JP3142720B2 - Positioning method and device for mounting machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mounting machine for mounting an electronic component on a printed circuit board.
The present invention relates to a position correcting method of a mounting machine and a device for mounting the electronic component in consideration of a shift amount of an electronic component detected by the nozzle member with respect to a nozzle member.

[0002]

2. Description of the Related Art Conventionally, a small electronic component such as an IC is sucked from a component supply unit by a component mounting head unit having a nozzle member, and is transferred onto a positioned printed board. A mounting machine designed to be mounted at a predetermined position is generally known. In this mounting machine, usually, the head unit is movable in the XY plane with respect to the mounting machine main body, and the nozzle member is movable and rotatable in the Z-axis (vertical axis) direction. A drive mechanism for movement and rotation is provided, and the vacuum supply means for the nozzle member, the drive mechanism, and the like are collectively controlled by a control unit, so that suction and mounting of electronic components is automatically performed. ing.

In this type of mounting machine, an imaging camera for recognizing a printed circuit board is mounted on a head unit.
A device that detects the exact positional relationship between the head unit and the printed circuit board by recognizing the printed circuit board with this imaging camera to ensure mounting accuracy, and a component recognition camera installed on the mounting machine body An apparatus has been proposed in which the electronic component is recognized by the component recognition camera, and the electronic component is mounted in consideration of a shift in suction of the electronic component to the nozzle member.

[0004]

In such a mounting machine, the positional relationship between the imaging camera mounted on the head unit and the nozzle member, the movement base point (movement reference) of the head unit, and the position of the component recognition camera. It is indispensable to set the relationship extremely precisely and to maintain the relative positional relationship appropriately in order to increase the mounting accuracy. for that reason,
Prior to the operation of the mounting machine, etc., the mounting of components on a trial basis was performed to check the positional deviation, and to adjust the relative positional relationship. And the workability is extremely poor. In particular, in a mounting machine in which a large number of nozzle members are mounted on the head unit, it is necessary to make adjustments for each nozzle member, so that the adjustment becomes complicated, and therefore, it takes an enormous amount of time to work, which is preferable in terms of work efficiency. Absent.

Also, as shown in, for example, Japanese Patent Application Laid-Open No. 2-243233, holes and the like are provided so that calibration for component recognition by a component recognition camera provided in the mounting machine body can be automatically performed. A jig having a recognized part is attracted to the nozzle member, and the nozzle member is rotated on the camera, and the position of the recognized part recognized at a plurality of rotation angle positions is determined based on a deviation between the reference position of the camera and the position of the recognized part. There has been proposed an apparatus which calculates a deviation between a rotation center of a nozzle member and a reference position of the camera, and stores the calculated deviation as calibration data.

However, the cause of the deviation between the center of rotation of the nozzle member and the reference position of the camera is caused by the error in the position of the nozzle member (the relative position of the head unit to the reference point) and the position of the head unit ( (The relative position with respect to the head unit movement base point) and the error as described above. Since the effect on the mounting position is different between the error in the position of the nozzle member and the error in the position of the head unit, calibration for component recognition is performed by calculating the deviation between the rotation center of the nozzle member and the reference position of the camera. Just performing the process cannot sufficiently increase the mounting accuracy.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and eliminates the need for complicated adjustment of relative positions of an imaging camera, a nozzle member, and a component recognition camera mounted on a head unit. Further, it is an object of the present invention to provide a position correcting method and a device of a mounting machine which can improve mounting accuracy.

[0008]

According to a first aspect of the present invention, there is provided a position correcting method comprising: a head unit movably provided with respect to a mounting machine main body; In a mounting machine configured to pick up a component from a supply side, perform component recognition by the first imaging unit, correct a mounting position based on the component recognition, and mount the component on the component mounting side. A mounting process is performed in which the components are adsorbed by the nozzle member and the components are mounted with consideration of the correction after the component recognition, and the two components are sequentially rotated, and one of the components is rotated by a predetermined angle after the component recognition. Attach to the mounting position,
After mounting the component, the head unit is moved so that the second imaging means provided on the head unit is set to a position corresponding to each of the mounting positions, and the second imaging means images each of the components. And calculating the error of the relative position of the nozzle member with respect to the reference point of the head unit and the error of the relative position of the first imaging means with respect to the head unit moving base point, based on the positional deviation amount of the head unit. , And these calibration data are used for control during subsequent mounting.

According to a second aspect of the present invention, there is provided a position correcting apparatus, wherein the head unit is provided so as to be movable with respect to the mounting machine body, a rotatable nozzle member provided in the head unit, the head unit, and A driving unit for the nozzle member, a first imaging unit for component recognition provided on the mounting machine main body, and a second imaging unit provided on the head unit.
An image pickup means for picking up a component from the component supply side by the nozzle member, performing component recognition by the first image pickup means, correcting the mounting position based on the component recognition, and transferring the component to the component mounting side. In a mounting machine configured to be mounted, a mounting process is performed in which a component is sucked by the nozzle member and the component is recognized and the mounting is performed in consideration of the correction, and two components are sequentially mounted, and one component is mounted after the component recognition. In a state where the head unit is rotated by a predetermined angle, the drive unit is mounted to a predetermined mounting position, and the driving unit is moved to move the head unit to a position corresponding to the mounting position after the component mounting. A drive control unit to be operated, and a position shift amount of an image of each component imaged by the second imaging unit with respect to an appropriate image position is obtained;
Calculating means for calculating calibration data by calculating an error of a relative position of the nozzle member with respect to a reference point of the head unit and an error of a relative position of the first imaging means with respect to a head unit moving base point based on the displacement amount of each part; And a storage means for storing the calibration data obtained by the calculation means.

[0010]

According to the position correction method of the first aspect, the error is caused by the error of the relative position of the nozzle member with respect to the reference point of the head unit and the error of the relative position of the first imaging means with respect to the base point of movement of the head unit. The mounting position of the parts,
That is, the image position of the component imaged by the second imaging unit after mounting is shifted, and in particular, the case where the component is mounted without rotating after the component recognition by the first imaging unit and the case where the component is rotated by a predetermined angle. Since the effects of the above-described errors are different from each other, it is possible to obtain each of the above-described errors based on the positional shift of the image of each of the components captured by the second imaging unit. Then, the above-described errors are calculated and calibration data corresponding thereto is obtained, so that mounting accuracy in the subsequent mounting operation is ensured.

Further, according to the position correcting apparatus of the second aspect, the processing for obtaining the calibration data is automatically performed by the above method. Then, since the calibration data is stored in the storage means, the calibration data is read from the storage means in the subsequent mounting operation and is reflected in the control for mounting.

[0012]

1 to 3 show a position correcting apparatus according to the present invention.
This will be described with reference to FIG.

FIGS. 1 and 2 show the overall structure of a mounting machine to which a position correcting device according to the present invention is applied.
Schematically shows a head unit described later.

As shown in these figures, a conveyor (transporting means) 2 for transporting a printed circuit board is arranged on a base 1 of the mounting machine main body, and a printed circuit board 3 is transported on the conveyor 2 to a predetermined position. Is stopped at the mounting work position.

At the side of the conveyor 2, a component supply unit 4
Is arranged. The component supply unit 4 includes a plurality of rows of tape feeders 4a. Each of the tape feeders 4a stores and holds small pieces of electronic components such as ICs, transistors, and capacitors at predetermined intervals, and a tape is a reel. And a ratchet-type feeding mechanism at the tape feed-out end, so that the tape is fed out intermittently as components are picked up by a head unit 5 described later.

A head unit 5 for mounting components is provided above the base 1. The head unit 5 is movable in an X-axis direction (the direction of the conveyor 2) and a Y-axis direction (a direction orthogonal to the X axis on a horizontal plane).

That is, a pair of fixed rails 7 extending in the Y-axis direction and a ball screw shaft 8 driven to rotate by a Y-axis servomotor 9 are disposed on the base 1. A head unit support member 11 is disposed on the support member 11, and a nut portion 12 provided on the support member 11 is screwed to the ball screw shaft 8. A guide member 13 extending in the X-axis direction and a ball screw shaft 14 driven by an X-axis servomotor 15 are disposed on the support member 11 so that the head unit 5 can move on the guide member 13. A nut portion (not shown) provided on the head unit 5 is screwed to the ball screw shaft 14. The operation of the Y-axis servomotor 9 rotates the ball screw shaft 8 to move the support member 11 in the Y-axis direction. 5 moves in the X-axis direction with respect to the support member 11.

The Y-axis servomotor 9 and the X-axis servomotor 15 are provided with position detecting means 10 and 16 each comprising an encoder so that the operating position of the head unit 5 can be detected. Has become.

As shown in FIG. 3, the head unit 5 has first and second nozzle members 21 for adsorbing components.
22 are provided. Both nozzle members 21 and 22
Are capable of moving in the Z-axis direction (vertical direction) and rotating about the R-axis (nozzle center axis) with respect to the frame of the head unit 5, respectively, so that Z-axis servomotors 17, 18 and R-axis servomotors 19, 20. These servo motors 17 to 20 are provided with position detecting means 23 to 26 each composed of an encoder.
Is detected. Each of the nozzle members 21 and 22 is connected to a negative pressure supply unit (not shown) via a valve or the like, so that a negative pressure for component suction is supplied to the nozzle members 21 and 22 when necessary.

Further, a board recognition camera 27 is attached to the front side of the head unit 5. The board recognition camera (second imaging unit) 27 captures an image of a fiducial mark (hereinafter, abbreviated as a mark) attached to the surface of the printed board 3 at the time of mounting, and attaches it to a dummy board in a calibration process described later. The part to be imaged is taken. A cylindrical light-emitting body 28 composed of a large number of LEDs is fixed to the front end portion (lower end portion) of the board recognition camera 27. At the time of imaging, the light-emitting body 28 emits light and the detection hole 28a of the light-emitting body 28 The image is taken into the board recognition camera 27 via the.

Further, the base 1 is provided with a component recognition camera (first imaging means) 29 for recognizing the suction state of the electronic components sucked by the head unit 5. The component recognition camera 29 is disposed beside the component supply unit 4, and after the electronic component is sucked in the component supply unit 4, the head unit 5 moves to a predetermined position above the component recognition camera 29. By being caused to take place, the suction component is imaged.

Next, the control system of the mounting machine will be described with reference to the block diagram of FIG.

A control device 30 as shown in FIG. 4 is mounted on the mounting machine, and the Y-axis and X-axis servomotors 9 and 15 and the nozzle members 21 and 22 of the head unit 5 are mounted.
The Z-axis servomotors 17 and 18, the R-axis servomotors 19 and 20, and the position detecting means 10, 16, 23 to 26 for each servomotor are all provided by the controller 30.
Are electrically connected to each other, and are integrally controlled by the control device 30. More specifically, the main processing unit 3 provided with predetermined information for comprehensively controlling the operation of the mounting machine
2 and an axis control unit 31 controlled by the main arithmetic unit 32
Are provided in the control device 30, and the servo motor and the like are connected to the axis control unit 31.

The axis control unit 31 and the main processing unit 32 perform control for performing a predetermined mounting operation during mounting, and
At the time of the calibration process described later, the first and second components are sequentially mounted at predetermined component mounting positions on the dummy substrate as described in detail later, and the board recognition is performed at a position corresponding to the mounting position of each component. It functions as drive control means for moving the head unit 5 to dispose the camera 27.

An image processing section 33 is connected to the main processing section 32, and the board recognition camera 27 and the component recognition camera 29 are connected to the image processing section 33. That is, predetermined image processing is performed on the image data captured by the board recognition camera 27 and the component recognition camera 29 and the processed image data is output to the main processing unit 32. Recognition of components at the time of processing is performed.

The control device 30 is further provided with a calibration data calculation section (calculation means) 34. The calibration data calculation section 34 is connected to the main calculation section 32 and the storage section 35. Are connected to the main processing unit 32.

In the process for calibration, the board recognition camera 2
When each of the above components is imaged in step 7, the image data is output to the calibration data calculation unit 34. In the calibration data calculation unit 34, as will be described in detail later, the image position of each component is obtained, and based on the image position error of the nozzle member relative to the head unit reference point and error of the recognition center position of the component recognition camera 29. Is calculated, and calibration data is obtained from these errors. This calibration data is stored in the storage unit 35. At the time of mounting, the storage unit 3
The calibration data stored in 5 is read out to the main processing unit 32, and the control of mounting is performed using the calibration data.

Next, a position correcting method in the mounting machine will be described.

In the mounting machine, for example, a process for calibrating a target mounting position of a component in the mounting machine is performed based on the flowchart shown in FIG. Will be In the following description, the description will be made using the absolute coordinates shown in the simulation diagram of FIG.

In this figure, (1) O (0, 0); origin of absolute coordinates (2) P _A (X _A , Y _A ); recognition center of board recognition camera 27 when head unit 5 moves ( Head unit 5
(3) P _B (X _B , Y _B ); recognition center of the component recognition camera 29 (4) R (x _N , y _N ); relative position of the nozzle member with respect to the reference point of the head unit 5 (5 ) M ₁ (X ₁ , Y ₁ ): Mounting position of first component (6) M ₂ (X ₂ , Y ₂ ): Mounting position of second component. Here, the recognition center of the board recognition camera 27, that is, the origin of the coordinate system of the board recognition camera 27 is defined as the reference point of the head unit 5, and this reference point is located at the origin O (0,0) of the absolute coordinates. The state is defined as a movement base point of the head unit 5. Therefore, the position P _A (X _A , Y _A ) of the reference point when the head unit 5 moves is determined by the amount of movement in the X and Y directions from the movement base point of the head unit 5 and has sufficient accuracy. . In addition, the relative position R (x _N , R _N ) of the nozzle member with respect to the recognition center P _B (X _B , Y _B ) of the component recognition camera 29 and the reference point of the head unit 5.
y _N ) is an estimated value that may include an error at the beginning, and is corrected by the following processing to obtain accurate calibration data.

In this process, first, the dummy substrate is fixed at a predetermined mounting work position at the time of mounting (step S
1).

Next, the head unit 5 is moved, and the first component is picked up from the component supply unit 4 by the nozzle member 21 (or the nozzle member 22). It is mounted to the mounting position M ₁ of the dummy substrate D (step S2~
Step S4).

More specifically, the first component picked up from the component supply unit 4 is the component recognition camera 2.
The component recognition camera 29 takes an image of the component. Then, based on the captured image, the deviation amount of the imaging center of the part is obtained for recognizing the center P _B of the component recognition camera 29, the shift amount (x _W1, y
_W1) and the relative position of the nozzle member 21 (x _N, and the head unit 5 is moved to the target position in consideration of the _{y N) (X 1 -x N} -x W1, Y 1 -y N -y W1) first part is mounted to the mounting position M _1.

When the first component is mounted, the head unit 5 is moved, and the second component is sucked by the nozzle member 21 (or the nozzle member 22). This part is at a certain angle,
Specifically, the dummy substrate D is rotated 180 °.
It is mounted in the mounting position M ₂ (step S5~ step S7). At this time, similarly to the first component, the shift amount (x _W2 , y _W2 ) of the component with respect to the axial center R of the nozzle member 21 is obtained based on the image captured by the component recognition camera 29. Then, this deviation amount (x
_W2, y _W2) and the relative position of the nozzle member 21 (x _N,
target position in consideration of the y _N) and _{(X 2 -x N + x W2} , Y 2 -y
The _N + y _W2) together with the head unit 5 is moved, the second part is mounted to the mounting position M ₂ and the nozzle member 21 is rotated 180 °.

[0035] Thus when the mounting of the first and second part is completed, then, the head unit 5 are sequentially component mounting position M _1, M ₂ of the upper, i.e. recognized center P _A are sequentially parts of the board recognition camera 27 The board is moved above a position corresponding to the mounting positions M ₁ and M ₂ , whereby the first and second components are imaged by the board recognition camera 27 (steps S8 and S9).

When each component is imaged, the calibration data calculation unit 34 determines the image positions of the first and second components based on the image data captured by the board recognition camera 27, and based on that, the nozzle position. An error between the relative position of the member and the recognition center of the component recognition camera 29 is obtained (steps S10 and S11).

[0037] Specifically, if representing the first and second component images obtained by imaging on the coordinates of the origin recognition center P _A of the board recognition camera 27, the board recognition camera 27, nozzle Data P _B (X _B , Y _B ), R indicating the relative positional relationship between the member 21 and the component recognition camera 29
If (x _N , y _N ) is proper, the movement of the head unit 5 with respect to the movement base point O is proper as described above, so that the first and second component images are both overlapped and the image center is the recognition center P _A. (See FIG. 7). However, the board recognition camera 27, the nozzle member 21, and the component recognition camera 2
9, data P _B (X _B , Y _B ) indicating the relative positional relationship of
R (x _N, y _N) if is not maintained properly, so that the shift in image position of each part arises.

That is, the relative position R of the nozzle member 21
(X _N, y _N) to the error _{ΔE N (ΔX EN, ΔY EN} ) If exists, the component recognition by the component recognition camera 29, (deviation of the component center relative to the nozzle rotation center) the error Delta] E _N is the component suction deviation The mounting position of the first component mounted at 0 ° with respect to the angle at the time of recognition does not shift, but the second component mounted at 180 ° Is twice as large as ΔE _N (see FIG. 8). In addition, an error ΔE _B (ΔX _EB , ΔY _B ) is added to the position P _B (X _B , Y _B ) of the recognition center of the component recognition camera 29.
_{If EB)} is present, as the deviation of the mounting position for the first component to be mounted at 0 °, is Delta] E _B is added, 1
The second component to be mounted at 80 °, ΔE _B is subtracted (see FIG. 9).

Therefore, an error in the relative position of the nozzle member and
Deviation ΔE ₁ (ΔX _E1 , ΔY _E1 ), ΔE ₂ of the mounting position of each component (the image position of the component captured by the board recognition camera 27) due to both the error of the recognition center position of the component recognition camera 29.
(ΔX _E2, ΔY _{E2) is, ΔE 1 (ΔX E1, ΔY} E1) = ΔE B (ΔX EB, ΔY EB) ... ΔE 2 (ΔX E2, ΔY E2) = 2 × ΔE N (ΔX EN, ΔY EN) −ΔE _B (ΔX _EB , ΔY _EB )... When this is deformed, ΔE _N = １ ／ (ΔE ₁ + ΔE ₂ ) ΔE _B = ΔE ₁ (see FIG. 10).

Therefore, the deviation ΔE ₁ of the image position of each part,
By measuring ΔE ₂ , the error of the relative position of the nozzle member and the error of the recognition center position of the component recognition camera 29 are obtained from the above equation.

[0041] Thus, the error Delta] E _N, is Delta] E _B obtained, the relative positions and recognition center position of the component recognition camera 29 of the nozzle member _{R (x N, y N)} ← R (x N, y N) _{+ ΔE N P B (X B} , Y B) ← P B (X B, Y B) + ΔE B and corrected calibration data after the correction is the storage unit 35
(Step S12).

When the calibration data is stored in this way, the calibration processing according to this flowchart ends. The dummy substrate is removed from the mounting machine after the completion of the processing.

The above is the calibration process for one nozzle member 21. In the mounting machine of the above embodiment, the above-described calibration process is also performed for the nozzle member 22.
That is, steps S2 to S1 are performed for each nozzle member.
2 is repeated, each nozzle member 2
Calibration data for 1 and 22 is calculated and stored in the storage unit 35.

The calibration process of this flowchart may be repeated a plurality of times for one nozzle member, so that the accuracy of the calibration data can be improved.

When the calibration process is completed, the calibration data is used in the subsequent mounting operation by the mounting machine, and the mounting operation is performed with high accuracy.

Specifically, the head unit 5 is moved to the component supply unit 4 side, and the suction nozzles 21 and 22 are moved.
A predetermined component to be mounted is sucked by the
Picked up from. When the component is picked up, the head unit 5 is moved above the component recognition camera 29, and thereby the component is imaged. By the component recognition processing based on the imaging, the shift of the suction of the component to the nozzle member is obtained, and the correction amount of the mounting position is obtained accordingly. Thereafter, the head unit 5 is moved above the printed circuit board 3, and the component is mounted at a predetermined mounting position on the printed circuit board 3. In this case, the calibration data is read from the storage unit 35 to the main processing unit 42, and the calibration of the nozzle position and the correction of the target movement position of the head unit 5 at the time of component recognition are performed based on the calibration data. In addition, component recognition and mounting are performed with high accuracy.

As described above, according to the position correction method of the above embodiment, the first and second two components are mutually attached to the dummy substrate by one.
Wearing while rotating 80 ° imaged using the board recognition camera 27 to these parts, obtains the error Delta] E _N, Delta] E _B based on each part of the image captured, the nozzle with respect to the head unit reference position Correction data for the relative position of the member and the recognition center position of the component recognition camera 29 is corrected, and this calibration data is used for subsequent mounting processing, so that a predetermined mounting accuracy of the mounting machine is appropriately secured. can do.

In particular, during operation in a factory or the like, the relative positional relationship among the board recognition camera 27, the nozzle members 21 and 22, and the component recognition camera 29 changes over time, thereby causing a mounting failure. Even in this case, it is possible to continue the mounting operation without adjusting the relative positional relationship of these members by performing the above-described calibration processing, and it is necessary to adjust the relative positional relationship for a long time. There is no need to stop the mounting machine.

In the assembling work of the mounting machine, the precision of assembling the board recognizing camera 27, the nozzle members 21, 22 and the component recognizing camera 29 can be reduced, so that a high skill is not required. Thus, the assembling workability is improved, which is extremely advantageous in terms of assembling work of the mounting machine.

[0050]

As described above, according to the present invention, the picked-up component is recognized by the first imaging means for component recognition provided in the mounting machine body, and the pick-up deviation amount of the obtained component is taken into account. In the mounting machine, one of the two components is sequentially rotated by a predetermined angle after the recognition of the component, and the other is mounted at a predetermined mounting position, and the second imaging means provided on the head unit is mounted on each mounting component. An image of each component is arranged at a position corresponding to the position, an amount of displacement of each imaged component is obtained, and an error in the relative position of the nozzle member with respect to the reference point of the head unit based on the amount of displacement of each component. And the error of the relative position of the first imaging unit with respect to the head unit moving base point is calculated to obtain the respective calibration data, so that the first imaging unit and the nozzle unit Calibration data for the positional relationship between the positional relationship and the head unit moving base and the second imaging means and can be obtained accurately. Therefore, the mounting accuracy in the subsequent mounting operation can be suitably secured by using the calibration data without performing a troublesome adjustment of these positional relationships.

[Brief description of the drawings]

FIG. 1 is a plan view showing a mounting machine to which an example of a position correction device according to the present invention is applied.

FIG. 2 is a front view showing a mounting machine to which an example of the position correction device according to the present invention is applied.

FIG. 3 is a front view showing a head unit.

FIG. 4 is a block diagram showing a control system of the mounting machine.

FIG. 5 is a flowchart showing a position correction process in the position correction method of the present invention.

FIG. 6 is a schematic diagram illustrating a positional relationship among a board recognition camera, a component recognition camera, and a nozzle member.

FIG. 7 is a diagram illustrating an example in which first and second component images are represented on coordinates with the recognition center of the substrate recognition camera as the origin (relative positions of the substrate recognition camera, the nozzle member, and the component recognition camera). If the data showing the relationship is correct).

FIG. 8 is a diagram showing an example in which the first and second component images are represented on coordinates with the origin at the recognition center of the board recognition camera (when there is an error in the relative position of the nozzle member).

FIG. 9 is a diagram illustrating an example in which the first and second component images are represented on coordinates with the recognition center of the board recognition camera as the origin (when there is an error in the position of the recognition center of the component recognition camera). .

FIG. 10 is a diagram illustrating an example in which the first and second component images are represented on coordinates with the origin at the recognition center of the board recognition camera (the relative position of the nozzle member and the position of the recognition center of the component recognition camera); If there is an error).

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Base 2 Conveyor 3 Printed circuit board 4 Component supply part 5 Head unit 7 Fixed rail 8, 14 Ball screw shaft 9 Y-axis servomotor 10, 16, 23, 24, 25, 26 Position detecting means 11 Support member 13 Guide member 15 X-axis servo motor 17,18 Z-axis servo motor 19,20 R-axis servo motor 21,22 Nozzle member 27 Board recognition camera 29 Component recognition camera 30 Controller 31 Axis controller 32 Main processor 33 Image processor 34 Calibration data calculation Unit 35 storage unit

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) H05K 3/30 H05K 13/00-13/04

Claims (2)

(57) [Claims] A head unit movably provided with respect to a mounting machine main body is provided with a rotatable nozzle member, and the nozzle member sucks a component from a component supply side to form a first nozzle.
After performing component recognition by the imaging unit, the mounting position is corrected based on the component recognition, and the component is mounted on the component mounting side. After the recognition, the two parts are sequentially mounted by the mounting process that performs the mounting taking the above correction into account.
One of the components is mounted at a predetermined mounting position while being rotated by a predetermined angle after the component recognition, and after mounting the component, the second imaging means provided on the head unit is moved to a position corresponding to each of the mounting positions. Moving the head unit so that the second imaging unit captures an image of each component, and based on the amount of displacement of each component, the error in the relative position of the nozzle member with respect to the reference point of the head unit and the movement of the head unit An error of a relative position of the first imaging means with respect to a base point, calculating calibration data corresponding to each error, and using the calibration data for control during subsequent mounting. Position correction method. 2. A head unit movably provided with respect to a mounting machine main body, a rotatable nozzle member provided in the head unit, driving means for the head unit and the nozzle member, and A first imaging unit provided for component recognition provided, and a second imaging unit provided in the head unit, wherein the component is sucked from the component supply side by the nozzle member, and the component is recognized by the first imaging unit. After that, in the mounting machine configured to correct the mounting position based on the component recognition and mount the component on the component mounting side, the component is sucked by the nozzle member, and the correction is added after the component recognition. By the mounting process for mounting, two parts are sequentially mounted to a predetermined mounting position while one of the parts is rotated by a predetermined angle after the above-described component recognition. And the second
Drive control means for operating the drive means so as to move the head unit so that the image pickup means is located at a position corresponding to each of the mounting positions; and an appropriate image of the image of each of the parts imaged by the second image pickup means A positional deviation amount with respect to the position is obtained, and an error of a relative position of the nozzle member with respect to a reference point of the head unit and an error of a relative position of the first imaging unit with respect to a head unit moving base point are calculated based on the positional deviation amount of each component. A position correcting device for a mounting machine, comprising: a calculating means for obtaining calibration data by performing the calculation; and a storage means for storing the calibration data obtained by the calculating means.