JP5062149B2 - Data creation method, component mounting method, data creation device, and component mounter - Google Patents

Description

  The present invention relates to a data creation method, a component mounting method, a data creation device, and a component mounting for creating component suction data used in a component mounting operation for repeatedly executing a component transfer process in which a component is sucked by a suction nozzle and mounted on a substrate. Related to the machine.

  The component mounter repeatedly performs a component transfer process in which a component is sucked into each of a plurality of suction nozzles provided in the mounting head and mounted on the substrate. A plurality of components can be mounted on the substrate in the mounting process. In each component transfer process, the suction nozzle of the mounting head to which the component is to be sucked is determined in advance and stored as the component picking data.

In the creation of such component suction data, whether or not both components sucked by the two adjacent suction nozzles interfere with each other between being sucked by the suction nozzle and mounted on the substrate, Judgment is made based on the diagonal dimension of the part (Patent Document 1).
JP 2003-258494 A

  However, since the diagonal dimension of a component is the maximum dimension that the component can take in the direction in which the suction nozzles are arranged, if the interference is always determined based on the diagonal dimension of the component, it can actually be sucked. There is a problem that even if it is a component, there is a case where it is determined that the component cannot be sucked, and the number of components that can be mounted on the board is reduced in one component transfer process, which may reduce the mounting efficiency.

  Accordingly, the present invention has an object to provide a data creation method, a component mounting method, a data creation device, and a component mounting machine for component suction data that can increase the number of components that can be mounted on a substrate in a single component transfer process. And

The data creation method according to claim 1 is a component mounting operation in which a component transfer process in which a component is attracted to each of a plurality of suction nozzles provided in a mounting head included in the component mounter and mounted on a substrate is repeatedly executed. A data creation method for creating component suction data that defines which suction nozzle of a mounting head is used to suck a component, and is adjacent to each other when sucked by two adjacent suction nozzles 2 For each of the two components, a rotation angle calculation step for calculating a rotation angle that is rotated by the suction nozzle after it is sucked by the suction nozzle until it is mounted on the substrate, and both of the components calculated in the rotation angle calculation step The maximum dimension setting step for setting the maximum dimension in the direction in which the suction nozzles of each of the two parts are arranged according to the rotation angle, and the both dimensions set in the maximum dimension setting step A determination step for determining whether or not the two components interfere with each other based on a maximum dimension of the suction nozzles in the arrangement direction of each product and an inter-axis distance between two adjacent suction nozzles; when There it is determined not to interfere with each other, wherein at least one of both parts saw including a data creation step for creating data to be adsorbed to the two adjacent suction nozzles, rotation angle of the two components calculated by the rotation angle calculating step Is not 0 degree, the maximum dimension in the direction in which the suction nozzles of each of the two parts are arranged is set to the diagonal dimension of each of the two parts, and when the rotation angles of both the parts are both 0 degree, The maximum dimension in the arrangement direction of the suction nozzles of the two parts is set to the dimension in the arrangement direction of the suction nozzles when sucked by the suction nozzles of the two parts .

The component mounting method according to claim 2 is a component mounting method for repeatedly executing a component transfer step of adsorbing a component to each of a plurality of suction nozzles provided in a mounting head provided in the component mounting machine and mounting the component on a substrate. Thus, each component transfer step is executed using the component suction data created by the data creation method according to claim 1 .

According to a third aspect of the present invention, there is provided the data creating apparatus according to the third aspect of the present invention, in a component mounting operation for repeatedly executing a component transfer process in which a component is attracted to each of a plurality of suction nozzles provided in a mounting head of the component mounter and mounted on a substrate. A data creation device that creates component suction data that determines which suction nozzle of a mounting head is used to suck a component, and is adjacent to each other when sucked by two adjacent suction nozzles. For each of the two components, a rotation angle calculation means for calculating a rotation angle that is rotated by the suction nozzle after being sucked by the suction nozzle and mounted on the substrate, and both the parts calculated by the rotation angle calculation means The maximum dimension setting means for setting the maximum dimension in the arrangement direction of the suction nozzles of each of the two parts according to the rotation angle of the two parts, and the maximum dimension setting means Determination means for determining whether or not the two parts interfere with each other based on the maximum dimension of the suction nozzles in the arrangement direction of the two parts and the distance between the axes of the two adjacent suction nozzles; When the two parts are determined not to interfere with each other, the data creating means for creating data for sucking the two parts to the adjacent two suction nozzles is provided , and the maximum dimension setting means is calculated by the rotation angle calculating means. If at least one of the rotation angles of the two parts is not 0 degrees, the maximum dimension in the direction in which the suction nozzles of the two parts are arranged is set to the diagonal dimension of the two parts, and the rotation angles of the two parts are set. When both are 0 degrees, the maximum dimension in the direction in which the suction nozzles of both parts are aligned is the dimension in the direction in which the suction nozzles are aligned when suctioned by the suction nozzles of both parts. It is set to.

According to a fourth aspect of the present invention, there is provided a component mounting machine including a component supply unit that supplies components, a mounting head that is provided with a plurality of suction nozzles, and a plurality of components that are provided from the component supply unit. It is adsorption on each of the suction nozzle and control means for repeatedly executing the component transfer step of mounting a substrate, the control means, the data creating apparatus according to data creation method or claim 3 according to claim 1 Using the component suction data created by the above, the mounting head performs each component transfer process.

In the present invention, when creating the component suction data that determines which suction nozzle of the mounting head is to suck the component, each of the two components that are adjacent to each other when sucked by two adjacent suction nozzles The rotation angle that is rotated by the suction nozzle after it is sucked by the suction nozzle until it is mounted on the substrate is calculated, and the alignment direction of the suction nozzles of both parts according to the calculated rotation angle of both parts And determine whether or not both components interfere with each other based on the maximum dimension of the suction nozzles in the arrangement direction of each of these parts and the distance between the axes of the two adjacent suction nozzles. and is in the, if at least one of the rotation angle between the two parts which is calculated is not zero degrees, the maximum dimension of the array direction of the suction nozzle of each two parts, both parts it If the rotation angle of both parts is 0 degree, the maximum dimension in the direction of the suction nozzles of both parts is set to the suction nozzles of both parts. It is set to the dimension in the direction in which the suction nozzles are arranged. Therefore, depending on the rotation angle of both parts, the maximum dimension in the direction of the suction nozzle of the part is not the diagonal dimension of that part, but the dimension of the suction nozzle in the direction of the suction nozzle when sucked by the suction nozzle. Since it is possible to prevent the inconvenience that it is determined that a component that can be adsorbed originally cannot be adsorbed, it is possible to increase the number of components that can be mounted on the substrate in one component movement process, Accordingly, the mounting efficiency can be improved.

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view of a component mounter according to an embodiment of the present invention, FIG. 2 is a partial front view of a mounting head provided in the component mounter according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention. 4 is a block diagram showing a control system of the component mounting machine in the embodiment, FIG. 4A is a plan view of the board showing the mounting direction of the components of the component mounting machine in one embodiment of the present invention, and FIG. 4B is the present invention. FIG. 5 is a partial plan view of a component supply unit showing a component supply direction of a component mounter in one embodiment, FIG. 5 is a flowchart showing a flow of component mounting work performed by the component mounter in one embodiment of the present invention, FIGS. 6A, 6B, and 6C are diagrams for explaining the distance between the axes of the suction nozzles provided in the component mounting machine according to the embodiment of the present invention, and the dimensions in the arrangement direction of the parts sucked by the suction nozzles. 7 and 8 show an embodiment of the present invention. It is a flowchart showing a flow of process of generating goods adsorption data.

  In FIG. 1, a component mounter 1 according to the present embodiment includes a substrate transport path 12 on a base 11, and a plurality (four in this case) of suction nozzles 13 above the substrate transport path 12. The two mounting heads 14 equipped with are provided so as to be movable in the horizontal plane direction by the XY robot 15.

  The substrate transport path 12 includes a pair of belt conveyors, and transports the substrate PB in the horizontal direction (X-axis direction) and positions it at a predetermined position. The XY robot 15 includes a Y-axis table 16 that extends in a horizontal plane direction (Y-axis direction) orthogonal to the X-axis direction, and two Y-axis tables that are movable along the Y-axis table 16 in the Y-axis direction. An X-axis table 17 and two moving stages 18 provided so as to be movable in the X-axis direction along each X-axis table 17 are provided. Two mounting heads 14 are attached to each moving stage 18 one by one. .

  In FIG. 1, a plurality of parts feeders 20 for supplying a component (electronic component) P to a component supply position 19 are provided side by side in the X-axis direction in a side region in the Y-axis direction of the substrate transport path 12. A component supply unit 21 is configured by a plurality of parts feeders 20. Each mounting head 14 is provided with a substrate camera 22 with the imaging surface facing downward, and a component camera 23 with the imaging surface facing upward is provided on the base 11 on both outer sides of the substrate transport path 12. Yes.

  In FIG. 2, a plurality of nozzle shafts 14 a are arranged in a row in the X-axis direction on the mounting head 14, and can be moved (lifted) in the vertical direction (Z-axis direction) with respect to the mounting head 14. It can rotate around. The suction nozzle 13 is detachably attached one by one to the lower end portion of each nozzle shaft 14a, and is moved up and down as the nozzle shaft moves up and down and rotates.

  Each nozzle shaft 14a is constantly biased upward by a biasing spring (not shown) and is located at a predetermined initial position. The nozzle shaft 14a is pushed down against the biasing spring by an actuator built in the mounting head 14. Move downward from the initial position.

  In FIG. 3, the control device 30 included in the component mounting machine 1 includes a mounting control unit 31, a mechanism driving unit 32, a recognition processing unit 33, a data storage unit 34, a control program storage unit 35, and a data creation unit 36. An input unit 38 and a display unit 39 are connected to the unit 31.

  In FIG. 3, the mounting control unit 31 controls the operation of the mechanism driving unit 32 by executing a later-described NC program 34 a stored in the data storage unit 34, and the substrate transport path 12, the parts feeder 20, the XY robot 15, The mechanism unit 40 including the mounting head 14 and the like is driven. The mechanism unit 40 includes an actuator that moves the nozzle shaft 14 a (that is, the suction nozzle 13) provided in the mounting head 14 up and down and rotates.

The recognition processing unit 33 performs image recognition processing based on the image data sent from the board camera 22 and the component camera 23, and transmits the result to the mounting control unit 31. The image recognition processing information sent from the recognition processing unit 33 is referred to when the mounting control unit 31 controls the operation of the mechanism driving unit 32.

  The data storage unit 34 stores an NC program 34a, an array program 34b, a component library 34c, and component suction data 34d. The NC program 34a is a program that prescribes the operation during automatic operation of the component mounter 1, and prescribes the mounting operation related to each component P, such as which component P is to be mounted in which order on the board PB. . By executing the NC program 34a, the mounting head 14 repeatedly performs a component transfer process in which the component P supplied from the component supply unit 21 is absorbed by the suction nozzle 13 and mounted on the substrate PB. .

  Parameters used in the NC program 34a are a mounting position, a mounting direction, a mounted part, and the like. Here, the mounting position is the position where the component P is mounted on the board PB, which is determined by the XY coordinates from the coordinate origin set on the board PB. The mounting direction is the direction of the component P when mounted on the board PB. The direction is represented by an angle (deflection angle) φm from a predetermined reference direction (see FIG. 4A).

  The arrangement program 34b is a program that summarizes the arrangement method of the parts P, and specifies how the parts P are arranged in the parts supply unit 21 (what parts P are supplied to which parts feeder 20). Yes.

  The component library 34c registers detailed data related to the component P. When the component P is designated by the array program 34b, the component P is mounted on the board PB based on the data of the component library 34c. Is called. The component library 34c defines the supply direction of the component P in addition to data such as the shape, type, size, and thickness of the component. Here, the supply direction of the component P represents the direction of the component P when supplied from the component supply unit 21 by the angle (declination) φs from the same reference direction as the mounting direction of the component P described above. (See FIG. 4B).

  The component suction data 34 d defines which component P is to be sucked by which suction nozzle 13 of the mounting head 14 in each component transfer process performed by the mounting head 14.

  The control program storage unit 35 stores a component suction data creation program 35a. The component suction data creation program 35 a is a program used for creating the component suction data 34 d stored in the data storage unit 34.

  The input unit 38 includes a keyboard and a mouse, and the display unit 39 includes a display device.

  FIG. 5 is a flowchart showing the flow of component mounting work performed by the component mounting machine 1. The mounting control unit 31 of the control device 30 controls the operation of the mechanism unit 40 via the mechanism driving unit 32 based on the NC program 34a and the array program 34b stored in the data storage unit 34, and the component P is placed on the board PB. Is implemented.

  When the mounting control unit 31 detects that a substrate PB has been put into the board conveyance path 12 of the component mounting machine 1 by a sensor (not shown), the board conveyance path 12 is operated to carry the board PB into the component mounting machine 1. Then, it is positioned at a predetermined work position (step ST1).

After positioning the substrate PB, the mounting control unit 31 positions the mounting head 14 above the substrate PB and causes the substrate camera 22 to image the substrate position detection mark M (FIG. 1) of the substrate PB.
And based on the image data of the board | substrate position detection mark M obtained via the recognition process part 33, the position shift from the reference | standard position of the board | substrate PB is calculated (step ST2).

  After calculating the positional deviation of the substrate PB, the mounting control unit 31 moves the mounting head 14 above the parts feeder 20, picks up the component P by picking up the component P by each suction nozzle 13 (step ST3). In the pick-up of the component P, the component suction data 34d stored in the data storage unit 34 is referred to as to which suction nozzle 13 sucks which component P.

  When the mounting control unit 31 sucks and picks up the component P by the suction nozzle 13, it moves the mounting head 14 so that the picked-up component P is located immediately above the component camera 23, and the component camera 23 picks up the component P. To do. Then, image recognition (component recognition) of the component P is performed based on the image data of the component P obtained through the recognition processing unit 33 (step ST4), and the positional displacement (suction displacement) of the component P with respect to the suction nozzle 13 is performed. Calculate (step ST5).

  After calculating the suction displacement of the component P, the mounting control unit 31 moves the mounting head 14 above the substrate PB and separates the component P sucked by the suction nozzle 13 from the target mounting position on the substrate PB. P is mounted on the substrate PB (step ST6).

  When mounting the component P on the board PB, the mounting control unit 31 reads the supply direction (angle φs) of the component P from the component library 34c and reads the mounting direction (angle φm) from the NC program 34a. A difference φ1 (= φm−φs) of φm is calculated. This angle difference φ1 corresponds to a rotation angle (which is also a rotation angle of the suction nozzle 13) that is rotated between the time when the component P is sucked by the suction nozzle 13 and mounted on the substrate PB. As for the rotation angle φ1 of the component P, if the value of the rotation angle φ1 exists as it is, the data of the rotation angle φ1 may be read.

  After calculating the rotation angle φ1 of the component P, the mounting control unit 31 adds an angle θ (added to the rotation angle φ1 to the correction angle (sign is φ2) for correcting the suction displacement of the component P obtained at the time of component recognition. The suction nozzle 13 is rotated by = φ1 + φ2), and the component P is mounted on the substrate PB. At this time, the position of the suction nozzle 13 is also corrected so that the positional deviation from the reference position of the substrate PB obtained when positioning the substrate PB is corrected. The correction angle φ2 is usually an extremely minute angle of 1 degree or less.

  When all the components P picked up in step ST3 are mounted on the substrate PB, it is determined whether or not all the components P have been mounted on the currently targeted substrate PB (step ST7). As a result, when the mounting of all the parts P has not been completed, the part transfer process consisting of step ST3 to step ST6 is repeatedly executed, and when the mounting of all the parts P has been completed, The board conveyance path 12 is operated, and the board PB is carried out of the component mounter 1 (step ST8). As a result, the component mounting work per board PB is completed, and the mounting control unit 31 waits for the insertion of the next board PB.

  The component mounting operation is executed in such a flow. As described above, in step ST3, the component P is sucked to which suction nozzle 13 of the mounting head 14 from the component suction data 34d stored in the data storage unit 34. Such information is read out. The component suction data 34d is created by the operator through the data creation unit 36 of the control device 30. When the component suction data 34d is created, the component suction data creation program stored in the control program storage unit 35 is used. 35a is used. Hereinafter, the flow of creating the component suction data 34d using the component suction data creation program 35a will be described.

  As described above, the mounting control unit 31 sucks the component P supplied from the component supply unit 21 by the suction nozzle 13 of the mounting head 14 and then adds the correction angle φ2 to the rotation angle φ1 of the component P. The suction nozzle 13 is rotated by (= φ1 + φ2) (that is, the component P is rotated by θ), and the component P is mounted on the substrate PB. Even during the rotation of 13, the parts P sucked by the suction nozzle 13 should not interfere with each other.

  In order to determine whether or not the two parts P that are adjacent to each other when adsorbed by the two adjacent suction nozzles 13 interfere with each other, including when the suction nozzle 13 rotates, these two parts P After setting the maximum dimension (hereinafter referred to as “maximum dimension in the alignment direction”) Sm in the arrangement direction of the respective suction nozzles 13 (corresponding to the X-axis direction here), the maximum alignment direction of each of the set parts P is set. What is necessary is just to compare the sum of the half lengths of the dimension Sm with the nozzle pitch L (FIG. 6A) which is the distance between the axes of the two adjacent suction nozzles 13. As a result of the comparison, if the sum of the half lengths of the maximum dimension Sm of the two parts P is larger than the nozzle pitch L, the two parts P sucked by the two adjacent suction nozzles 13 interfere with each other. If the sum of the half lengths of the arrangement direction maximum dimension Sm of each of the parts P is smaller than the nozzle pitch L, the parts P sucked by the two adjacent suction nozzles 13 do not interfere with each other (FIG. 6 ( b) and (c)).

  Here, when at least one of the rotation angles φ1 of both parts P is not 0 degree, the maximum dimension Sm in the arrangement direction of both parts P can be set to the diagonal dimension S1 of each of the parts P (see FIG. 6 (b)), when both rotation angles φ1 of both parts P are 0 degrees (only the correction angle φ2 is rotated), the arrangement direction dimension Sm of both parts P is set to the suction nozzle of each of both parts P. The dimension of the suction nozzle 13 in the arrangement direction when sucked by the nozzle 13 (projected dimension of the component P when viewed from the horizontal direction orthogonal to the arrangement direction of the suction nozzle 13; hereinafter referred to as “alignment direction dimension”) S2 It can be set (FIG. 6C).

  For this reason, in the component mounter 1 according to the present embodiment, in the creation of the component suction data 34d, as described later, two components P that are adjacent to each other when sucked by two adjacent suction nozzles 13 are used. , A rotation angle φ1 that is rotated between the suction of the suction nozzle 13 and the mounting on the substrate PB is calculated, and each of the two parts P is calculated according to the calculated rotation angle φ1 of both the parts P. The arrangement direction maximum dimension Sm is set.

  Then, in the setting of the maximum dimension Sm, the alignment direction maximum dimension Sm of each of the parts P is set to the diagonal dimension S1 of each of the parts P or the dimension of the both parts P when being attracted to the suction nozzle 13. More specifically, when at least one of the calculated rotation angles φ1 of both parts P is not 0 degrees, the maximum dimension Sm in the alignment direction of both parts P is set to both parts. When the diagonal dimension S1 of each P is set and the rotation angle φ1 of both parts P is both 0 degrees, the maximum dimension Sm in the arrangement direction of each of the parts P is set to the suction nozzle 13 of each of the parts P. The arrangement direction dimension S2 when sucked is set.

  7 and 8 are flowcharts showing the flow of the process of creating the component suction data 34d by the data creation unit 36. The flow of processing in both these figures is continuous in the same circled alphabet part.

When a predetermined input for starting the creation process of the component suction data 34d is made by the operator from the input unit 38, the data creation unit 36 firstly selects among the components P sequentially supplied from the component supply unit 21 according to the arrangement program 34b. The part P for which data to be sucked by the suction nozzle 13 is to be created is designated as the part P with the number N = 1 (step ST11), and the part P with the number N = 1 is attracted to the master nozzle in the data creation execution unit 36a. Data to be adsorbed by the nozzle 13 is created (step ST12). Here, the master nozzle is the suction nozzle 13 that first sucks the component P when creating the component suction data 34d in one component transfer process. For example, the master nozzle is a plurality of suction nozzles 13 arranged in a row. The suction nozzle 13 located at the end of is designated.

  When step ST12 ends, the data creation unit 36 sets the part P for which data is to be created next as the part P of number N = N + 1 (step ST13), and the rotation angle calculation unit 36b creates the current data. The rotation angle φ1 of the target part P with the number N is calculated (step ST14), and the rotation angle φ1 of the target part P with the number N-1 is calculated (step ST15). Then, it is determined whether or not the rotation angle φ1 of the part N of the number N and the part P of the number N-1 (that is, both parts P sucked by the two adjacent suction nozzles 13) is 0 degrees ( Step ST16).

  As a result, when the rotation angles φ1 of both parts P are both 0 degrees, the data creation unit 36 uses the maximum dimension setting unit 36c to set the maximum dimension Sm in the arrangement direction of both parts P to each of both parts P. Is set to the alignment direction dimension S2 when sucked by the suction nozzle 13 (step ST17), and when at least one of the rotation angles φ1 of the two parts P is not 0 degree, the alignment direction of the two parts P respectively. The maximum dimension Sm is set to the diagonal dimension S1 of each of the parts P (step ST18).

  When the data creation unit 36 sets the maximum dimension Sm in the arrangement direction of the two parts P to be sucked by the two adjacent suction nozzles 13 in step ST17 or step ST18, the comparison determination unit 36d sets the set both parts P. Are compared with the sum of the half lengths of the respective maximum dimension Sm in the arrangement direction and the nozzle pitch L (FIG. 6A) (step ST19). As a result, when the sum of the half lengths of the maximum dimension Sm of the two parts P is smaller than the nozzle pitch L, the two parts P sucked by the two adjacent suction nozzles 13 interfere with each other. If the sum of the half lengths of the maximum dimension Sm in the arrangement direction of both parts P is larger than the nozzle pitch L, the two parts P sucked by the two adjacent suction nozzles 13 interfere with each other. to decide.

  When the comparison determination unit 36d determines that the two parts P sucked by the two adjacent suction nozzles 13 do not interfere with each other, the data creation execution unit 36a applies the suction nozzle 13 for sucking the part P of the number N-1. Data for causing the adjacent suction nozzle 13 to suck the component P of number N is created (step ST20). On the other hand, when the comparison determination unit 36d determines that the two parts P sucked by the two adjacent suction nozzles 13 interfere with each other, an error is displayed through the display unit 39 (step ST21), and the operator In response to the input made by the input unit 38, data relating to the suction of the part P with the number N is created (step ST22). For example, this data can be obtained by adsorbing the number N of the component P to the next adsorption nozzle 13 that has been skipped by one in the direction in which the adsorption nozzles 13 are arranged, or discontinuing further adsorption of the component P in the component transfer process. For example, the suction of the part P is transferred to the next part transfer process.

When the data creation unit 36 creates data on the part P with the number N in step ST20 or step ST22, the data creation unit 36 determines whether or not the creation of part suction data for one part transfer process is completed (step ST23). . As a result, when the creation of the component adsorption data for one component transfer process has not been completed, the process returns to step ST13 to repeat the processes of steps ST13 to ST23, and the component adsorption process for one component transfer process is completed. When the data creation is completed, it is determined whether or not the component suction data creation for all the components P to be mounted on the board PB (that is, creation of the component suction data 34d) is finished (step ST24). As a result, if the creation of the component suction data for all the components P to be mounted on the board PB has not been completed, the process returns to step ST11 and the steps ST11 to ST24 are repeated, and the component suction data for all the components P is repeated. When the creation has been completed, the data creation unit 36 collects component suction data for each part transfer process created so far, and stores the data in the data storage unit 34 as the component suction data 34d (step ST25). When step ST25 is finished, the data creation unit 36 finishes the series of component suction data 34d creation process.

  As described above, the data creation unit 36 of the control device 30 of the component mounting machine 1 according to the present embodiment is configured to use the component suction data 34d, that is, the plurality of suction nozzles 13 provided in the mounting head 14 provided in the component mounting machine 1. Data that defines which suction nozzle 13 of the mounting head 14 is to suck the component P, which is used in a component mounting operation in which the component transfer process of repeatedly sucking the component P and mounting the component P on the substrate PB, is created. It functions as a data creation device.

  The data generation method is that each of the two parts P that are adjacent to each other when sucked by two adjacent suction nozzles 13 is sucked by the suction nozzle 13 and then mounted on the substrate PB. The rotation angle calculation step (step ST14 and step ST15) for calculating the rotation angle φ1 that is rotated by the suction nozzle 13 between the two components P respectively according to the rotation angle φ1 of both components P calculated in the rotation angle calculation step. Maximum dimension setting step (step ST17 and step ST18) for setting the maximum dimension (maximum dimension in the alignment direction) Sm of the suction nozzles 13 and the maximum dimension Sm in the alignment direction of both parts P set in the maximum dimension setting step Whether or not the two parts P interfere with each other based on the nozzle pitch L that is the distance between the axes of the two adjacent suction nozzles 13 A determination step (step ST19) for determining whether or not both components P do not interfere with each other in the determination step, and a data creation step for generating data for adsorbing both components P to the two adjacent suction nozzles 13 ( Step ST20) is included.

  For this reason, the data creation unit 36 of the control device 30 serving as a data creation device causes the suction nozzle 13 to store each of the two components P that are adjacent to each other when sucked by the two adjacent suction nozzles 13. A rotation angle calculation unit (rotation angle calculation unit 36b of the data creation unit 36) that calculates a rotation angle φ1 that is rotated by the suction nozzle 13 from the time it is sucked to the mounting on the substrate PB, and a rotation angle calculation unit. Maximum dimension setting means for setting the maximum dimension (maximum dimension in the alignment direction) Sm of the suction nozzles 13 of the two parts P according to the calculated rotation angle φ1 of both the parts P (maximum dimension setting of the data creation unit 36) Portion 36c), the maximum dimension Sm in the arrangement direction of both parts P set by the maximum dimension setting means, and the inter-axis distance (nozzle) between two adjacent suction nozzles 13 And the determination means (comparison determination unit 36d of the data creation unit 36) for determining whether or not the two parts P interfere with each other, and the determination means determine that the two parts P do not interfere with each other. At this time, it is provided with data creation means (data creation execution part 36a of the data creation part 36) for creating data for attracting both parts P to the two adjacent suction nozzles 13.

  Further, the component mounting method by the component mounter 1 in the present embodiment is a component that is mounted on the substrate PB by adsorbing the component P to each of the plurality of suction nozzles 13 provided in the mounting head 14 provided in the component mounter 1. The transfer process (step ST3 to step ST6) is repeatedly executed, and each component transfer process is executed using the component suction data 34d created by the data creation method.

For this purpose, the component mounter 1 according to the present embodiment includes a component supply unit 21 that supplies the component P, a mounting head 14 provided with a plurality of suction nozzles 13, and a plurality of components supplied from the component supply unit 21. The control means (mounting of the control device 30) for repeatedly executing the component transfer process (step ST3 to step ST6) for mounting the component P to the substrate PB by attracting the component P to each of the plurality of suction nozzles 13 provided on the mounting head 14 A control unit 31), and the control means causes the mounting head 14 to execute each component transfer process using the component suction data 34d created by the data creation method or the data creation device.

  As described above, in the present embodiment, when creating the component suction data 34d that defines which suction nozzle 13 of the mounting head 14 is to suck the component P, when the two suction nozzles 13 adsorb to each other, For each of the two parts P that are adjacent to each other, the rotation angle φ1 that is rotated by the suction nozzle 13 between the time when it is sucked by the suction nozzle 13 and the time when it is mounted on the substrate PB is calculated. Whether the two parts P interfere with each other based on the maximum arrangement direction dimension Sm and the nozzle pitch L of the two parts P after setting the maximum arrangement direction dimension Sm of the two parts P according to the rotation angle φ1 of P. Judgment of whether or not.

  Therefore, depending on the rotation angle φ1 of both parts P, the arrangement direction maximum dimension Sm of the parts P is not the diagonal dimension S1 of the parts P but the arrangement direction dimensions S2 of the parts P when they are attracted to the suction nozzle 13. The number of components that can be mounted on the substrate PB in a single component moving process can be increased. As a result, the mounting efficiency can be improved accordingly.

  In addition, as can be seen from FIG. 1, in the component mounter 1 according to the present embodiment, two component supply units 21 are provided across the board conveyance path 12, and a part feeder that constitutes one component supply unit 21. 20 and the parts feeder 20 constituting the other component supply unit 21 can supply the same component P to the substrate PB positioned by the substrate transport path 12 in directions different from each other by 180 degrees. Therefore, for example, the component P is supplied from the one-side component supply unit 21 in the supply direction of angle φs = 0 degrees, and the component P is supplied from the other-side component supply unit 21 in the supply direction of angle φs = 180 degrees. The component P supplied from the component supply unit 21 on one side in the supply direction of angle φs = 0 degrees is not only mounted on the substrate PB in the mounting direction of angle φm = 0 degrees, but also the component on the other side Even when the component P supplied from the supply unit 21 in the supply direction of the angle φs = 180 degrees is mounted in the mounting direction of the angle φm = 180 degrees, the rotation angle of the component P is φ1 = 0 degrees. If the component P is picked up from the two component supply units 21 installed across the substrate conveyance path 12, the number of components P that can be mounted on the substrate PB in one component transfer process is further increased. be able to.

  In the above embodiment, the component suction data creation program 35a for creating the component suction data 34d is used when both the rotation angles φ1 of both components P sucked by the two adjacent suction nozzles 13 are 0 degrees. Is configured such that the arrangement direction maximum dimension Sm of each part P is automatically set to the arrangement direction dimension S2 when the part P is adsorbed to the adsorption nozzle 13, but is always automatically set. Instead, it may be configured such that the setting is made when the worker selects such a setting method, or when the worker asks for confirmation and the worker agrees.

  In the above-described embodiment, the data creation unit 36 of the control device 30 provided in the component mounter 1 functions as a data creation device, and the data creation device is provided inside the component mounter 1. However, the data creation device of the present invention is not necessarily provided inside the component mounter 1, and a computer provided outside the component mounter 1 functions as a data creation device and is created by this computer. The component mounting machine 1 may be configured to use the processed data.

  Provided are a data creation method, a component mounting method, a data creation device, and a component mounter for component suction data that can increase the number of components that can be mounted on a substrate in a single component transfer process.

The perspective view of the component mounting machine in one embodiment of this invention The partial front view of the mounting head with which the component mounting machine in one embodiment of this invention is provided The block diagram which shows the control system of the component mounting machine in one embodiment of this invention (A) A plan view of a board showing a mounting direction of components of a component mounting machine in one embodiment of the present invention. (B) A component supply unit indicating a supplying direction of components of a component mounting machine in one embodiment of the present invention. Partial plan view The flowchart which shows the flow of the component mounting operation | work which the component mounting machine in one embodiment of this invention performs (A) (b) (c) The figure explaining the inter-axis distance of the suction nozzle with which the component mounting machine in one embodiment of this invention is provided, and the arrangement direction dimension of the components attracted | sucked by the suction nozzle The flowchart which shows the flow of the production process of the components adsorption | suction data in one embodiment of this invention The flowchart which shows the flow of the production process of the components adsorption | suction data in one embodiment of this invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Component mounting machine 13 Adsorption nozzle 14 Mounting head 21 Component supply part 31 Mounting control part (control means)
34d Component adsorption data 36 Data creation unit (data creation device)
36a Data creation execution unit (data creation means)
36b Rotation angle calculation unit (rotation angle calculation means)
36c Maximum dimension setting section (maximum dimension setting means)
36d Comparison judgment unit (judgment means)
PB board P parts L Center distance

Claims (4)

The component on which suction nozzle of the mounting head is used in the component mounting operation in which the component transfer process of repeatedly mounting the component to the substrate by sucking the component to each of the plurality of suction nozzles provided in the mounting head of the component mounting machine is performed. A data creation method for creating component suction data that determines whether or not
For each of the two components that are adjacent to each other when adsorbed by two adjacent adsorption nozzles, the rotation angle that is rotated by the adsorption nozzles after being adsorbed by the adsorption nozzles until being mounted on the substrate is set. A rotation angle calculating step to calculate,
A maximum dimension setting step for setting a maximum dimension in the direction in which the suction nozzles of each of the two components are arranged according to the rotation angle of the two components calculated in the rotation angle calculating step;
Judgment for determining whether or not the two parts interfere with each other based on the maximum dimension of the suction nozzles in the arrangement direction of the two parts set in the maximum dimension setting step and the distance between the axes of the two adjacent suction nozzles Process,
When said determining that both parts do not interfere with each other in the determining step, it sees contains a data creating step of creating data to be adsorbed to the two suction nozzles which are adjacent said two parts,
If at least one of the rotation angles of the two parts calculated in the rotation angle calculation step is not 0 degrees, the maximum dimension in the direction of arrangement of the suction nozzles of the two parts is set to the diagonal dimension of each of the two parts, When the rotation angles of both the parts are both 0 degrees, the maximum dimension of the suction nozzles of the two parts in the arrangement direction is the dimension of the suction nozzles in the direction of the suction nozzles when sucked by the suction nozzles of both parts. The data creation method characterized by setting to . The component mounting method for performing repeatedly a component transfer step of the component mounting apparatus to adsorb the component to each of the plurality of suction nozzles provided on the mounting head provided is attached to the substrate, the data generator according to claim 1 A component mounting method, wherein each component transfer step is executed using component suction data created by the method. The component on which suction nozzle of the mounting head is used in the component mounting operation in which the component transfer process of repeatedly mounting the component to the substrate by sucking the component to each of the plurality of suction nozzles provided in the mounting head of the component mounting machine is performed. A data creation device for creating component suction data that determines whether or not
For each of the two components that are adjacent to each other when adsorbed by two adjacent adsorption nozzles, the rotation angle that is rotated by the adsorption nozzles after being adsorbed by the adsorption nozzles until being mounted on the substrate is set. A rotation angle calculating means for calculating;
Maximum dimension setting means for setting the maximum dimension in the arrangement direction of the suction nozzles of the two parts according to the rotation angles of the two parts calculated by the rotation angle calculating means;
It is determined whether or not the two components interfere with each other on the basis of the maximum dimension in the arrangement direction of the suction nozzles of both the parts set by the maximum dimension setting means and the distance between the axes of the two adjacent suction nozzles. Judgment means,
When it is determined by the determining means that the two parts do not interfere with each other, data creating means for creating data for sucking the two parts to the adjacent two suction nozzles ,
When at least one of the rotation angles of the two parts calculated by the rotation angle calculation means is not 0 degrees, the maximum dimension setting means sets the maximum dimension in the arrangement direction of the suction nozzles of the two parts to the pair of the two parts. When the angular dimension is set and the rotation angles of both parts are 0 degrees, the suction dimension when the suction nozzles of the two parts are aligned with the suction nozzles of the two parts A data creation device, characterized in that the dimension is set in the nozzle arrangement direction . A component supply unit for supplying a component, a mounting head provided with a plurality of suction nozzles, and a plurality of components supplied from the component supply unit are sucked by each of the plurality of suction nozzles provided in the mounting head to the substrate. and control means for repeatedly executing the component transfer step of mounting the control unit uses the component pickup data created by the data creating apparatus according to data creation method or claim 3 according to claim 1 mounted A component mounter that causes a head to execute each component transfer process.

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