JP4322634B2 - Surface mount machine - Google Patents

Description

  In the present invention, an electronic component such as an IC is sucked from a component supply unit by a movable head unit having a mounting head equipped with a nozzle for sucking the component at the tip, and the electronic component is placed on a substrate such as a printed circuit board. More particularly, the present invention relates to a surface mounter in which the nozzle is configured to be replaceable with respect to a mounting head and a nozzle replacement method thereof.

  2. Description of the Related Art Conventionally, a movable head unit having one or a plurality of mounting heads provided with a component suction nozzle at the tip has been provided, and electronic components such as ICs are componentized by the nozzle as the head unit moves. 2. Description of the Related Art Generally, a surface mounter that is sucked from a supply unit, transferred onto a printed board, and mounted at a predetermined position on the printed board is known.

In this type of surface mounting machine, the nozzle of the mounting head is configured to be replaceable, and is appropriately replaced according to the shape and size of the mounted component. For example, in Patent Document 1, a nozzle stocker that holds a plurality of types of nozzles in a replaceable manner is moved within the movable area of the mounting head, and more specifically, the movement common to each mounting head in the moving area of the mounting head. There is disclosed a device that is provided in a region (common region) and automatically replaces nozzles by moving a head unit on the nozzle stocker as necessary.
JP-A-9-266399

  In recent years, with the increase in the variety of mounting parts, it has become necessary to use more types of nozzles. Therefore, it is desired to store more types of nozzles in a nozzle stocker in a replaceable manner. Yes. However, when the number of nozzles stored in the nozzle stocker is increased, the space occupied by the nozzle stocker in the common area is increased accordingly, and other usage spaces in the common area, such as installation space for the component supply unit and the component recognition camera, etc. Is pressed.

  As a result, it is necessary to enlarge the movable area of the mounting head, which leads to an increase in the size of the device, and it is difficult to solve the potential problem of the surface mounter, which is a space saving of the device. . Therefore, it is desirable to rationally solve such contradictory issues.

  The present invention has been made in view of the above-described problems, and can be applied to a wider variety of components when mounting components, and can also meet the demand for space-saving devices. The object is to provide a machine and a nozzle replacement method.

In order to solve the above-described problems, the surface mounting machine of the present invention sucks a component from a component supply unit by a movable head unit having a plurality of mounting heads on which component suction nozzles are replaceably mounted. In the surface mounter that mounts on the substrate and mounts the nozzle held in the nozzle stocker on the mounting head according to the type of the component, the nozzle stocker moves the head unit. only a part mounting head of the mounting head a outside this common region all of the mounting head and accessible common area in one of the moving region of the mounting head due to the accessible such provided each to the area nozzle holding portion, and all of the nozzle holding of at least one of the mounting heads of said part of the mounting head said Roh Zurusutokka Are al provided so as to be accessible to, the sum of the total number of nozzles that can be held in the total number of nozzles that can be attached to the mounting head nozzle stocker, is attached to the mounting head The nozzles are mounted on the mounting head so that a value obtained by subtracting the total value of the total number of nozzles and the total number of nozzles held in the nozzle stocker is 1 or more, and the nozzles are mounted on the nozzle stocker. The mounting operation is performed in a held state (claim 1).

On the other hand, the nozzle exchange method according to the present invention optionally a nozzle changing method in a surface mounting machine according to claim 1, in which is mounted a nozzle on the mounting head, the target mounting head is so worn object A step of moving the nozzle into the nozzle stocker when a nozzle other than the nozzle of the target is mounted, and when the desired nozzle is mounted on a mounting head other than the target mounting head, The step of moving to the nozzle holding part in the moving area of the target mounting head among the nozzle holding parts of the stocker, or the nozzle holding part outside the moving area of the target mounting head among the nozzle holding parts of the nozzle stocker And moving the desired nozzle to the nozzle holding portion in the movement area of the target mounting head, and the step of moving the desired nozzle in the movement area of the target mounting head. The desired nozzle held in the Le holder subject mounting head in which and a step of attaching (claim 2).

In this method, when a nozzle other than the desired nozzle is mounted on the target mounting head, any one of the nozzle holding portions of the nozzle stocker within the moving region of the target mounting head. after a process of making a free space, so that transferring the nozzles mounted on the target mounting head to the free space (claim 3).

Further, in the nozzle replacement method according to claim 2 or 3 , when the desired nozzle is held by a nozzle holding portion outside a moving region of the target mounting head among nozzle holding portions of a nozzle stocker. The step of moving the desired nozzle to the nozzle holding portion in the movement area of the target mounting head is performed using a mounting head having a movement range wider than the target mounting head as a movement range with respect to the nozzle stocker. (Claim 4 ).

According to the surface mounting machine of the present invention (Claim 1), the replacement nozzle is held in a space other than the movement area (common area) common to each mounting head among the movement areas of the mounting head. More nozzles can be held by effectively using spaces other than the common area. Moreover, Ri by that part of the mounting head of the mounting head is made accessible to all the nozzles in the nozzle stocker, mounting all of the nozzles in the nozzle stocker for any mounting head It becomes possible to do. Therefore, the mounting operation can be performed using more nozzles than the conventional surface mounter of this type without expanding the common area.

On the other hand, according to the nozzle replacement method of the present invention (Claim 2 ), it is possible to mount on all mounting heads mounted on the head unit regardless of the position of the desired nozzle in the nozzle stocker. It becomes.

In particular, according to the method of the third aspect , a desired nozzle can be mounted on the target mounting head more reliably.

Further, according to the method of the fourth aspect , it is possible to mount the desired nozzle more reliably on all the mounting heads mounted on the head unit regardless of the position of the nozzle stocker. .

  Embodiments of the present invention will be described with reference to the drawings.

  1 and 2 schematically show a surface mounter to which a component mounting method according to the present invention is applied. As shown in the figure, on a base 1 of a surface mounter (hereinafter abbreviated as a mounter), a printed board transporting conveyor 2 is arranged, and the printed circuit board 3 is transported on the conveyor 2 to a predetermined level. It is stopped at the mounting work position. The printed circuit board 3 is carried in from the right side in the figure and carried out to the left side.

  On both sides of the conveyor 2, component supply units 4 are arranged. These component supply units 4 are provided with multiple rows of tape feeders 4a. Each tape feeder 4a is configured such that small chip components such as ICs, transistors, capacitors, etc. are stored at predetermined intervals, and the held tapes are led out from the reels. As the parts are taken out, the parts are taken out intermittently.

  Above the base 1, a component mounting head unit 5 is provided. The head unit 5 is movable over the component supply unit 4 and the mounting work position where the printed circuit board 3 is located, and the X-axis direction (direction parallel to the conveyor 2) and the Y-axis direction (direction orthogonal to the conveyor 2). It is possible to move to.

  That is, a fixed rail 7 in the Y-axis direction and a ball screw shaft 8 that is rotationally driven by a Y-axis servomotor 9 are disposed on the base 1, and a head unit support member 11 is disposed on the fixed rail 7. And a nut portion 12 provided on the support member 11 is screwed onto the ball screw shaft 8. The support member 11 is provided with a guide member 13 in the X-axis direction and a ball screw shaft 14 driven by an X-axis servo motor 15, and the head unit 5 is movably held by the guide member 13. A nut portion (not shown) provided on the head unit 5 is screwed onto the ball screw shaft 14. The support member 11 is moved in the Y-axis direction by the operation of the Y-axis servo motor 9, and the head unit 5 is moved in the X-axis direction with respect to the support member 11 by the operation of the X-axis servo motor 15. ing.

  A plurality of mounting heads 18 for mounting components are mounted on the head unit 5. In this embodiment, six mounting heads 18 are mounted in a line at equal intervals in the X-axis direction. In the following description, when it is particularly necessary to distinguish the mounting heads 18, the mounting heads 18 are called first, second... Sixth mounting heads 18 in order from the right side in FIGS. .

  The mounting head 18 can be moved in the Z-axis direction and rotated around the R-axis (nozzle center axis) with respect to the frame of the head unit 5. It is driven by. Further, each mounting head 18 is provided with a suction nozzle 19 at its tip (lower end), and negative pressure is supplied to the tip of the suction nozzle from a negative pressure supply means (not shown). Parts are attracted by suction force.

  The suction nozzle 19 is configured to be attachable to and detachable from each mounting head 18 and is replaced with a suction nozzle 19 having a different nozzle shape as necessary. More specifically, as shown in FIG. 5, the mounting head 18 is provided with a shaft 18a for mounting the suction nozzle 19, and the shaft 18a is orthogonal to the shaft 18a around the shaft 18a by the elastic force of the spring 18b. A positioning hard sphere 18c is provided which is elastically displaceable in the direction of movement. Then, as shown in the figure, when the suction nozzle 19 is inserted into the shaft 18a from the front end side, the hard sphere 18c is fitted and pressed into the recess 19b formed on the peripheral surface of the suction nozzle 19, and as a result. The suction nozzle 19 is held at the lower end of the mounting head 18. On the other hand, when a downward external force is applied to the suction nozzle 19 mounted on the shaft 18a, the suction nozzle 19 is pulled out from the shaft 18a while the rigid ball 18c is pushed back against the elastic force of the spring 18b. Has been.

  In the figure, reference numeral 19a denotes a hook-shaped locking plate provided in the middle of the suction nozzle 19, and when the nozzle is exchanged with nozzle stockers 32A and 32B, which will be described later, this locking plate 19a. The suction nozzle 19 is removed when the shutter members 34 of the nozzle stockers 32A and 32B are engaged with each other.

  The head unit 5 is further attached to two cameras (substrate recognition camera 20 and mounting position recognition camera 22) for recognizing an image of the printed circuit board 3 positioned at the mounting work position, and each mounting head 18. A component recognition unit 24 for recognizing a component image is mounted.

  The cameras 20 and 22 are cameras provided with, for example, a CCD area sensor, and are respectively provided downward on both sides of the arrangement direction with the mounting head 18 interposed therebetween. Of these cameras 20 and 22, the board recognition camera 20 takes an image of a fiducial mark attached to the upper surface of the board 3 in order to recognize the position of the printed board 3 on the absolute coordinate axis of the apparatus. The mounting position recognition camera 22 images, for example, a mark or a circuit pattern attached to the printed circuit board 3 in order to recognize the mounting position of the component on the printed circuit board 3.

  As shown in FIG. 4, the component recognition unit 24 is supported by the frame of the head unit 5 so as to be movable, and is driven by a servo motor to move in the X-axis direction (the direction perpendicular to the paper surface in the figure). 25. The movable frame 25 incorporates a camera 26 having a CCD area sensor, a mirror 27, and an illuminating device 28. For example, after the components are attracted, the mounting head 18 is set at the rising end position as shown in FIG. In this state, the movable frame 25 moves in the direction in which the mounting heads 18 are arranged (X-axis direction), so that the components sucked by the suction nozzles 19 are sequentially imaged from the lower side.

  The substrate recognition camera 20 is also used as a means for imaging the suction nozzle 19, and is stored in the later-described nozzle stockers 32A and 32B by the substrate recognition camera 20 when the suction nozzle 19 described later is recognized. The suction nozzle 19 is picked up from above. Specifically, an ID mark marked on the upper surface of the locking plate 19a of the suction nozzle 19 is imaged.

  As shown in FIG. 1 and FIG. 3, a pair of component recognition cameras 30 </ b> A and 30 </ b> B for imaging the component adsorbed by the mounting head 18 are provided on the base 1 separately from the component recognition unit 24. And a pair of nozzle stockers 32A and 32B for holding the suction nozzle 19 for replacement.

  The component recognition cameras 30A and 30B are, for example, cameras equipped with CCD line sensors having different resolutions, and are arranged upward in a space between the conveyor 2 and the component supply unit 4 on one side (upper side in the figure). The head unit 5 moves on the component recognition cameras 30A and 30B in the X-axis direction so that the components adsorbed on the mounting heads 18 are imaged from below. The component recognition cameras 30A and 30B and the component recognition unit 24 both pick up the picked-up component by the mounting head 18, and the component recognition unit 24 is mainly a small chip component such as an IC. The part recognition cameras 30A and 30B are used for part recognition when the suction part is a large part such as QFP. For example, when the ID mark is provided on the lower surface of the locking plate 19 a of the suction nozzle 19, the component recognition cameras 30 </ b> A and 30 </ b> B capture the image of the ID mark of the suction nozzle 19 mounted on the mounting head 18 from the lower side. It may be used for

  The nozzle stockers 32A and 32B are each provided with a plurality of storage holes (nozzle holding portions) for storing the suction nozzles 19 in a row in the X-axis direction, and the suction nozzles 19 are inserted into the storage holes from the front end side. It is configured to be stored (held) in a state.

  As shown in FIG. 6, a pair of shutter members 34 that are opened / closed by the operation of an actuator (not shown) are provided above the storage holes of the nozzle stockers 32 </ b> A and 32 </ b> B. The suction nozzle 19 is detachably attached (replaced) to the mounting head 18 (FIG. 6 shows a state in which the shutter member 34 is closed).

  More specifically, when the suction nozzle 19 is removed, the shutter member 34 is first opened, and after the head unit 5 is moved above the nozzle nozzle stocker 32A (32B), the mounting head 18 is lowered so that the suction nozzle 19 is moved. In the empty space. Next, the shutter member 34 is closed, and the mounting head 18 is raised in this state (the state shown in FIG. 6). In this way, the shutter member 34 is engaged with the locking plate 19a of the suction nozzle 19, and as a result, the suction nozzle 19 is pulled out from the mounting head 18 and held in the storage hole. On the other hand, when the suction nozzle 19 is mounted, the mounting head 18 is lowered while the shutter member 34 is closed, whereby the suction nozzle 19 stored in the storage hole is mounted on the mounting head 18. Thereafter, when the shutter member 34 is opened and the mounting head 18 is raised, the suction nozzle 19 is attached to the mounting head 18 and is pulled out from the storage hole.

  Of these nozzle stockers 32A and 32B, one side of the nozzle stocker 32A is configured to accommodate up to 20 suction nozzles 19 (having 20 storage holes), and the other side of the nozzle stocker 32B includes up to 12 nozzle stockers 32B. The suction nozzle 19 can be stored (has 12 storage holes).

  Of these nozzle stockers 32A and 32B, the small-capacity nozzle stocker 32B is an area common to each mounting head 18 among the movement areas of the mounting head 18 accompanying the movement of the head unit 5 (hereinafter referred to as a common area Co). In other words, all the mounting heads 18 of the head unit 5 are arranged in an accessible area with respect to all the suction nozzles 19 housed in the nozzle stocker 32B. ing. On the other hand, a part of the large-capacity nozzle stocker 32A extends outside the common area Co. Specifically, the right side (in FIG. 3) of the suction nozzles 19 accommodated in the nozzle stocker 32A. Eight suction nozzles 19 on the right side are provided so as to protrude from the common area Co to the outside (on the side of carrying out the printed circuit board 3). As a result, among the mounting heads 18 of the head unit 5, the first and second mounting heads 18 are accessible to all the suction nozzles 19 housed in the nozzle stocker 32A. For the third to sixth mounting heads 18, access restrictions are imposed as follows.

  The following table 1 shows the relationship between the suction nozzles 19 accommodated in the nozzle stocker 32A (ANC) and the mounting head 18 accessible to them. In the table, ANC1 to ANC20 indicate the position of each suction nozzle 19 when the suction nozzle 19 on the rightmost side (right side in FIG. 3) of the suction nozzles 19 stored in the nozzle stocker 32A is “1”. The accessible mounting head 18 is indicated by a circle.

  In the present embodiment, of the first to sixth mounting heads 18 as described above, the first and second mounting heads 18 can access all the suction nozzles 19 housed in the nozzle stocker 32A. By configuring, it becomes possible to rearrange the suction nozzles 19 as will be described later. As a result, all the nozzles in the stocker 32A are first to first while extending the nozzle stocker 32A to the outside of the common region Co. It can be attached to the sixth arbitrary mounting head 18.

  Although not shown in the mounting machine as described above, a well-known CPU that executes logical operations, a ROM that stores various programs for controlling the CPU in advance, and various data are temporarily stored during operation of the apparatus. A controller composed of a RAM and the like for storing is provided, and during the mounting operation, the servo motors 9 and 15 and the like are collectively driven and controlled by the controller to operate the head unit 5 and the like according to a program stored in advance. It is configured to be. Hereinafter, the control of the mounting operation by the controller will be described according to the flowcharts of FIGS. 7 and 8 with reference to FIGS.

  When production is started by the above mounting machine, an operation (preparation operation) for preparing the suction nozzle 19 used in the mounting operation is executed prior to the component mounting operation.

  Specifically, first, mounting data stored in advance, that is, information on the type and arrangement of the suction nozzle 19 that reads out information such as the type, number, and mounting position of the mounted components and stores them in the nozzle stockers 32A and 32B (nozzle) List) is created (step S1).

  When the creation of the nozzle list is completed, it is next determined whether or not there is data relating to the current nozzle information, that is, the type, number and arrangement of the suction nozzles 19 currently stored in the nozzle stockers 32A and 32B (step S2). If it is determined that there is no nozzle information, the process proceeds to step S20 to execute nozzle recognition processing.

  Specifically, first, the substrate recognition camera 20 sequentially images the suction nozzles 19 accommodated in the nozzle stockers 32A and 32B while moving the head unit 5 in the X-axis direction above the nozzle stocker 32A (or 32B). Then, the type of the suction nozzle 19 accommodated in the nozzle stockers 32A and 32B is recognized by recognizing the image of the ID mark marked on the locking plate 19a (upper surface). In this case, when the suction nozzle 19 is already mounted on the mounting head 18, the nozzle recognition process is executed with all the suction nozzles 19 returned to the nozzle stockers 32A and 32B.

  If YES is determined in step S2 and if the nozzle recognition process in step S20 is completed, the process proceeds to step S3, and nozzle shortage (insufficient types) is performed based on the comparison between the nozzle list created in step S1 and the nozzle information. ).

  Here, when it is determined that there is a shortage, it is determined whether or not there is a free space in the nozzle stockers 32A and 32B. When it is determined that there is a free space, the shortage can be further compensated, that is, shortage. It is determined whether or not there is a vacant space sufficient to accommodate the number of suction nozzles 19 (steps S21 and S22). If it is determined that the shortage can be compensated for, the process proceeds to step S24.

  On the other hand, if it is determined in step S21 that there is no free space (NO in step S21) or if it is determined in step S22 that the shortage cannot be compensated (NO in step S22), the mounting head 18 is connected to the nozzle. The suction nozzles 19 in the stockers 32A and 32B are mounted, thereby providing an empty space in the nozzle stockers 32A and 32B for storing the shortage of suction nozzles 19 (step S23). At this time, the suction nozzles 19 are attached to five mounting heads 18 among the first to sixth mounting heads 18.

  In step S24, the fact that the suction nozzles 19 are insufficient, the type and number of the suction nozzles 19 that are insufficient, or the types of suction nozzles 19 that are not required in the next mounting operation, and the nozzle stockers 32A and 32B. The position of the suction nozzle 19 and the contents of the work instruction are displayed on a display unit (not shown) of the mounting machine to notify the operator, and the process proceeds to step S25. Alternatively, a lamp may be provided on the side of each of the storage holes of the nozzle stockers 32A and 32B, and a lamp at the position of the suction nozzle 19 that is unnecessary in the next mounting operation may be lit to notify the operator. Thereby, the removal operation | work of the unnecessary suction nozzle 19 by an operator becomes easy.

  In step S25, the movement of the head unit 5 is stopped, and the operator replenishes the shortage of suction nozzles 19 to the nozzle stockers 32A and 32B based on the display, or further removes the unnecessary suction nozzles 19 prior to refilling. I do. When the replacement information is displayed on the display unit, the operator replaces the suction nozzle 19 after refilling the suction nozzle 19 without waiting for the head unit 5 to automatically replace the suction nozzle 19 in the nozzle stockers 32A and 32B. Also good. Then, when replenishment / replacement data and work end data for the suction nozzle 19 are input by the input means on the operation panel (not shown), the process proceeds to step S2, and the presence / absence of nozzle information is determined again.

  When the operator inputs only the completion of replacement, not replacement data of the suction nozzle 19, using the input means, the mounting machine should check the replenished suction nozzle 19 or further removed suction nozzle 19. , The process proceeds to step S20 instead of step S2. Although not shown in this flowchart, if it is determined that the suction nozzle 19 is still insufficient after the process of step S20 again due to, for example, an ID mark recognition error, the process proceeds from step S3 to step S25. This is notified.

  At this stage, none of the mounting heads 18 is equipped with the suction nozzles 19, or five of the first to sixth mounting heads 18 are attached with the suction nozzles 19. For example, when five suction nozzles 19 are mounted on the mounting head 18 and the suction nozzles 19 are stored in all the storage holes of the nozzle stockers 32A and 32B, a maximum of 37 nozzles are provided. The suction nozzle 19 can be used for mounting work.

  On the other hand, if NO is determined in step S3, whether or not the suction nozzle 19 is mounted on the mounting head 18 (the five mounting heads 18 among the first to sixth mounting heads 18 are connected to the suction nozzle 19). If it is determined that the first mounting head 18 is mounted, an initial value “1” is set in the counter of the mounting head 18 and then the first mounting head 18 is sucked. It is determined whether or not the nozzle 19 needs to be replaced (nozzle change; mounted when not mounted), that is, whether replacement (mounting) for optimization is necessary (steps S4 to S6). The optimization means that the suction nozzle 19 is mounted on the mounting head 18 in the type and arrangement that can perform the mounting operation most efficiently from various conditions such as the type, number, and mounting position of the mounted components. Say.

  If it is determined in step S6 that there is no need for replacement (mounting), the process proceeds to step S26 to increment the counter value, and then the process proceeds to step S6 to make the same determination for the second mounting head 18. Do.

  On the other hand, if it is determined in step S6 that the suction nozzle 19 attached to the first mounting head 18 needs to be replaced, the suction nozzle 19 to be replaced (attached) is the nozzle stocker 32A, 32B. It is determined whether or not there is a head movable area, that is, whether or not the suction nozzle 19 to be replaced is present at a position accessible by the first mounting head 18 (step S7). In step S9, (1) when the suction nozzle 19 is not mounted on the first mounting head 18, the suction nozzle 19 in the nozzle stockers 32A and 32B is mounted on the mounting head 18. (2) When the suction nozzle 19 is already mounted on the first mounting head 18, the suction nozzle 19 mounted on the mounting head 18 is replaced with the nozzle stockers 32A, 3 After storing in the empty space of B, and mounting the suction nozzle 19 to be the first mounting head 18. Then, the process proceeds to step S 10, where it is determined whether or not the counter value is “6”, that is, whether or not the optimization process has been completed for all the mounting heads 18. If it is determined, the process proceeds to step S11 to start the mounting operation. On the other hand, if it is determined in step S10 that it is not attached, the process proceeds to step S26.

  As described above, since the first and second mounting heads 18 are configured to be accessible to all the suction nozzles 19 housed in the nozzle stockers 32A and 32B, in step S7, the counter value is set. Is n = 3 to 6 (that is, the target is the third to sixth mounting heads 18), and the suction nozzle 19 to be replaced is located outside the common area Co in the nozzle stocker 32A. If it is stored in the area, it can be determined as NO.

  If NO is determined in step S7, the process proceeds to step S8, where the suction nozzles 19 in the nozzle stockers 32A and 32B are rearranged. In other words, when the suction nozzle 19 to be replaced is stored in an inaccessible position, even if the suction nozzle 19 is removed to an empty space, the suction nozzle 19 to be mounted on the mounting head 18 is removed. Since the suction nozzles 19 cannot be mounted immediately, the suction nozzles 19 are rearranged in step S8, and the target suction nozzle 19 is moved to a position where the mounting head 18 can be accessed, and then the process proceeds to step S9. .

  Here, a specific rearrangement procedure will be described with reference to FIGS.

  FIG. 9 schematically shows the nozzle stocker 32A and the head unit 5 before rearrangement. In this figure, the number of nozzles stored in the nozzle stocker 32A is shown to be smaller than the actual number in order to briefly explain the rearrangement procedure.

  As shown in the figure, the left end of the nozzle stocker 32A is an empty space (indicated by “0” in the figure), and other storage holes are classified into types “7”, “6”, “ The suction nozzles 19 of “5”, “4”, “3”, and “2” are stored, and the suction nozzles 19 of types “7” and “6” are stored outside the common area Co. On the other hand, the first to sixth mounting heads 18 (indicated by H1 to H6 in the drawing) are attracted by the types “1”, “3”, “3”, “3”, “2” and “2”, respectively. A nozzle 19 is attached. In the following description, it is assumed that only the first and second mounting heads 18 can access the suction nozzles 19 stored outside the common area Co, and the type “#” stored outside the common area Co of the nozzle stocker 32A. A case where the 6 ”suction nozzle 19 is attached to the sixth mounting head 18 will be described as an example.

  [1] The type “1” suction nozzle 19 mounted on the first mounting head 18 is removed from the empty space of the nozzle stocker 32A, and then the type “6” suction nozzle 19 in the nozzle stocker 32A is removed. 1 is mounted on the mounting head 18 (FIG. 10).

  [2] The type “3” suction nozzle 19 attached to the second mounting head 18 is removed from the empty space of the nozzle stocker 32A, and then the type “1” suction nozzle 19 in the nozzle stocker 32 is removed. 2 is mounted on the mounting head 18 (FIG. 11).

  [3] The type “6” suction nozzle 19 mounted on the first mounting head 18 is removed from the empty space of the nozzle stocker 32A, and then the type “2” suction nozzle 19 in the nozzle stocker 32 is removed. 1 is mounted on the mounting head 18 (FIG. 12).

  [4] The type “2” suction nozzle 19 attached to the sixth mounting head 18 is removed from the empty space of the nozzle stocker 32A, and then the type “6” suction nozzle 19 in the nozzle stocker 32 is removed. 6 is mounted on the mounting head 18 (FIG. 13).

  [5] The type “1” suction nozzle 19 attached to the second mounting head 18 is removed from the empty space of the nozzle stocker 32A, and then the type “3” suction nozzle 19 in the nozzle stocker 32 is removed. 2 is mounted on the mounting head 18 (FIG. 14).

  [6] The type “2” suction nozzle 19 attached to the first mounting head 18 is removed from the empty space of the nozzle stocker 32A, and then the type “1” suction nozzle 19 in the nozzle stocker 32 is removed. 1 is mounted on the mounting head 18 (FIG. 15).

  By following the above steps [1] to [6], the suction nozzle 19 of type “6” housed outside the common area Co of the nozzle stocker 32A can be mounted on the sixth mounting head 18.

  If NO is determined in step S4, the process proceeds to step S27, and the suction nozzles 19 satisfying the optimization conditions are mounted on the mounting heads 18 from the suction nozzles 19 stored in the nozzle stockers 32A and 32B. To do. At this time, if the suction nozzle 19 to be mounted on the mounting head 18 is stored in an inaccessible position, the rearrangement is performed according to step S8 as necessary.

  Although not shown in this flowchart, if YES is determined in step S6, the number of suction nozzles 19 attached to the mounting head 18 and the nozzle stockers 32A and 32B recognized in step S20 are determined. It is determined whether or not the total value of the number of suction nozzles 19 matches the total value of the number of mounting heads 18 and the number of nozzles that can be stored in the nozzle stockers 32A and 32B (the number of storage holes). If they match, the nozzle rearrangement becomes impossible, that is, an empty space for removing the suction nozzle 19 cannot be provided in the nozzle stockers 32A and 32B, and the nozzle rearrangement becomes unnecessary. Then, the fact is displayed on the display unit to notify the operator, and the movement of the head unit 5 is stopped or the stopped state is maintained. Then, an unnecessary one of the suction nozzles 19 held in the nozzle stockers 32A and 32B is displayed together with the display unit to notify the operator, and based on this, the operator performs operations such as removal of the unnecessary suction nozzle 19 The operation of the head unit 5 is resumed when work end data or the like is input to the apparatus via the operation panel. In this case, the nozzle information may be reacquired by moving to step S20 again and performing nozzle recognition processing.

  When the suction nozzle 19 is mounted on each mounting head 18 in the optimized state as described above, the process proceeds to step S11 in FIG. 8 to start the mounting operation.

  Specifically, the head unit 5 is moved to the component supply unit 4, and the components are sucked and taken out from the desired tape feeder 4 a as the mounting head 18 moves up and down. Then, the head unit 5 is moved from the component supply unit 4 onto the printed circuit board 3, and the component recognition unit 24 is operated during the movement, and the head unit 5 is moved with respect to the component recognition cameras 30A and 30B as necessary. The upper part is allowed to pass therethrough, whereby the image of the suction component is recognized, and the movement target position of the head unit 5 is corrected based on the recognition result.

  When the head unit 5 reaches the printed circuit board 3, the first component is mounted on the printed circuit board 3 as the mounting head 18 moves up and down, and thereafter the head unit 5 is moved intermittently to the next target position. Then, the remaining suction components are sequentially mounted on the printed circuit board 3 (step S12).

  Next, it is determined whether or not the mounting of the component on the printed circuit board 3 is completed. If it is determined that the mounting is not completed, step S14 is performed as a pre-process for sucking the next component from the component supply unit 4. The nozzle replacement process in step S19 (including step S28) is executed.

  In this processing, when there is a suction nozzle 19 currently mounted for each mounting head 18 that is not used in the next mounting operation, the suction in the nozzle stockers 32A and 32B used in the next mounting operation is used. This is a process for exchanging with the nozzle 19, and the specific contents are the same as the above-described steps S5 to S10 (including step S26). That is, nozzle replacement is performed when necessary while determining whether or not nozzle replacement is required for each mounting head 18. In this case, when the suction nozzle 19 to be replaced is outside the common area Co in the nozzle stocker 32A, the nozzle replacement is performed while performing the necessary rearrangement as described above.

  When the nozzle replacement process is completed (YES in step S19), the process proceeds to step S11 to start the mounting operation of the next component. Thus, all the components are finally printed on the printed circuit board 3 while repeating the processes in steps S11 to S19. If it is determined that it is mounted above (YES in step S13), the head unit 5 is reset to a predetermined standby position, and this flowchart ends.

  According to the above mounting machine (component mounting method), one nozzle stocker 32A out of the nozzle stockers 32A and 32B is provided with a storage hole outside the common area Co. It is possible to hold more suction nozzles 19 by effectively using. Moreover, a part of the mounting heads 18 (the first and second mounting heads 18) among the mounting heads 18 can access all the suction nozzles 19 in the nozzle stockers 32A and 32B. All the suction nozzles 19 in the nozzle stockers 32A and 32B can be mounted on any mounting head 18. Therefore, compared with the conventional mounting machine of this type in which the nozzle stocker is always provided in the common area, the replacement suction nozzle 19 can be held outside the common area even if the common area Co is the same size. More types of components can be mounted on the printed circuit board by using more types of suction nozzles 19.

  In addition, if necessary, after mounting the suction nozzle 19 on the mounting head 18, the suction nozzle 19 can be housed in the nozzle stockers 32A and 32B to perform the mounting operation (in step S23 of FIG. 7). In this case, there is also an advantage that more suction nozzles 19 can be used during the mounting operation. That is, when the mounting operation is started with the suction nozzle 19 not attached to the mounting head 18, the number of suction nozzles 19 that can be used during the mounting operation is 32 at the maximum. (Processing in Step S23 in FIG. 7) The suction nozzles 19 are mounted on the five mounting heads 18 among the first to sixth mounting heads 18, and the suction nozzles 19 are installed in all the storage holes of the nozzle stockers 32A and 32B. When the mounting operation is performed in a state where the nozzle is stored, 37 suction nozzles 19 can be used.

  The mounting machine described above is one form of the surface mounting machine according to the present invention, and the specific configuration thereof can be appropriately changed without departing from the gist of the present invention.

  For example, in the above embodiment, only when necessary, the suction nozzles 19 are mounted on the five mounting heads 18 out of the six mounting heads 18 as described above, and all the storage holes of the nozzle stockers 32A and 32B are mounted. Although the mounting operation is performed in a state in which the suction nozzle 19 is housed, the mounting operation may always be performed in this state. Of course, the mounting nozzle 18 may be attached to all the mounting heads 18 and the mounting operation may be performed in a state where only one of the storage holes of the nozzle stockers 32A and 32B is an empty space.

  In any of these two states, if at least one mounting head 18 out of the six mounting heads 18 can access all the storage holes of the nozzle stockers 32A and 32B and the suction nozzle 19 can be delivered, A suction nozzle 19 is selected in a desired combination from all the suction nozzles 19 of the suction nozzle 19 mounted on each mounting head 18 and the suction nozzles 19 held by the nozzle stockers 32A and 32B. It can be remounted on the head 18. In other words, it is possible to finally attach the desired suction nozzle 19 to the mounting head 18 (one of which, if any), having the widest movement area with respect to the nozzle stockers 32A and 32B. For example, (1) the mounting head 18 having a larger moving area (that is, accessible to the outer storage hole) than the mounting head 18 to which the desired suction nozzle 19 is to be mounted, or for mounting with the widest moving area Using the head 18, an empty space is created in one of the storage holes of the nozzle stockers 32 </ b> A and 32 </ b> B in the movement region of the target mounting head 18 to be mounted, and the head mounting head 18 is mounted. The unnecessary suction nozzle 19 is moved to the empty space, and the target mounting head 18 is set in a nozzle non-mounted state. (2) Of the storage holes of the nozzle stockers 32A and 32B, when the desired suction nozzle 19 is not in the storage hole in the moving area of the target mounting head 18, or the desired suction nozzle 19 is mounted other than the target mounting head 18 When the head 18 is mounted, the desired suction nozzle 19 is moved to the storage hole in the moving area of the target mounting head 18 among the storage holes of the nozzle stockers 32A and 32B. (3) The target mounting head 18 is in a state in which the nozzle is not mounted, and the mounting head 18 to be mounted is mounted in a state where the desired suction nozzle 19 is held in the storage hole in the moving region of the mounting head 18. A desired suction nozzle 19 is attached to the. By performing the above (1) to (3) for all the mounting heads 18 sequentially or in some cases in parallel, it is possible to reattach the suction nozzle 19 to each mounting head 18 in a desired combination. It becomes.

  In this embodiment, only two mounting heads 18 (first and second mounting heads 18) are accessible to all the suction nozzles 19 housed in the nozzle stocker 32A. Further mounting heads 18 (for example, the third mounting head 18 etc.) may be made accessible to all the suction nozzles 19 in the nozzle stocker 32A. That is, in the state where the five suction nozzles 19 are mounted on the mounting head 18 and the suction nozzles 19 are stored in all the storage holes of the nozzle stockers 32A and 32B, for example, only the first mounting head 18 is the nozzle stocker. Assuming that all the suction nozzles 19 in 32A can be accessed, when the suction nozzles 19 stored outside the common area Co are mounted on the first mounting head 18, the subsequent empty space (storage hole) ), The suction nozzle 19 cannot be mounted on any of the first to sixth mounting heads 18 as a result. Become. On the other hand, if a plurality of mounting heads 18 can access all the suction nozzles 19 in the nozzle stocker 32A, the rearrangement as described above (step S8 in FIG. 7, etc .; see FIGS. 9 to 15). As a result, all the suction nozzles 19 in the nozzle stockers 32A and 32B can be mounted on the first to sixth arbitrary mounting heads 18. Therefore, the number of mounting heads 18 is not limited to that of the embodiment as long as the plurality of mounting heads 18 can access all the suction nozzles 19 in the nozzle stocker 32A. However, when all the mounting heads 18 are made accessible to all the suction nozzles 19 in the nozzle stocker 32A, the nozzle stocker 32A is no longer provided in the common area Co, and this departs from the present invention. Therefore, the number of mounting heads 18 that can access all the suction nozzles 19 in the nozzle stocker 32 </ b> A needs to be a part (less than six) of the mounting heads 18 mounted on the head unit 5.

  When only the first mounting head 18 is configured to be accessible to all the suction nozzles 19 in the nozzle stocker 32A, the total number of suction nozzles 19 that can be attached to each mounting head 18 (6 The total number of suction nozzles 19 mounted on the mounting head 18 and the inside of the nozzle stockers 32A and 32B from the total value (38) of the total number of nozzles that can be held in the nozzle stockers 32A and 32B (32). The suction nozzle 19 is mounted on the mounting head 18 so that a value obtained by subtracting the total value of the total number of nozzles stored in the nozzle is “2”, while the suction nozzle 19 is stored in the nozzle stockers 32A and 32B. The mounting work should be done in According to such a configuration, even if only the first mounting head 18 is accessible to all the suction nozzles 19 in the nozzle stocker 32A, the suction nozzles 19 in the nozzle stocker 32A can be freely set. Since the rearrangement is possible, the suction nozzles 19 accommodated in the nozzle stockers 32A and 32B can be mounted on the first to sixth mounting heads 18 as in the case of the above-described embodiment. . In addition, a configuration (referred to as the former) in which only the first mounting head 18 is accessible to all the suction nozzles 19 in the nozzle stocker 32A as described above, and the first and second mountings as in the embodiment. When comparing the configuration in which the head 18 is accessible to all the suction nozzles 19 in the nozzle stocker 32A (referred to as the latter), the latter configuration allows a maximum of 37 suction nozzles 19 as described above during the mounting operation. In contrast, the former configuration can use up to 36 suction nozzles 19 and the latter configuration is more advantageous in terms of the number of usable nozzles. is there. However, in the case of the former configuration, only the first mounting head 18 can access all the suction nozzles 19 in the nozzle stocker 32A. The movement range of can be narrow. Therefore, it is advantageous for saving the space of the mounting machine.

It is a top view which shows the surface mounting machine with which the component mounting method concerning this invention is applied. It is a front view which shows a surface mounting machine. It is a plane schematic diagram of the surface mounter showing the relationship between the movable area (common area) of the mounting head and the nozzle stocker. 4 is a schematic side view of a head unit for explaining a configuration of a component recognition unit. It is sectional drawing of the head of the mounting head for demonstrating the attachment or detachment structure of a suction nozzle. 2 is a schematic plan view showing a configuration of a nozzle stocker. It is a flowchart which shows the example of control of mounting operation | movement (at the time of preparation before a mounting operation | work start). It is a flowchart which shows the example of control of mounting operation (at the time of mounting work). It is a plane schematic diagram of a head unit and a nozzle stocker for explaining a suction nozzle replacement method (rearrangement process). It is a plane schematic diagram of a head unit and a nozzle stocker for explaining a suction nozzle replacement method (rearrangement process). It is a plane schematic diagram of a head unit and a nozzle stocker for explaining a suction nozzle replacement method (rearrangement process). It is a plane schematic diagram of a head unit and a nozzle stocker for explaining a suction nozzle replacement method (rearrangement process). It is a plane schematic diagram of a head unit and a nozzle stocker for explaining a suction nozzle replacement method (rearrangement process). It is a plane schematic diagram of a head unit and a nozzle stocker for explaining a suction nozzle replacement method (rearrangement process). It is a plane schematic diagram of a head unit and a nozzle stocker for explaining a suction nozzle replacement method (rearrangement process).

Explanation of symbols

4 Component supply unit 4a Tape feeder 5 Head unit 18 Mounting head 30A, 30B Component recognition camera 32A, 32B Nozzle stocker

Claims (4)

A nozzle that is held in a nozzle stocker while adsorbing components from a component supply unit by means of a movable head unit equipped with a plurality of mounting heads to which nozzles for component adsorption are interchangeably mounted. In a surface mounter that performs mounting work by mounting on the mounting head according to the type of component,
The nozzle stocker, of the mounting head a outside this common region all of the mounting head and accessible common area in one of the movement area of the mounting head with the movement of the head unit only a part mounting head comprises a respective nozzle holder in the accessible area, and the for all the nozzle holding portion of at least one of the mounting heads of the part of the mounting head said Roh Zurusutokka and provided we are in so as to be accessible Te,
From the total value of the total number of nozzles that can be mounted on the mounting head and the total number of nozzles that can be held in the nozzle stocker, the total number of nozzles that are mounted on the mounting head and held in the nozzle stocker The mounting operation is performed in a state where the nozzle is mounted on the mounting head and the nozzle is held by the nozzle stocker so that a value obtained by subtracting the total value of the total number of nozzles is 1 or more. Surface mount machine. A Contact Keru nozzle exchanging method to the surface mounting apparatus according to claim 1,
When to mount the nozzle before you wear head,
A step of moving the nozzle into a nozzle stocker when a nozzle other than the desired nozzle is mounted on the target mounting head to be mounted;
In a case where the desired nozzle is mounted on a mounting head other than the target mounting head, the nozzle holding portion in the moving region of the target mounting head among the nozzle holding portions of the nozzle stocker. Or when the desired nozzle is held in the nozzle holding portion outside the moving area of the target mounting head among the nozzle holding portions of the nozzle stocker, the desired nozzle is used for the target mounting. Moving to a nozzle holder in the moving area of the head;
Mounting the desired nozzle held in the nozzle holding portion in the movement area of the target mounting head on the target mounting head;
Nozzle replacement wherein the Rukoto contain. Te Bruno nozzle replacing smell of claim 2,
When a nozzle other than the desired nozzle is mounted on the target mounting head, an empty space is provided in any nozzle holding portion in the moving area of the target mounting head among the nozzle holding portions of the nozzle stocker. After passing through the manufacturing step, the nozzle mounted on the target mounting head is moved to the empty space . In the nozzle replacement method according to claim 2 or 3,
When the desired nozzle is held by the nozzle holding portion outside the moving region of the target mounting head among the nozzle holding portions of the nozzle stocker, the desired nozzle is moved within the moving region of the target mounting head. the step of transferring the nozzle holder, the nozzle exchange wherein the Rukoto was done using a mounting head having a wider range of movement than the target mounting head as the moving range for the nozzle stocker.