in the case shown in FIG. 10, or in the case shown in FIG. 10 or not in the case shown in FIG. It is obtained by calculating the amount of misalignment.

Next, secondly, the second displacement amount determining unit 6142 corrects the first displacement amount determined by the first displacement amount determining unit 6141 in the suction nozzles 15b for each of the plurality of suction nozzles 15b. By rotating the suction nozzle 15b, a th-order from a normal position is generated between the suction nozzle 15b and the tape feeder 5a corresponding to the suction nozzle 15b along the Y direction (the tape transport direction). 2 Obtain the amount of misalignment. More specifically, the second displacement amount determining unit 6142 corrects the second displacement amount corresponding to the first displacement amount in the adsorption nozzle 15b obtained as described above for each of the plurality of suction nozzles 15b. Obtained from the correction data stored in the data storage unit 814. For example, in the cases shown in FIGS. 10 and 8, the mounting head 15 (head shaft 1) is displaced by -100 [μm] (= −δcosθ = −100 × cos0 ° = −100) at 0 ° rotation. Therefore, this deviation amount −100 [μm] is obtained as the second position deviation amount. Further, for example, the mounting head 15 (head shaft 2) shifts by −86.6 [μm] (= −δcosθ = -100 × cos330 ° = −86.6) when rotated at −30 °, and thus this deviation. The amount −86.6 [μm] is obtained as the second misalignment amount. Further, for example, the mounting head 15 (head shaft 3) is deviated by −70.7 [μm] (= −δcosθ = -100 × cos45 ° = -70.7) when rotated at + 45 °, and thus this displacement amount. -70.7 [μm] is obtained as the second misalignment amount.

Returning to FIG. 9, the component mounting device D subsequently, for each of the plurality of suction nozzles 15b, sucks the suction nozzles 15b so as to correct the position shift amount Δ obtained by the position shift amount determination unit 614. The position AD is corrected (S7).

More specifically, first, first, the correction unit 613 is the first position, which is the amount of displacement in the X direction obtained by the first displacement amount determining unit 6141 in the process S6 for each of the plurality of suction nozzles 15b. By controlling the R-axis servomotor 17 so as to cancel the deviation amount, the suction nozzle 15b is rotated around the R-axis. More specifically, the correction unit 613 obtains the rotation angle θ corresponding to the first positional deviation amount of the suction nozzle 15b from the correction data stored in the correction data storage unit 814. Then, the correction unit 613 controls the R-axis servomotor 17 corresponding to the suction nozzle 15b to rotate the suction nozzle 15b around the R-axis by the obtained rotation angle θ. Such a process is carried out for each of the plurality of suction nozzles 15b. As a result, the amount of the first position shift in the X direction in the suction position AD is corrected, and the suction position AD is optimized in the X direction.

Secondly, the rotation of the suction nozzle 15b causes the second position shift amount to shift in the Y direction, so that the second position shift amount is corrected. That is, the correction unit 613 corresponds to the suction nozzles 15b so as to cancel the second position shift amount in the Y direction obtained by the second shift amount determination unit 6142 in the process S6 for each of the plurality of suction nozzles 15b. Controls the transfer of parts in the tape feeder 5a. More specifically, the correction unit 613 adjusts and sets the offset amount in the Y direction of the tape feeder 5a corresponding to the suction nozzle 15b by the amount of the second position deviation of the suction nozzle 15b for each of the plurality of suction nozzles 15b. To do.

For example, in the examples shown in FIGS. 10 and 8, the mounting head 15 (head shaft 1) is rotated at a rotation angle of 0 ° (that is, non-rotation), and the corresponding tape feeder 5a (FDR1) is Y. The offset amount in the direction is adjusted and set by -100 [μm]. Further, for example, the mounting head 15 (head shaft 2) is rotated at a rotation angle of −30 °, and the corresponding tape feeder 5a (FDR2) adjusts the offset amount in the Y direction by −86.6 [μm]. And set. Further, for example, the mounting head 15 (head shaft 3) is rotated at a rotation angle of + 45 °, and the corresponding tape feeder 5a (FDR3) is adjusted by an offset amount of -70.7 [μm] in the Y direction. , Set.

Subsequently, the component mounting device D sucks the component PZ from each of the tape feeders 5a by each of the suction nozzles 15b, and simultaneously sucks the plurality of the component PZ by each of the suction nozzles 15b on the mounted substrate K. A mounting process for mounting at a predetermined mounting position MP is performed (S8), and this process is terminated.

As described above, in the component mounting device D and the suction position correction method mounted on the component mounting device D in the present embodiment, each of the plurality of suction nozzles 15b has a suction opening NP at an opening position CP deviating from the position of the rotation shaft. Therefore, the component mounting device D and its suction position correction method can correct the displacement amount Δ according to the suction nozzle 15b by rotating the suction nozzle 15b for each of the plurality of suction nozzles 15b. , Each suction position can be corrected so that it can be sucked at each proper suction position.

When the misalignment amount Δ from the normal position NL includes the misalignment amount generated when a plurality of component supply units (tape feeder 5a in the above example) are juxtaposed, the component mounting device D and its suction position correction method Can correct the amount of misalignment that occurs when such a plurality of component supply units are juxtaposed.

When the misalignment amount Δ from the normal position NL includes the misalignment amount generated when the plurality of suction nozzles 15b are attached, the component mounting device D and the suction position correction method thereof include such a plurality of suction nozzles. The amount of misalignment that occurs when the 15b is attached can be corrected.

When the displacement amount Δ from the normal position NL includes the displacement amount generated when the carriage (component supply unit 5 in the above example) is attached, the component mounting device D and its suction position correction method are described in this manner. It is possible to correct the amount of misalignment that occurs when installing such a dolly.

Since the suction nozzle 15b has the suction opening NP at the opening position CP deviated from the position of the rotation axis, the suction nozzle 15b corrects the amount of first misalignment along one direction (X direction in the above example). When rotated, a deviation occurs by a second position deviation amount from the normal position along the transport direction (Y direction in the above example). If the amount of the second misalignment is a length that can be ignored from the viewpoint of, for example, poor suction or poor mounting position, correction is not necessary. However, the component mounting device D and its suction position correction method are described in this second position. Since the amount of deviation can be corrected, for example, poor suction and poor mounting position can be avoided more appropriately.

In order to express the present invention, the present invention has been appropriately and sufficiently described through the embodiments with reference to the drawings above, but those skilled in the art can easily change and / or improve the above embodiments. It should be recognized that it can be done. Therefore, unless the modified or improved form implemented by a person skilled in the art is at a level that deviates from the scope of rights of the claims stated in the claims, the modified form or the improved form is the scope of rights of the claims. It is interpreted as being comprehensively included in.

D Component mounting device K Mounted board PZ Component MP mounting position CP, Cpa Aperture position (center position of suction opening)
NL Normal position Δ Position deviation from normal position XX direction (an example of one direction)
YY direction (example of transport direction)
3 Head unit 5 Parts supply unit (an example of a dolly)
5a Tape feeder (example of parts supply unit)
15 Mounting head 15a Head shaft 15b Suction nozzle 17 R-axis servo motor 18 First imaging unit 19 Second imaging unit 61 Control processing unit 81 Storage unit 613 Correction unit 614 Positioning amount determination unit 814 Correction data storage unit 6141 First deviation Amount determination unit 6142 Second deviation amount determination unit

Claims (6)

A plurality of component supply units that are juxtaposed along one direction and supply components and a plurality of suction nozzles that suck the parts from each of the plurality of component supply sections are provided, and the components are simultaneously sucked by each of the plurality of suction nozzles. This is a suction position correction method for a component mounting device that mounts a plurality of the above-mentioned components at predetermined mounting positions on the board to be mounted.
Each of the plurality of suction nozzles has a suction opening that is rotatable with respect to a predetermined rotation axis and generates a negative pressure at an opening position deviating from the position of the rotation axis.
When the component is sucked from each of the plurality of component supply units by the plurality of suction nozzles, each of the plurality of suction nozzles is generated between the suction nozzle and the component supply unit corresponding to the suction nozzle. The position deviation amount determination process for obtaining the position deviation amount from the normal position, and
Each of the plurality of suction nozzles is provided with a correction step of rotating the suction nozzle so as to correct the position shift amount obtained in the position shift amount determination step in the suction nozzle.
A method for correcting the suction position of a component mounting device. The amount of misalignment from the normal position includes the amount of misalignment that occurs when the plurality of component supply units are juxtaposed.
The suction position correction method for the component mounting device according to claim 1. The misalignment amount from the normal position includes the misalignment amount generated when the plurality of suction nozzles are attached.
The suction position correction method for the component mounting device according to claim 1 or 2. The component mounting device further includes a trolley on which the plurality of component supply units are mounted side by side.
The amount of misalignment from the normal position includes the amount of misalignment that occurs when the dolly is attached.
The suction position correction method for a component mounting device according to any one of claims 1 to 3. Each of the plurality of component supply units supplies the component by transporting the component in a transport direction orthogonal to the one direction.
The plurality of suction nozzles are arranged so as to be juxtaposed along the one direction when sucking the component.
The misalignment amount is a length along the one direction.
In the misalignment amount determination step, for each of the plurality of suction nozzles, the suction nozzles and the suction nozzles are sucked by rotating the suction nozzles so as to correct the obtained misalignment amount. Further, the amount of the second position deviation from the normal position generated along the transport direction with the component supply unit corresponding to the nozzle is obtained.
In the correction step, the parts are further conveyed in the component supply unit corresponding to the suction nozzles so as to correct the second position shift amount obtained in the position shift amount determination step for each of the plurality of suction nozzles. Control,
The suction position correction method for a component mounting device according to any one of claims 1 to 4. A plurality of component supply units that are juxtaposed along one direction and supply components and a plurality of suction nozzles that suck the parts from each of the plurality of component supply sections are provided, and the components are simultaneously sucked by each of the plurality of suction nozzles. A component mounting device that mounts a plurality of the above-mentioned components at predetermined mounting positions on the board to be mounted.
Each of the plurality of suction nozzles has a suction opening that is rotatable with respect to a predetermined rotation axis and generates a negative pressure at an opening position deviating from the position of the rotation axis.
When the component is sucked from each of the plurality of component supply units by the plurality of suction nozzles, each of the plurality of suction nozzles is generated between the suction nozzle and the component supply unit corresponding to the suction nozzle. A position deviation amount determination unit that obtains the position deviation amount from the normal position, and
Each of the plurality of suction nozzles is further provided with a correction unit that rotates the suction nozzle so as to correct the position shift amount obtained by the position shift amount determination unit in the suction nozzle.
Component mounting device.

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