JP4463384B2 - Electrical component mounting method and electrical component mounting system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present inventionIs electricA method for mounting an electrical component on a circuit boardandThe present invention relates to an electrical component mounting system and the like.
[0002]
[Prior art]
It is widely performed to hold an electrical component on a mounting head and mount it on a circuit substrate such as a printed wiring board. At that time, monitoring whether the electrical parts held by the mounting head are as planned, whether they are held in a planned posture, whether they are held in a planned position, etc., or An electrical component is imaged for detection of a holding position error or the like. As an imaging device, a device including a line sensor in which a large number of photoelectric conversion elements are arranged in a straight line, a surface sensor arranged in a planar shape, and an optical system such as a lens and a prism is used. In most cases, imaging by the surface sensor is performed in a state where the relative position between the electrical component and the imaging device is unchanged, and imaging by the line sensor is an alignment direction of the photoelectric conversion elements arranged in a straight line (referred to as a longitudinal direction). This is performed by capturing one line at a time while relatively moving the electrical component and the line sensor in the intersecting direction (usually the orthogonal direction) and acquiring a two-dimensional image as a set of image data for a plurality of lines. Is called.
[0003]
As described above, the line sensor captures an image while moving relative to the electrical component. Therefore, if the line sensor is arranged in the middle of the transportation path of the electrical component by the mounting head, the movement for transportation is captured. Can be used. The line sensor generally has a higher resolution than a surface sensor and can capture a wide area. However, there is a problem that it is difficult to increase the relative movement speed because it is necessary to move relative to the electrical component while acquiring image data for each line. As described above, when the movement for conveyance is used for imaging, it is often necessary to reduce the conveyance speed.
[0004]
Further, as an electrical component mounting system for mounting electrical components on a circuit substrate, there is a system in which a mounting head is attached to an XY robot and moved between a component supply device and a circuit substrate support device. In general, the component supply device supplies electric components from each of a plurality of component supply units. For example, there are a plurality of feeders that supply one type of electrical component one by one from the component supply unit, and the component supply unit is fixed to the table so that the component supply units are aligned along a line such as a straight line or a circumference. A table or a component supply tray in which one electrical component is accommodated in a component accommodating recess formed side by side on the tray is used as the component supply device. The circuit base material support device is configured as a part of the base material conveyor that conveys the circuit base material along a straight line, or a dedicated base material support between the carry-in conveyor that carries in the circuit base material and the carry-out conveyor that carries it out. Or as a device.
[0005]
In this type of electrical component mounting system, the movement area of the X slide, Y slide of the XY robot or the head holding member that holds the mounting head is usually wider than the movement area of the mounting head itself. For this reason, there is a problem that the installation space for the electrical component mounting system is increased, the mounting work efficiency per factory space is lowered, or the work efficiency is lowered due to the increased transport distance of the circuit substrate. This problem occurs when a plurality of electrical component mounting systems are arranged close to each other to form a mounting line, or when a plurality of electrical component mounting modules are arrayed to form a single unit electrical component mounting system. Especially serious. In the latter case, the electrical component mounting module itself is also an electrical component mounting system.
[0006]
In the electrical component mounting system, the mounting head holds a plurality of component holders such as suction nozzles, and each of the plurality of component holders holds one electrical component to support the component supply device and the substrate. Moving between devices is performed. If it does in this way, a plurality of electric parts can be mounted by one movement. However, although the time required for the movement can be shortened, it is necessary to receive and mount the electrical components one by one, so that the efficiency of this work cannot be improved.
[0007]
[Problems to be solved by the invention, means for solving problems and effects]
  The present invention, against the background of the above circumstances, at least one of improving the imaging of the electrical component, downsizing the electrical component mounting system, and efficiently receiving the electrical component from the component supply device, An object of the present invention is to improve the efficiency of the mounting operation, and according to the present invention, an electrical component imaging method, an electrical component mounting method, an electrical component mounting system, and the like of the following aspects can be obtained. As with the claims, each aspect is divided into sections, each section is numbered, and is described in a form that cites the numbers of other sections as necessary. This is for the purpose of facilitating understanding of the present invention, and should not be construed as limiting the technical features described in the present specification and the combinations thereof to those described in the following sections. . In addition, when a plurality of items are described in one section, it is not always necessary to employ the plurality of items together. It is also possible to select and employ only some items.
  It should be noted that, although some of the following aspect items are no longer the invention described in the claims or the subordinate concept thereof by the amendment, the invention described in the claims can be understood. As it contains useful information above, it will be left as it is.
[0008]
(1) The electric component is adsorbed by the adsorption nozzle and conveyed, and the line sensor is moved together with the adsorption nozzle in at least a part of the conveyance path, and is relatively moved in the direction perpendicular to the axis of the adsorption nozzle. An electrical component imaging method comprising imaging an electrical component held by a nozzle.
  In this way, if the line sensor is moved together with the suction nozzle and moved relative to the suction nozzle, the relative movement can be used as a movement for imaging, and the moving speed for imaging is reduced. In addition, while obtaining a good two-dimensional image, the suction nozzle and the imaging device can be moved at a high speed to increase the efficiency of transporting electrical components, and the efficiency of electrical component mounting work can be improved.
  The direction of the relative movement may be a direction parallel to the transport path of the electrical component by the suction nozzle, or may be a direction crossing the transport path. The imaging direction may be a direction parallel to or perpendicular to the axis of the suction nozzle. For example, when detecting the holding position error of an electrical component by the component holder, it is better to take an image from a direction parallel to the axis of the suction nozzle, and detect whether the holding posture of the electrical component by the component holder is appropriate. When doing so, it is better to image from a direction perpendicular to the axis of the suction nozzle.
(2) An electrical component is held by each component holder of a mounting head that holds a plurality of component holders on a circumference, and the mounting headThe waterIt is a method of moving to a predetermined position in a flat moving plane and attaching it to a predetermined position of the circuit substrate,
  The arbitrary one component holder is moved to the outer region of any one of the maximum movable regions of the plurality of component holders based on the movement of the mounting head in the moving plane. A method of mounting an electrical component, wherein the electrical component is mounted on a circuit substrate at that position by being moved by rotation around a circumferential central axis.
  In this way, if the component holder is moved by a combination of movement and rotation of the mounting head, the movement region of the component holder is widened compared to the movement region of the head holding member or the like that holds the mounting head.
As a result, the electrical component mounting system can be downsized relative to the size of the electrical component mountable area of the circuit substrate. As a result, the carrying distance of the circuit base material can be shortened to improve the mounting work efficiency, or the required installation space of the electrical component mounting system can be reduced and the work efficiency per factory space can be improved.
(3) A method of causing the mounting head to take out an electrical component from a component supply device that supplies an electrical component from each of a plurality of component supply units, transporting the electrical component, and mounting the electrical component on a predetermined position of the circuit substrate,
  A mounting head having a plurality of component holders is used, and at least two of the plurality of component holders are simultaneously relatively close to the plurality of component supply units, and at least two electric components are mounted. An electrical component mounting method characterized in that the electrical components are simultaneously removed.
  In this way, if at least two of the plurality of component holders and the component supply unit are simultaneously approached and at least two electrical components are simultaneously extracted, it is easier to remove compared to the conventional case where the components are removed one by one. The time required can be shortened, and the efficiency of mounting electrical components can be improved.
  The features described in the above items (1) to (3) can be arbitrarily used in combination of two or more. However, when combining the features of (2) or (3) with the features of (1), the parts holder shall be read as a suction nozzle. Also, the features described in the following items can be applied to any of the above items (1) to (3).
(4) a component supply device for supplying electrical components;
  A substrate support device for supporting a circuit substrate;
  A mounting head for receiving an electrical component from the component supply device and mounting the electrical component on a circuit substrate supported by the substrate support device;
  A head moving device that moves the mounting head between the component supply device and the substrate support device by moving a head holding member that holds the mounting head;
  A relative movement member that moves relative to the mounting head while following the movement of the mounting head from the component supply device to the base material support device by the head moving device;
  A line sensor that is held by the relative movement member, moves relative to the electrical component held by the mounting head as the relative movement of the relative movement member relative to the mounting head, and acquires a two-dimensional image of the electrical component;
  A control device for obtaining a holding position error of the electrical component by the mounting head based on the two-dimensional image acquired by the line sensor and controlling the movement of the mounting head by the head moving device so as to reduce the holding position error;
Electrical component mounting system including.
  The electrical component mounting system of this section is suitable for carrying out the method of the above item (1).
(5) The relative movement device includes a stator and a mover that can move linearly along the stator, the stator is attached to one of the head holding member and the relative movement member, and the mover is the other The electric component mounting system according to item (4), including a linear motor attached to the motor.
  If the linear motor is used, the structure of the relative movement device can be simplified and the manufacturing cost of the system can be reduced.
(6) The head moving device moves the head holding member in the X axis direction and the Y axis direction orthogonal to each other in a plane parallel to the surface of the circuit substrate supported by the substrate supporting device. The XY robot and the relative movement member share a guide in any one of the X-axis direction and the Y-axis direction. The electric device according to (4) or (5) Component mounting system.
  The guide shared by the XY robot and the relative movement member may be a guide on the side where it is desired to reduce the overall size of the electrical component mounting system with respect to the longitudinal direction of the guide. Is desirable.
(7) The electricity according to any one of (4) to (6), wherein the mounting head includes a plurality of component holders and holds a plurality of electrical components by the plurality of component holders. Component mounting
system.
(8) The line sensor acquires simultaneously a two-dimensional image of a plurality of electrical components held by a plurality of component holders that are at least a part of the plurality of component holders. The electrical component mounting system described.
  If imaging of electrical parts held by all of the plurality of component holders is acquired at the same time, a particularly great effect can be obtained, but in relation to the required transport distance of electrical parts and the time required for imaging, The relative movement between the line sensor and the mounting head may be performed a plurality of times during the conveyance, whereby two-dimensional images of all the electrical components may be acquired. As long as the electrical parts are being conveyed at an appropriate speed, there is no problem even if the imaging is performed a plurality of times, whereby the line sensor can be miniaturized and the equipment cost can be reduced.
(9) The mounting head iscenterCan rotate around its axis,centerThe electrical component mounting system according to (7) or (8), wherein the plurality of component holders are held on a circumference around an axis.
  Many component holders can be held by a relatively small mounting head, and the electrical component can be quickly positioned at a desired position by rotation of the mounting head.
(10) a component supply device for supplying electrical components;
  A substrate support device for supporting a circuit substrate;
  centerA plurality of component holders are held on a circle around the axis, and each of the component holders receives an electrical component from the component supply device and is mounted on a circuit substrate supported by the substrate support device. A mounting head to
  The mounting head isCenter of one circleA head rotating device that rotates around an axis;
  A head moving device for moving the mounting head between the component supply device and the substrate support device;
  The maximum mountable area of the electrical component by the component holder held by the mounting head with respect to the circuit substrate on the substrate support device is moved by the head moving device and rotated by the head rotating device. A control device for controlling the head moving device and the head rotating device to cover by a combination of
An electrical component mounting system comprising: (Claim 4).
  The electrical component mounting system of this section is suitable for carrying out the method of the above item (2).
(11) a component supply device that supplies electrical components from a plurality of component supply units;
  A substrate support device for supporting a circuit substrate;
  A mounting head that holds a plurality of component holders, receives an electrical component from each of the component supply devices by each of the component holders, and mounts it on a circuit substrate supported by the substrate support device;
  A head moving device that moves the mounting head between the component supply device and the substrate support device;
  In a state where the mounting head is positioned in the vicinity of the component supply device, at least two of the plurality of component holders held by the mounting head and the component supply device are simultaneously approached, so that at least two electrical components And a receiving control device for simultaneously receiving
Electrical component mounting system including.
  The electrical component mounting system according to this section is suitable for carrying out the method according to (3) above.
(12) The component supply apparatus includes the plurality of component supply units arranged in a straight line, and a center interval between at least two of the plurality of component holders is a minimum arrangement of the plurality of component supply units. The electrical component mounting system according to item (11), which is an integral multiple of the pitch.
  If it does in this way, it will become easy to position a plurality of component holders simultaneously in the position corresponding to a plurality of component supply parts.
(13) The mounting head is a head holding member.Center axisThat is held rotatably around itscenterThe electrical component mounting system according to item (12), wherein the plurality of component holders are held on a circle around an axis.
  The center interval between the component holders adjacent to each other on the circumference or the center interval between every N component holders may be an integral multiple of the minimum arrangement pitch, or as described in the next section.
(14) Of the plurality of component holders,Center of one circleThe electrical component mounting system according to item (13), wherein a center interval between two component holders positioned on a plurality of straight lines perpendicular to the axis and parallel to each other is an integral multiple of the minimum arrangement pitch.
(15) The line sensor allows the electric component to be mounted on the circuit substrate by the mounting head at least at both ends of a relative movement region with respect to the mounting head. Electrical component mounting system.
  For example, when images of electrical components held on all of a plurality of component holders are acquired simultaneously, the line sensor only needs to move one way relative to the mounting head. At this time, if the line sensor permits the mounting of the electrical component only at the movement start position which is one of the relative movement regions and does not allow the mounting of the electrical component at the other movement end position, the line sensor moves to the movement start position. Since the electric parts are mounted after returning to the step, the work efficiency is lowered. According to the electrical component mounting system described in this section, since the mounting of the electrical component is allowed regardless of whether the line sensor is located at either end portion of the relative movable region, the line sensor closer to the position where the imaging has been completed. If waiting at the end, it is possible to shorten the time required for movement and improve work efficiency. When mounting electrical components with the line sensor stopped at a position opposite to the movement start position, after all the electrical components have been mounted, the line sensor is moved while the mounting head moves to the component supply unit. It is desirable to return to the movement start position.
(16) Electric components are held by each component holder of the mounting head holding a plurality of component holders on one circumference, and the mounting headThe waterIt is a method of moving to a predetermined position in a flat moving plane and attaching it to a predetermined position of the circuit substrate,
  An area where the electrical component can be mounted by moving the mounting head in the moving plane without rotating the mounting head around the central axis of the circle. The plurality of electrical components held by the plurality of component holders of the mounting head without rotating the mounting head is mounted on the circuit base, and the circuit base If the position where the electrical component is to be mounted is a position in a region where the electrical component cannot be mounted only by moving the mounting head within the moving plane, the mounting head is moved within the moving plane. The mounting head is rotated about the central axis of the circumference and held by at least one of the plurality of component holders of the mounting head. Electric-component mounting method which comprises causing mounted on the circuit substrate (claim 2).
  The position where the component holder can be reached only by the movement of the mounting head in the movement plane of all the electric components held by the plurality of component holders that hold the electric components. Depending on whether or not, the mounting head is only moved in the moving plane, or is rotated in addition thereto, and the electrical component is mounted on the circuit substrate.
(17) The mounting head is moved in the moving plane by an X-axis direction moving device and a Y-axis direction moving device that move the mounting head in directions parallel to the X axis and the Y axis orthogonal to each other, and the mounting head As described above, the plurality of component holders are used that are held in positions that are line-symmetric with respect to a straight line parallel to the Y-axis, and the electrical component is mounted with the rotation of the mounting head. In this case, the electrical component mounting method according to (16), wherein the mounting head is reversed 180 degrees around the center axis of the circumference.
  By rotation of the mounting head by 180 degrees, the component holder moves beyond the symmetry axis and is moved to an area outside the region where the component holder can reach only by movement of the mounting head in the moving plane.
(18) a component supply device for supplying electrical components;
  A substrate support device for supporting a circuit substrate;
  centerA plurality of component holders are held on a circle around the axis, and each of the component holders receives an electrical component from the component supply device and is mounted on a circuit substrate supported by the substrate support device. A mounting head to
  The mounting head isCenter axis of one circleA head rotating device that rotates around,
  The mounting headThe waterA head moving device that moves between the component supply device and the substrate support device in a flat moving plane;
  The position where the electrical component of the circuit substrate is to be mounted is a position within the region where the electrical component can be mounted by moving the mounting head within the moving plane without rotating the mounting head around the central axis of the circle. In this case, the plurality of electrical components held by the plurality of component holders of the mounting head should be mounted on the circuit base without rotating the mounting head, and the electrical component of the circuit base should be mounted. When the position is in a region where electrical components cannot be mounted only by moving the mounting head in the moving plane, the mounting head is moved in the moving plane and the mounting head is moved The electrical component held by at least one of the plurality of component holders of the mounting head should be mounted on the circuit substrate by rotating around a central axis of the circumference. A control device for controlling said head rotating device and the head moving device
  An electrical component mounting system comprising: (Claim 5).
(19) The mounting head includes a rotating body that holds the plurality of component holders so as to be capable of rotating about the axis of the component holders, and the head rotating device holds the rotating body around the central axis of the circumference. To rotate the plurality of component holders held by the rotating body around the central axis of the circle, and the electrical component mounting system comprises:
  A rotation device for rotating the plurality of component holders by rotating the plurality of component holders around the axis of each component holder with respect to the rotating body;
  By moving the plurality of component holders relative to the rotating body in a direction parallel to the axis of the component holders, the component holders can be moved relative to the component supply device and the substrate support device independently of each other. Elevating device to raise and lower
  (10) The electrical component mounting system according to (10) or (18).
  By rotating the plurality of component holders by the rotation device, the deviation of the posture of the electrical component to be actually mounted is corrected, and the plurality of component holders are lifted and lowered independently from each other by the lifting device. The electric component is taken out from the component supply device by the holder and the electric component is mounted on the circuit substrate.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows an electrical component mounting system according to an embodiment of the present invention. This electrical component mounting system has a bed 10, a pallet carry-in device 12 for carrying a pallet onto the bed 10, a pallet carrying device 14 for repeatedly carrying the loaded pallet at a constant pitch, and a pallet carrying device 16. Are arranged in that order in the X-axis direction (horizontal direction in the figure) in the horizontal plane. A plurality of mounting devices 18 are arranged above the pallet conveying device 14 at the same pitch as the pallet conveying pitch by the pallet conveying device 14. Further, as shown in FIG. 2, an electrical component supply device 20 is provided in a state adjacent to each mounting device 18 in the horizontal direction. Each device will be described below.
[0010]
As shown in FIG. 2, the pallet transport device 14 transports the pallet 24 that supports the printed wiring board 22 along the X-axis direction in the horizontal plane. The pallet 24 is guided by the guide 26 and is fed in the X-axis direction by the above-mentioned fixed pitch by a pallet feeding device (not shown). Therefore, each printed wiring board 22 positioned by a positioning device (not shown) and fixed to the pallet 24 is transported to a position directly below each of the mounting devices 18 and positioned. Further detailed description is not necessary for understanding the present invention and will be omitted.
[0011]
Each of the plurality of electric component supply devices 20 includes a plurality of feeders 28. In FIG. 1, the feeders 28 are shown as simple rectangles. These feeders 28 are fixed to a feeder mounting base 30 provided on the bed 10 in a state of being aligned in the X-axis direction. The electrical components 32 (see FIG. 3) supplied by each feeder 28 are held by a carrier tape to form a taped electrical component. The carrier tape is provided with a large number of electrical component receiving recesses at equal intervals, and the electrical components 32 are stored in the respective electrical component receiving recesses, and a cover tape is attached to close the opening of the electrical component receiving recesses. .
[0012]
The taped electrical component is wound around a reel, and is fed one pitch at a time by a feeding device (not shown). Among the electrical components 32 accommodated in the plurality of electrical component accommodating recesses from which the cover tape is peeled off, the leading electrical component 32 The component 32 is positioned in a predetermined component supply unit 34. Since the plurality of feeders 28 are fixed side by side in the X-axis direction as described above, their component supply units 34 are arranged along a straight line parallel to the X-axis. In place of the feeder 28, the electric components 32 housed in the casing are arranged in a line by vibration, inclination, air flow, conveyor belt, etc. or a combination thereof, and sent to the component supply unit one by one. Various embodiments can be employed.
[0013]
The electrical component mounting system includes 16 mounting devices 18, one of which is representatively shown in FIG. Each mounting device 18 is supported by a support arm 44 extending horizontally from a column 42 erected side by side in the X-axis direction on the bed 10 (see FIG. 2). As shown in FIG. 4, a positioning surface 46 is formed on the lower surface of each support arm 44 in parallel with the Y-axis direction, and is positioned with respect to the X-axis direction by the positioning surface 46, and a guide 48 is attached to the support arm 44. It has been. A ball screw 50 is attached to the guide 48 in parallel with the Y-axis direction, and a first Y-axis slide 52 shown in FIG. The ball screw 50 is driven by a Y-axis motor 54 attached to the front end surface of the guide 48 to move the first Y-axis slide 52 along the guide 48. The Y-axis motor 54 is a servo motor and can be rotated at an arbitrary angle in both forward and reverse directions. The guide 48 is engaged with the first Y-axis slide 52 via a plurality of balls. The guide 48, the ball screw 50, the first Y-axis slide 52, the Y-axis motor 54, and the like collectively constitute a Y-axis direction moving device 58, and the guide 48 constitutes a mounting device main body.
[0014]
A bracket 60 is fixed to the first Y-axis slide 52. The bracket 60 is formed slightly narrower than the width of the mounting device 18 in the X-axis direction. A side surface 62 of the bracket 60 on the electric component supply device 20 side is a plane parallel to and perpendicular to the X-axis direction. A ball screw 64 is attached to the side surface 62 in parallel to the X-axis direction, and an X-axis slide 66 is screwed. ing. The X-axis slide 66 is further slidably fitted to a pair of guide rails 68 extending in the X-axis direction. The X-axis slide 66 is guided and moved by the guide rail 68 as the ball screw 64 is rotated by the X-axis motor 70. The X-axis motor 70 is a servo motor and can be rotated at an arbitrary angle in both forward and reverse directions. The X-axis motor 70 is fixed to the bracket 60 at a position separated from the ball screw 64 in the Y-axis direction, and a drive pulley 72 is fixed to its output shaft. The bracket 60 is composed of a plurality of plates, and the X-axis motor 70, the drive pulley 72, and the like are disposed in the inner space of the bracket 60. A driven pulley 76 is fixed to the end of the ball screw 64, and the rotation of the X-axis motor 70 is transmitted to the ball screw 64 by the timing belt 74. These X-axis slide 66, guide rail 68, ball screw 64, X-axis motor 70, and the like constitute an X-axis direction moving device 78.
[0015]
The mounting device 18 includes a mounting head 80. A bracket 82 is fixed to the X-axis slide 66, and a mounting head 80 is held on the bracket 82 so as to be rotatable about a vertical axis. The bracket 82 includes two holding portions 88 and 90 arranged in the vertical direction, and through-holes 84 and 86 penetrating along the vertical axis are formed in the holding portions 88 and 90, respectively. The two through holes 84 and 86 are provided concentrically with each other, a through hole 84 having a relatively small diameter is formed in the upper holding portion 88 positioned above, and a relatively large diameter penetrating through the lower holding portion 90 positioned below. A hole 86 is formed. A pair of bearings 92 and 94 are provided inside the through holes 84 and 86, respectively.
The mounting head 80 includes a stepped cylindrical rotating body 100 extending in the vertical direction. The rotating body 100 includes a large-diameter portion 102 having a relatively large diameter and a small-diameter portion 104 extending vertically from the upper end surface of the large-diameter portion 102, and the small-diameter portion 104 is supported by the bearing 92 on the upper holding portion 88 described above. The large-diameter portion 102 is held by the lower holding portion 90 so as to be rotatable and non-axially movable in the same manner as the small-diameter portion 104. .
[0016]
Further, a rotating body servomotor (hereinafter referred to as a revolving motor) 106 is fixedly attached to the bracket 82 via an attachment member (not shown) to avoid complexity. In FIG. 1, a revolving motor 106 and a rotation motor 146 described later are omitted for easy understanding. A driving pulley 110 is fixed to the output shaft 108 of the revolution motor 106, and a driven pulley 112 is fixedly fitted to a portion protruding downward from the upper holding portion 88 of the small diameter portion 104. The driving pulley 110 and the driven pulley 112 are timing pulleys, and rotation is transmitted by the timing belt 114. The revolution motor 106 controls the rotation of the rotating body 100 around the central axis. In the present embodiment, the rotating body 100 is switched between a normal state in which the rotation angle around the vertical axis is kept constant and a reverse state in which the rotating body 100 is rotated 180 degrees with respect to the normal state.
[0017]
The revolution motor 106 is prevented from projecting in the X-axis direction with respect to the mounting head 80. Specifically, the position of the mounting head 80 and the X-axis direction are made to coincide with each other, so that even when the mounting head 80 moves in the X-axis direction, the revolution motor 106 is moved from the mounting device 18. Protruding can be avoided. The revolution motor 106 may be rotatable at any angle in both forward and reverse directions.
[0018]
A plurality of holding holes 120 penetrating the large diameter portion 102 in the vertical direction are provided in the large diameter portion 102 of the rotating body 100. In the present embodiment, the six holding holes 120 are formed on the circumference centered on the rotation axis and in line symmetry with a straight line parallel to the Y-axis direction as the symmetry axis (see FIG. 6). Further, the interval in the X-axis direction between the holding holes 120 that are line-symmetric with each other is an integral multiple of the arrangement pitch of the feeders 28 described above. Specifically, in the present embodiment, the arrangement pitch of the feeders 28 is 10 mm, and two sets of two holding holes 120 that are axially symmetric are arranged in the Y-axis direction, with center intervals of 20 mm, 30 mm, and 20 mm. It is formed with.
[0019]
Each holding hole 120 is fitted with a hollow cylindrical sleeve 122. The sleeve 122 is shorter than the length of the holding hole 120 and is fitted into the holding hole 120 leaving the upper part of the holding hole 120. The suction nozzle holding shaft 124 is fitted to the sleeve 122 so as to be slidable and rotatable in the axial direction.
[0020]
The upper opening of the holding hole 120 is closed by the closing member 126 being sealed and fitted by a sealing member (not shown) and fixed. A piston 128 is integrally provided at the upper end portion of the suction nozzle holding shaft 124 and protruding from the sleeve 122, and pressure chambers 130 and 132 are formed on both sides in the axial direction of the piston 128, respectively. The pressure gas is fed into one of the pressure chambers 130 and 132 on both sides via a communication path (not shown), so that the piston 128 and the suction nozzle holding shaft 124 are integrally moved up and down. The piston 128 and the holding hole 120 constitute an elevating air cylinder 134 that raises and lowers the suction nozzle holding shaft 124. The suction nozzle holding shaft 124 can be moved up and down independently of each other.
[0021]
A driven gear 136 is provided concentrically and integrally on a portion of the suction nozzle holding shaft 124 that protrudes downward from the sleeve 122. Each driven gear 136 is meshed with a driving gear 138 coaxial with the rotating body 100. The drive gear 138 is formed longer in the axial direction than the driven gear 136, and the drive gear 138 and the driven gear 136 are positioned regardless of whether the suction nozzle holding shaft 124 is located between the rising end position and the falling end position. Is maintained in a meshed state. A rotating shaft 140 extends concentrically and integrally from the upper end surface of the drive gear 138, and the rotating shaft 140 is rotatably fitted in a through hole 142 passing through the center of the rotating body 100. A driven pulley 144 is fixed to the upper end portion of the rotating shaft 140. A servo motor (hereinafter referred to as a rotation motor) 146 is attached to the bracket 82 via an attachment member (not shown), and a drive pulley 148 is fixed to the output shaft of the rotation motor 146. The driven pulley 144 and the driving pulley 148 are timing pulleys, and the timing belt 150 is wound around them, and the rotation of the motor 146 for rotation is transmitted to the rotating shaft 140 and the driven gear via the driving gear 138. 136. The six suction nozzle holding shafts 124 are synchronously rotated at the same time by the rotation motor 146. The rotating shaft 140 is rotated at an arbitrary angle in both forward and reverse directions. Note that the rotation motor 146 also has the same position in the X-axis direction as the mounting head 80 in the same manner as the revolution motor 106. Thus, the rotation motor 146 does not protrude from the mounting device 18 when the mounting head 80 moves in the X-axis direction.
[0022]
A suction nozzle 160 that sucks the electrical component 32 is attached to the lower end portion of the suction nozzle holding shaft 124 so as to be movable in the axial direction and not relatively rotatable. An elastic member (not shown) is provided inside the suction nozzle holding shaft 124, and the suction nozzle 160 is biased by the elastic member in a direction protruding from the suction nozzle holding shaft 124. The suction nozzle 160 is provided with a background plate 162 provided integrally therewith and extending in the radial direction. The background plate 162 has a dark surface such as black on the downward surface, and is larger than the electric component 32.
In the present embodiment, the same number of feeders 28 and suction nozzles 160 are provided in one mounting device 18, and the mounting head 60 is moved to the electrical component supply device 20 once, so that the electrical component supply device is provided. 20 receives all of the electrical components that can be supplied.
[0023]
The mounting device 18 is further provided with an imaging unit 200 that images the electrical component 32 held by the suction nozzle 160. The imaging unit 200 moves along with the mounting head 80 in the Y-axis direction while moving to the mounting head 80. On the other hand, relative movement in the Y-axis direction is possible. This will be described in detail below.
[0024]
A separate slide (hereinafter referred to as a second Y-axis slide) 202 is provided independently of the first Y-axis slide 52 on the opposite side of the mounting head 80 with the bracket 60 interposed therebetween. The second Y-axis slide 202 is slidably engaged with the same guide 48 as the first Y-axis slide 52 and guided to move in the Y-axis direction. They are not combined, and are movable in the Y-axis direction regardless of the rotation of the Y-axis motor 54. As shown in FIG. 4, a through-hole 203 that penetrates in the Y-axis direction is formed in the second Y-axis slide 202, and the ball screw 50 passes through the through-hole 203. A bracket 204 is fixed to the lower surface of the second Y-axis slide 202. The bracket 204 is connected to the bracket 60 by a linear motor 206 so as to be relatively movable. A movable element 208 of a linear motor 206 is fixed to the bracket 204, and a stator 210 is fixed to the bracket 60.
[0025]
In the stator 210, a main body 212 made of an aluminum alloy that is a nonmagnetic material is fixed to the bracket 60, and extends from the end of the bracket 60 opposite to the mounting head 80 side in the Y-axis direction. A number of permanent magnets 214 are fixed to a portion protruding from the head. The main body 212 is fixed to the side surface of the bracket 60 so as not to protrude from the mounting device 18. Each permanent magnet 214 has a square shape, and one of two opposite side surfaces is magnetized with an N pole and the other with an S pole, and the N pole and the S pole are alternately arranged. Each permanent magnet 214 is fixed in a state in which both sides of the N pole and the S pole protrude a small amount from the side surface of the main body 212, and the N pole and the S pole are shifted in a staggered manner on the front side and the back side of the main body 212. Has been.
[0026]
The mover 208 includes two iron cores 216 that are opposed to the front side and the back side of the stator 210, respectively, and the iron cores 216 are connected to each other by a connecting member 218 at the lower end to form a U-shape as a whole. Each iron core 216 is wound with a U-phase, V-phase, and W-phase coil to constitute a coil unit. The coil unit generates direct power that linearly moves the mover 208 along the stator 210 by the interaction between the magnetic force generated by each coil and the magnetic force of the permanent magnet 214 of the stator 210 by controlling the armature current. It is configured as follows. The mover 208 is fixed to the side surface of the bracket 204 so that the stator 210 and the bracket 204 do not interfere with each other when the linear motor 206 operates. Specifically, the bracket 204 has a U-shaped cross section, a vertically extending portion and a mounting portion 220 to which the movable element 208 is attached to the side surface, and a pair of horizontally extending from both ends thereof. Support arms 222 and 224. The support arms 222 and 224 have a plate shape. The upper support arm 222 is attached to the lower surface of the second Y-axis slide 202, and an imaging device described later is fixed to the lower surface of the lower support arm 224.
[0027]
The movement of the mover 208 relative to the stator 210 is guided by guides 226 fixed to the front side and the back side of the stator 210, respectively. Sliders (not shown) are fixed to both inner surfaces of the mover 208 facing the stator 210, and these sliders are engaged with the guides 226 via balls, so that the mover 208 is moved along the guides 226. It can be moved easily.
[0028]
A line sensor 228 as an imaging device is attached to the lower surface of the support arm 224 of the bracket 204. In the line sensor 228, photoelectric conversion elements are linearly arranged along the X-axis direction, and the imaging surface thereof is vertically downward.
[0029]
A pair of prisms 230 and 232 are provided below the line sensor 228. The pair of prisms 230 and 232 are a sensor-side prism 230 disposed below the line sensor 228 and a component-side prism 232 that wraps around below the electrical component 32. Are held respectively. The pair of prisms 230 and 232 are attached to the bracket 204 by an attachment member having a pair of arms (not shown) extending in the Y-axis direction. The component-side prism 232 is positioned on the opposite side of the sensor-side prism 230 with the mounting head 80 interposed when the bracket 204 is closest to the bracket 60, and the sensor-side prism is positioned when the bracket 204 is farthest from the bracket 60. 230 is located on the same side as 230.
[0030]
The sensor-side prism 230 has a reflective surface 234 directly below the row of photoelectric conversion elements of the line sensor 228, and the reflection surface 234 approaches the mounting head 80 at 45 degrees with respect to a vertical plane passing through the row of photoelectric conversion elements. It is inclined in a direction that becomes lower as you do. On the other hand, the component side prism 232 has a reflecting surface 236 that is symmetrically inclined at about 45 degrees. Each of the pair of prisms 230 and 232 has a width in the X-axis direction corresponding to the width of the line sensor 228.
[0031]
A region surrounded by the pair of arms of the mounting member and the component-side and sensor-side prisms 230 and 232 is a region left in the vertical direction. This region is a region that is wider in the horizontal direction than the plurality of electrical components 32 held by the suction nozzle 160 and passes between the sensor-side prism 226 and the component-side prism 228 to move the suction nozzle 160 up and down. 32 mounting operations can be performed.
[0032]
A lighting device 238 is attached to the lower end of the line sensor 228. The illumination device 238 includes two rod-shaped light sources 240 extending in parallel in the X-axis direction. The illumination light from the light sources 240 is converged by the long convex lens 242 and passes through the reflection surface 234 to be reflected by the reflection surface. The light is reflected by 236 and projected vertically upward from the component side prism. The reflecting surface 234 is a half mirror. The illuminating device 238 is covered with a material that does not transmit light, and only a portion facing the reflecting surface 234 is opened.
[0033]
This electrical component mounting system is controlled by the control device 250 shown in FIG. The control device 250 includes a computer 258 mainly composed of a CPU 252, a ROM 254, and a RAM 256. The computer 258 has a bus 260 for connecting the CPU 252, ROM 254, and RAM 256 to each other, and an input interface 262 is connected to the bus 260. The input interface 262 includes a plurality of encoders 264 that detect rotations of the Y-axis motor 52, the X-axis motor 70, the revolution motor 106, the rotation motor 146, and the like, and positions that detect the zero point position of the X-axis slide 66. A detection sensor 266, a line sensor 228, and the like are connected. An output interface 268 is also connected to the bus 260, and the output interface 268 is connected to the Y-axis motor 54, the X-axis motor 70, the revolution motor 106 and the rotation motor 146 via the plurality of drive circuits 270, and the lifting / lowering motor 146. An air cylinder 134 (strictly, an electromagnetic valve device for controlling it), a linear motor 206, and the like are connected. The ROM 254 stores various programs necessary for mounting the electrical component 32 by the electrical component mounting system.
[0034]
The operation of the electrical component mounting system configured as described above will be described. First, a brief description will be given. The pallet 24 supporting the printed wiring board 22 is conveyed intermittently at a predetermined pitch simultaneously by the pallet conveying device 14, and electrical components are placed on the printed wiring board 22 on the pallet 24 in each component mounting area of the 16 mounting devices 18. 32 is mounted. The pallet 24 is positioned every time one pitch is sent. Since this pallet conveying operation is substantially the same as the operation described in Japanese Patent Laid-Open No. 7-45959, description thereof is omitted.
[0035]
In parallel with the transport operation of the printed wiring board 22, the electrical component 32 is supplied to the mounting device 18. The mounting head 80 is moved onto the component supply unit 34, and the electrical component 32 to be mounted this time is sucked by the suction nozzle 160. While the mounting head 80 moves from above the component supply unit 34 to the mounting position for mounting the electrical component 32, the electrical component 32 sucked by each suction nozzle 160 is imaged and the obtained image data is processed. Thus, the displacement of the holding position and attitude of the electrical component 32 (the displacement of the center point of the electrical component 32 and the rotational displacement of the rotation around the center point) is acquired, and the displacement is corrected and mounted on the printed wiring board 22. Of these electrical component supply operations and electrical component mounting operations, portions that are substantially the same as the conventional ones will be briefly described, and a characteristic portion and imaging for capturing the holding posture of the electrical component 32 by the suction nozzle 160 will be described. Will be described in detail.
[0036]
In the present embodiment, the X-axis direction width of each pair of the two suction nozzles 160 out of the six suction nozzles 160 is an integral multiple of the interval between the feeders 28 as described above. Two electrical components 32 are simultaneously sucked by the two suction nozzles 160 forming a pair. Specifically, as shown in FIG. 6, the feeder 28 and the suction nozzle 160 are associated with each other, and the six feeders 28 are referred to as A, B, C, D, E, and F in order from the upstream side. If this is the case, electrical components 32 are simultaneously supplied from A and C, D, and F by two pairs of suction nozzles 160 having a distance of 20 mm, and simultaneously from B and E by a pair of suction nozzles 160 having a distance of 30 mm. Electrical components are removed.
[0037]
In the state in which the electric component 32 is sucked and all the suction nozzles 160 are raised to the rising end position with respect to the mounting head 80, an image of the electric component 32 is taken. Specifically, first, the position of the mounting head 80 in the X-axis direction is matched with the line sensor 228. In the present electrical component mounting system, the line sensor 228 is provided at the center of each mounting device 18 in the X-axis direction, so the mounting head 80 is also positioned at the center of the mounting device 18 in the X-axis direction. Thereafter, movement of the mounting head 80 in the X-axis direction is prohibited until the imaging operation is completed, and movement of the mounting head 80 in the Y-axis direction is allowed.
[0038]
Until the imaging operation is started, the line sensor 228 is kept waiting at an initial position which is the position farthest from the mounting head 80. In this state, the pair of prisms 230 and 232 are located on the same side with respect to the mounting head 80. When the start of the imaging operation is instructed by the control device 250, the linear motor 206 is operated, and the bracket 204 starts to move in a direction approaching the bracket 60. Until then, since the linear motor 206 is stopped, the bracket 204 is fixedly connected to the bracket 60, and the line sensor 228 held by the bracket 204 moves in the Y-axis direction. Although the movement is merely following the mounting head 80, if the operation of the linear motor 206 is started, the line sensor 228 moves at a high speed following the mounting head 80 and further moves to the mounting head 80. It starts to move relative to it.
[0039]
As the bracket 204 moves relative to the bracket 60, the component-side prism 230 passes below the electrical component 32, and imaging by the line sensor 228 is performed. At that time, illumination light from the illumination device 238 passes through the sensor side prism 230 and is projected toward the component side prism 232, and further projected from the component side prism 232 toward the electrical component 32. The image forming light including the bright image in which the illumination light is reflected on the surface of the electrical component 32 and the dark image by the background plate 162 is reflected by the prisms 230 and 232 in the reverse order of the illumination light, and the line sensor 228 Light enters the imaging surface. The component-side prism 232 passes below the electrical component 32, and an image of the electrical component 32 is acquired sequentially for each thin strip. When the component-side prism 232 passes below all the electrical components 32, the current imaging is completed, and the component-side prism 232 is positioned on the opposite side of the imaging device 200 with the mounting head 80 interposed therebetween. In that state, the bracket 204 is stopped with respect to the bracket 60, and thereafter relative movement with respect to the bracket 60 is prohibited until one mounting operation is completed.
[0040]
When the imaging is completed as described above, the prohibition of movement of the mounting head 80 in the X-axis direction is released. Thereafter, the mounting head 80 is moved to the position on the printed wiring board 22 where the electrical component is to be mounted first while performing the movement in the X-axis direction in addition to the movement in the Y-axis direction so far. During the movement, the deviation of the holding position and posture of each electric component 32 is calculated based on the image data acquired by imaging, and the deviation of the holding position and posture of each electric component is corrected based on the calculation result. Therefore, the rotation angle of the suction nozzle 160 and the correction amount of the stop position of the mounting head 80 are calculated. This calculation needs to be completed at least by the time when the mounting head 80 reaches the first stop position at least for the electrical component 32 to be mounted on the printed wiring board 22 first. The electrical component 32 may be performed during the mounting operation of the electrical component mounted before that. At the latest, it suffices if the mounting head 80 is stopped before the mounting of each electrical component 32 is stopped. When mounting each electrical component 32, the suction nozzle 160 is rotated all at once, thereby correcting the deviation of the posture of the electrical component 32 to be actually mounted, correcting the stop position of the mounting head 80, and mounting. When the head 80 is stopped at the corrected stop position, the holding position error of the electrical component 32 is corrected. Further, at the time of mounting, the relative movement is prohibited with the bracket 204 closest to the bracket 60, so that each suction nozzle 160 passes between the sensor-side prism 230 and the component-side prism 232, thereby 32 is attached to the printed wiring board 22.
[0041]
The region where the electrical component 32 can be mounted by the mounting unit of the electrical component mounting system is a rectangular region shown in FIG. If the mounting head 80 does not rotate, the mountable area varies depending on the suction nozzle 160. That is, the region that can be mounted by the suction nozzle 160 in the right half of the mounting head 80 is a region that is hatched by a diagonal line that rises to the right in FIG. 6 and is mounted by the suction nozzle 160 in the left half of the mounting head 80. A possible area is a hatched area with a diagonal line rising to the left. The central area where the hatching due to the upward-sloping diagonal line and the hatching due to the upward-sloping diagonal line overlap is an area where the electrical component 32 can be mounted by any of the suction nozzles 160 of the mounting head 80. The two regions on both sides of the head, that is, the region only hatched by the diagonal line rising to the right or only the hatching by the diagonal line rising to the left are only by the suction nozzle 160 on the right half or the left half of the mounting head 80. This is an area where the electrical component 32 can be mounted. On the other hand, in this electrical component mounting system, the mounting head 80 can rotate 180 degrees as described above, and therefore the left side region is electrically connected to one of the suction nozzles 160 on the right half of the mounting head 80. When it is necessary to mount the component 32, or when it is necessary to mount the electrical component 32 in the right region by any of the suction nozzles 160 in the left half of the mounting head 80, the mounting head 80. If they are rotated 180 degrees, they can be mounted. In other words, by any combination of movement and rotation of the mounting head 80, any suction nozzle 160 held by the mounting head 80 can be positioned at any position in the rectangular area hatched in FIG. The electrical component 32 can be mounted. All the suction nozzles 160 can be covered with the same maximum mountability.
[0042]
When the mounting of the electrical component 32 is completed for all the suction nozzles 160, the mounting head 80 is moved to the electrical component supply position and the next electrical component supply operation is performed. In the meantime, the bracket 204 is returned to the initial position. Note that the bracket 204 may be moved to the initial position at an appropriate time after the imaging operation is finished and before the next component supply is started.
[0043]
As is clear from the above description, the pallet 24 and the pallet conveying device 14 cooperate with each other to form a base material support device, and the Y-axis direction moving device 58 and the X-axis direction moving device cooperate with each other to move the head. The bracket 204 constitutes a relative movement member, the suction nozzle 106 constitutes a suction tool that is a kind of component holding jig, and the revolution motor 106 constitutes a head rotation device.
[0044]
In the present embodiment, six suction nozzles 160 are held by the mounting head 80, but more or less suction nozzles 160 may be provided. For example, when mounting an electrical component larger than the electrical component 32 described above, as shown in FIG. 7, four suction nozzles 160 are mounted on the mounting head 80 at equiangular intervals and with respect to a line parallel to the Y axis. It is sufficient that the suction nozzles are symmetrical with respect to each other and the interval between the suction nozzles which are symmetrical with each other is an integral multiple of the interval between the feeders. In this case, if the distance between the suction nozzles is set to be twice the distance between the feeders, the amount of movement of the mounting head 80 when supplying the electrical components can be suppressed.
[0045]
In the above embodiment, since the pair of prisms 230 and 232 are provided so that a space is formed between them, the imaging of the electrical component 32 is finished and the correction based on the image processing is finished. If it does so, it becomes possible to mount | wear with the electrical component 32 immediately. It is possible to avoid delaying the mounting timing for returning the imaging device 200 to the initial position.
[0046]
Further, according to the combination in the present embodiment, the movement of the mounting head 80 during the suction operation can be minimized. The combination of the suction nozzle 160 and the electrical component supply device 20 may be a combination different from the one shown above. Moreover, it is not indispensable to always attract the electrical components 32 at the same time for the pair of suction nozzles 160, and the electrical components 32 may be attracted at different timings.
[0047]
Furthermore, in the above embodiment, since the electric component 32 is simultaneously sucked by the plurality of suction nozzles 160, the efficiency of the suction work for sucking the electric component 32 can be improved. It is not essential to adsorb the parts simultaneously. And when not making it adsorb | suck simultaneously, there is no restriction | limiting in particular in the arrangement | positioning space | interval of an adsorption nozzle and a feeder.
[0048]
If the imaging of the electrical components 32 sucked by all the suction nozzles 160 of the mounting head 80 is performed at once, the imaging can be completed in a short time, but the imaging may be performed in a plurality of times. For example, an area to be imaged is divided into a plurality of partial areas in the X-axis direction, and each of the partial areas is imaged using movement of one-way of the imaging unit 200, and the mounting head 80 is intermittently intermittent in the X-axis direction. Move it. In that case, imaging may be performed in both the forward movement and the backward movement of the bracket 204 in the Y-axis direction, or may be performed only in one of the forward movement and the backward movement.
[0049]
As mentioned above, although some embodiment of this invention was described in detail, these are only illustrations and this invention was described in the above-mentioned section of [the subject which invention intends to solve, a problem-solving means, and an effect]. The present invention can be implemented in various forms including various modifications and improvements based on the knowledge of those skilled in the art.
[Brief description of the drawings]
FIG. 1 is a front view showing an electrical component mounting system according to an embodiment of the present invention.
FIG. 2 is a side view showing a mounting unit in the system.
3 is an enlarged side cross-sectional view showing a main part of the mounting unit in FIG. 2. FIG.
4 is a cross-sectional view taken along line IV-IV in FIG.
FIG. 5 is a block diagram showing a control unit in the system.
FIG. 6 is a plan view for explaining mounting of an electrical component by the system.
FIG. 7 is a plan view for explaining mounting of an electrical component by an electrical component mounting system according to another embodiment of the present invention.
[Explanation of symbols]
18: Electric component mounting machine 20: Electric component supply device 28: Feeder
52: First Y-axis slide 58: Y-axis direction moving device 78: X-axis direction moving device 80: Mounting head 200: Imaging unit 202: Second Y-axis slide 206: Linear motor 228: Line sensor
230: Sensor side prism 232: Component side prism

Claims (6)

A circle on each component holder of the mounting head which holds a plurality of component holders are held electrical components, by moving the mounting head to a predetermined position in the horizontal movement plane, the circuit group A method of attaching the material to a predetermined position,
The arbitrary one component holder is moved to the outer region of any one of the maximum movable regions of the plurality of component holders based on the movement of the mounting head in the moving plane. A method of mounting an electrical component, wherein the electrical component is moved by rotation around a central axis of the circumference, and the electrical component is mounted on the circuit substrate at that position. A circle on each component holder of the mounting head which holds a plurality of component holders are held electrical components, by moving the mounting head to a predetermined position in the horizontal movement plane, the circuit group A method of attaching the material to a predetermined position,
An area where the electrical component can be mounted by moving the mounting head in the moving plane without rotating the mounting head around the central axis of the circle. The plurality of electrical components held by the plurality of component holders of the mounting head without rotating the mounting head is mounted on the circuit base, and the circuit base If the position where the electrical component is to be mounted is a position in a region where the electrical component cannot be mounted only by moving the mounting head within the moving plane, the mounting head is moved within the moving plane. The mounting head is rotated about the central axis of the circumference and held by at least one of the plurality of component holders of the mounting head. Electric-component mounting method which comprises causing mounted on the circuit substrate.   The mounting head is moved in the moving plane by an X-axis direction moving device and a Y-axis direction moving device that move the mounting head in directions parallel to the X axis and the Y axis that are orthogonal to each other. When a plurality of component holders are used that are held in a line-symmetrical position with a straight line parallel to the Y-axis as the axis of symmetry, and the electrical component is mounted with the rotation of the mounting head 3. The electrical component mounting method according to claim 2, wherein the mounting head is reversed 180 degrees around the central axis of the circumference. A component supply device for supplying electrical components;
A substrate support device for supporting a circuit substrate;
A plurality of component holders are held on a circumference around a central axis, and an electric component is received from each of the component supply devices by each of the component holders, and the circuit substrate is supported by the substrate support device. A mounting head to be mounted;
A head rotating device that rotates the mounting head around the central axis of the circumference ;
A head moving device for moving the mounting head between the component supply device and the substrate support device;
The maximum mountable area of the electrical component by the component holder held by the mounting head with respect to the circuit substrate on the substrate support device is moved by the head moving device and rotated by the head rotating device. An electrical component mounting system comprising: a control device that controls the head moving device and the head rotating device to cover by a combination of the above. A component supply device for supplying electrical components;
A substrate support device for supporting a circuit substrate;
A plurality of component holders are held on a circumference around a central axis, and an electric component is received from each of the component supply devices by each of the component holders, and the circuit substrate is supported by the substrate support device. A mounting head to be mounted;
A head rotating device that rotates the mounting head around the central axis of the circumference ;
A head moving device for moving between said component supply device and the substrate supporting device in said mounting head, horizontal movement plane,
The position where the electrical component of the circuit substrate is to be mounted is a position within the region where the electrical component can be mounted by moving the mounting head within the moving plane without rotating the mounting head around the central axis of the circle. In this case, the plurality of electrical components held by the plurality of component holders of the mounting head should be mounted on the circuit base without rotating the mounting head, and the electrical component of the circuit base should be mounted. When the position is in a region where electrical components cannot be mounted only by moving the mounting head in the moving plane, the mounting head is moved in the moving plane and the mounting head is moved The electrical component held by at least one of the plurality of component holders of the mounting head should be mounted on the circuit substrate by rotating around a central axis of the circumference. EC mounting system including a controller for controlling said head moving device and the head rotating device. The mounting head includes a rotating body that holds the plurality of component holders so as to be capable of rotating about the axis of the component holders, and the head rotating device rotates the rotating body about the central axis of the circumference. The plurality of component holders held by the rotating body are revolved around the central axis of the circumference, and the electrical component mounting system is
A rotation device for rotating the plurality of component holders by rotating the plurality of component holders around the axis of each component holder with respect to the rotating body;
By moving the plurality of component holders relative to the rotating body in a direction parallel to the axis of the component holders, the component holders can be moved relative to the component supply device and the substrate support device independently of each other. The electrical component mounting system according to claim 4, further comprising a lifting device that lifts and lowers.

Images