JP5383319B2 - Head moving device and component mounting device - Google Patents

Description

  The present invention relates to a head moving device and a component mounting device, and more particularly to a head moving device and a component mounting device including a plurality of work heads that may interfere with each other.

  Conventionally, a component mounting apparatus including a plurality of work heads that may interfere with each other is known (see, for example, Patent Documents 1 and 2).

  Patent Document 1 discloses a component mounting apparatus including two component mounting heads (working heads) that may interfere with each other and a control device that controls the operation of the two component mounting heads. This component mounting apparatus is located when one component mounting head of two component mounting heads is moving into an interference region (a region where two component mounting heads may interfere) or in the interference region. When one of the component mounting heads is retracted from the interference region to the outside of the interference region, the other component mounting head is kept outside the interference region without moving into the interference region. .

  Patent Document 2 discloses two transfer heads (working heads) that may interfere with each other, a component supply unit that supplies components to the transfer head at a component supply position, a remaining time acquisition unit, and an operation time. A component mounting apparatus including a calculation unit is disclosed. This remaining time acquisition unit is used until one of the transfer heads mounted in the interference area (the area where the two transfer heads may interfere) finishes mounting the component and starts to retract outside the interference area. Get implementation remaining time. The operation time calculation unit calculates a movement approach time required for the other transfer head located at the component supply position outside the interference region to enter the interference region from the component supply position. Then, the component mounting apparatus determines the timing at which one transfer head in the interference area starts to move out of the interference area based on the remaining mounting time of one transfer head and the movement approach time of the other transfer head. The start timing of the movement of the other transfer head at the component supply position is specified so that the timing at which the other transfer head enters the interference area matches. As a result, the other transfer head can be vigorously entered into the interference region without stopping on the way from the component supply position.

JP 2007-335910 A JP 2008-91646 A

  However, in Patent Document 1, the other component mounting head is kept outside the interference region until one component mounting head located within the interference region is retracted outside the interference region. The other component mounting head cannot enter the interference area while being located in the area. For this reason, since the other component mounting head located outside the interference area slowly enters the interference area, it is difficult to quickly move the other component mounting head into the interference area. is there.

  Further, in Patent Document 2, the parts are supplied so that the timing at which one transfer head in the interference area starts to retract outside the interference area matches the timing at which the other transfer head enters the interference area. While the start timing of the movement of the other transfer head at the position is specified, the state after the movement start of one transfer head and the other transfer head is not considered at all. For this reason, when the other transfer head is vigorously entered into the interference area without stopping halfway from the component supply position, one transfer head in the interference area moves to the interference area of the other transfer head. If the position is near the entry position, the other transfer head that has entered vigorously may interfere (collision) with the other transfer head that is in the middle of retraction at a low speed immediately after the start of retraction. There is a problem.

  The present invention has been made to solve the above-described problems, and one object of the present invention is to provide a work head that is located outside the interference area while suppressing the interference of a plurality of work heads with each other. It is an object to provide a head moving device and a component mounting device that can quickly enter the inside of the interference area.

Means for Solving the Problems and Effects of the Invention

In order to achieve the above object, a head moving device according to a first aspect of the present invention includes a first working head and a second working head that are movable independently of each other, and a first working head and a second working head that are mutually movable. When the first working head is located in the interference area where there is a possibility of interference and the second working head is located outside the interference area, the first working head is retracted from the interference area to the outside of the interference area. Based on at least the retraction acceleration of one work head, the second work head interferes while retreating the first work head from the interference area to the outside of the interference area so that the first work head and the second work head do not interfere with each other. and a movement control unit for controlling the movement of the second working head to move from outside the area in the working position of the interference area, movement control unit, interference of the second working head from outside the interference area When the first working head is set with a priority that can move preferentially in the interference area when moving into the area, the second working head is moved to a standby position near the interference area. It is configured to move into the interference area, and when the priority is not set to the first working head, the second working head is moved to the standby position and immediately moved into the interference area without waiting. Has been. In this specification, the possibility that the first work head and the second work head interfere with each other is not only the possibility that the first work head itself and the second work head itself interfere with each other, but also the first work head itself. There is a possibility that at least a part of the moving mechanism that moves the head and at least a part of the moving mechanism that moves the second working head interfere with each other, and the first working head (second working head) and the second working head ( This is a broad concept including the possibility that at least a part of the moving mechanism that moves the first working head interferes with each other.

  In the head moving device according to the first aspect of the present invention, as described above, the second work head is moved from outside the interference area to the work position in the interference area while retracting the first work head from the interference area to the outside of the interference area. By providing a movement control unit that controls the movement operation of the second work head so as to move, the second work head can be allowed to enter the interference area even when the first work head is located in the interference area. The second working head positioned outside the interference area can be quickly entered into the interference area. In addition, the first working head and the second working head do not interfere with each other based on at least the retracting acceleration of the first working head when the first working head is retracted from the interference area to the outside of the interference area by the movement control unit. Thus, by controlling the movement operation of the second work head so that the second work head moves from the outside of the interference area to the work position in the interference area, the first work head is in a state of being retracted (at least the retracting acceleration). Since the second working head can be moved from the outside of the interference area to the working position in the interference area by a corresponding movement operation, unlike the case where the second working head is moved regardless of the state of the first working head being retracted. The second working head can be prevented from interfering with the first working head that is in the process of being retracted. Therefore, in this head moving device, the second working head positioned outside the interference area can be rapidly entered into the interference area while suppressing the first working head and the second working head from interfering with each other. . Further, in this head moving device, the work time is shortened when a predetermined work is performed using the first work head and the second work head by causing the second work head to rapidly enter the interference region. be able to.

  In the head moving device according to the first aspect, preferably, the movement control unit is based on both the retraction acceleration and retraction speed of the first work head when the first work head retreats from the interference area to the outside of the interference area. Thus, in order to prevent the first working head and the second working head from interfering with each other, the moving acceleration, the moving speed, and the first moving to the working position when the second working head located outside the interference area moves to the working position are determined. It is configured to control at least one of the start timings of the two work heads. Thus, if the movement control unit adjusts at least one of the movement acceleration, movement speed, and movement start timing of the second work head in accordance with the state of the first work head being retracted, the first operation can be easily performed. The second working head positioned outside the interference area can be quickly entered into the interference area while suppressing the working head and the second working head from interfering with each other. Further, the movement control unit controls the movement operation of the second work head based on both the retraction acceleration and retraction speed of the first work head, so that the first operation head is compared with the case where it is based only on the retraction acceleration of the first work head. The second work head positioned outside the interference area can be moved to the work position within the interference area by a movement operation more suitable for the state of the work head being retracted.

  In this case, preferably, the movement control unit has a magnitude of a predetermined direction component of the approach acceleration in the interference area of the second work head from when the second work head starts moving to the work position until the approach speed is reached. Is substantially the same as the magnitude of the predetermined direction component of the retracting acceleration in the interference area of the first working head from when the first working head starts to move out of the interference area to the retracting speed, The second work so that the magnitude of the predetermined direction component of the approach speed in the interference area of the second work head is substantially the same as the magnitude of the predetermined direction component of the retraction speed in the interference area of the first work head. An approach acceleration as a moving acceleration of the head and an approach speed as a moving speed are controlled. Thus, the predetermined direction component of the retracting acceleration and the predetermined direction component of the retracting speed of the first working head and the predetermined direction component of the approaching acceleration of the second working head and the predetermined direction component of the approaching speed are approximately the same. According to this configuration, the second work head can be moved from the outside of the interference area to the work position while the distance between the first work head and the second work head in the predetermined direction is maintained substantially constant. Thereby, it can suppress more that a 1st working head and a 2nd working head mutually interfere.

  In the configuration in which the movement control unit controls the movement acceleration and the movement speed of the second work head, preferably, the movement control unit starts from the movement of the second work head to the work position until the approach speed is reached. The magnitude of the predetermined direction component of the acceleration per unit time in the interference area is determined by the unit time in the interference area from when the first working head starts moving outside the interference area until the retraction speed is reached. The acceleration for each unit time of the second work head is controlled so as to be substantially the same as the magnitude of the predetermined direction component of the acceleration. If comprised in this way, since the 2nd work head is moved to a work position, the space | interval of the predetermined direction of a 1st work head and a 2nd work head is maintained substantially constant also for every unit time, 1st It is possible to further suppress interference between the working head and the second working head.

  In the configuration in which the movement control unit controls the movement acceleration and movement speed of the second work head, preferably the movement control unit is the first work head when the first work head is retracted from the interference area to the outside of the interference area. The movement start timing of the second work head is controlled so that the second work head located outside the interference region starts moving to the work position at substantially the same timing as the movement start timing of the second work head. If comprised in this way, the 1st working head located in the interference area just before starting the retraction | saving from inside the interference area to the outside of the interference area, and the interference area just before starting the movement from the outside of the interference area to the work position The second work head can be caused to enter the interference area from outside the interference area while maintaining a distance from the second work head located outside. Thereby, it can suppress more reliably that a 1st working head and a 2nd working head mutually interfere.

  In the configuration in which the movement control unit controls at least one of the movement acceleration, movement speed, and movement start timing of the second work head to the work position, preferably the retraction acceleration and retraction speed of the first work head Based on the movement acceleration and movement speed of the second working head, the movement of the second working head located outside the interference area to the working position is started so that the first working head and the second working head do not interfere with each other. A timing acquisition unit for acquiring timing is further provided, and the movement control unit starts to move the second work head located outside the interference region so as to start moving to the work position at the start timing acquired by the timing acquisition unit. It is configured to control timing. According to this configuration, there is no need to adjust the movement acceleration and movement speed of the second work head according to the retraction acceleration and retraction speed of the first work head, and the start timing acquired by the timing acquisition unit is outside the interference region. By simply controlling the start timing so as to start the movement of the second work head located at the work position to the work position, it is possible to easily suppress the interference between the first work head and the second work head while interfering with each other. The second working head located outside can be quickly advanced into the interference area.

  In this case, preferably, in addition to the retracting acceleration and retracting speed of the first working head and the moving acceleration and moving speed of the second working head, the timing acquisition unit starts retracting the first working head out of the interference area. The start timing is acquired based on the position of the first work head immediately before the start. If comprised in this way, compared with the case where a start timing is acquired without being based on the position immediately before retraction | saving of a 1st working head, a timing acquisition part interferes with a 1st working head and a 2nd working head mutually more accurately. Start timing can be obtained.

A component mounting apparatus according to a second aspect of the present invention mounts an electronic component, and the first mounting head and the second mounting head that can move independently from each other, and the first mounting head and the second mounting head interfere with each other. When the first mounting head is located in the interference area where the first mounting head is located and the second mounting head is located outside the interference area, the first mounting head is retracted from the interference area to the outside of the interference area. Based on at least the retracting acceleration of the mounting head, the second mounting head moves in the interference area while retracting the first mounting head from the interference area to the outside of the interference area so that the first mounting head and the second mounting head do not interfere with each other. and a movement control unit for controlling the movement of the second mounting head to move from the outside to the mounting position of the interference area, movement control unit, interference of the second mounting head from the outside of the interference area When the first mounting head is set with a priority that can be moved preferentially in the interference area when moving into the area, the second mounting head is moved to a standby position in the vicinity of the interference area. It is configured to move within the interference area, and when the priority is not set for the first mounting head, the second mounting head is moved to the standby position and immediately moved into the interference area without waiting. Has been. In this specification, the possibility that the first mounting head and the second mounting head interfere with each other is not only the possibility that the first mounting head itself and the second mounting head itself interfere with each other, but also the first mounting head. There is a possibility that at least a part of the moving mechanism that moves the head and at least a part of the moving mechanism that moves the second mounting head interfere with each other, and the first mounting head (second mounting head) and the second mounting head ( This is a broad concept including the possibility that at least a part of the moving mechanism that moves the first mounting head) interferes with each other.

  In the component mounting apparatus according to the second aspect of the present invention, as described above, the second mounting head moves from the outside of the interference area to the mounting position in the interference area while retracting the first mounting head from the inside of the interference area to the outside of the interference area. By providing a movement control unit that controls the movement operation of the second mounting head so as to move, the second mounting head that will perform the mounting operation from now on even when the first mounting head that has finished the mounting operation is located in the interference region. Since it can be made to enter into the interference area, the second mounting head located outside the interference area can be made to quickly enter the interference area. In addition, the first mounting head and the second mounting head do not interfere with each other based on at least the retracting acceleration of the first mounting head when the first mounting head retracts from the interference region to the outside of the interference region by the movement control unit. As described above, the second mounting head is controlled to move from the outside of the interference area to the mounting position in the interference area, thereby moving the second mounting head in the middle of retraction of the first mounting head that has finished the mounting operation ( Since the second mounting head can be moved from the outside of the interference area to the mounting position in the interference area by a movement operation corresponding to at least the retraction acceleration), the second mounting head can be moved regardless of the state during the retraction of the first mounting head. Unlike the case of moving, it is possible to suppress the second mounting head from interfering with the first mounting head that is in the process of being retracted after completing the mounting operation. Therefore, in this component mounting apparatus, the second mounting head positioned outside the interference area can be rapidly entered into the interference area while suppressing the first mounting head and the second mounting head from interfering with each other. . Further, in this component mounting apparatus, it is possible to shorten the mounting work time by causing the second mounting head to rapidly enter the interference area.

It is a perspective view showing the whole surface mounter composition by a 1st embodiment of the present invention. It is a top view which shows the whole structure of the surface mounter by 1st Embodiment of this invention. It is a side view showing the whole surface mounting machine composition by a 1st embodiment of the present invention. It is a block diagram which shows the whole structure of the surface mounter by 1st Embodiment of this invention. It is a flowchart for demonstrating the retraction | saving process operation | movement of the head unit of the surface mounter by 1st Embodiment of this invention. It is the figure which showed the relationship between the Y direction coordinate and time for demonstrating the retraction | saving process operation | movement and approach processing operation | movement of the head unit of the surface mounter by 1st Embodiment of this invention. It is a flowchart for demonstrating the approach processing operation | movement of the head unit of the surface mounter by 1st Embodiment of this invention. It is the figure which showed the relationship between the Y direction speed and time for demonstrating the retraction | saving process operation | movement and approach processing operation | movement of the head unit of the surface mounter by 1st Embodiment of this invention. It is a flowchart for demonstrating the approach processing operation | movement of the head unit of the surface mounter by 2nd Embodiment of this invention. It is the figure which showed the relationship of the Y direction coordinate and time for demonstrating the retraction | saving process operation | movement and approach processing operation | movement of the head unit of the surface mounter by 2nd Embodiment of this invention. It is the figure which showed the relationship of the Y direction speed and time for demonstrating the retraction | saving process operation | movement and approach processing operation | movement of the head unit of the surface mounter by 2nd Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
The structure of the surface mounter 100 according to the first embodiment of the present invention will be described with reference to FIGS. The surface mounter 100 is an example of the “component mounting apparatus” in the present invention.

  As shown in FIGS. 1 and 2, the surface mounter 100 according to the first embodiment moves the first head unit 3 and the second head unit 4 in the X direction and the Y direction, respectively, so that the printed circuit board 1 (FIG. 2)). The first head unit 3 is an example of the “first working head (second working head)” and “first mounting head (second mounting head)” of the present invention. It is an example of the “second working head (first working head)” and “second mounting head (first mounting head)” of the invention. As shown in FIG. 2, the surface mounter 100 includes a substrate transport conveyor 2 extending in the X direction, and a first head unit 3 and a second head unit 4 that are movable in the XY direction above the substrate transport conveyor 2. ing. The substrate transport conveyor 2, the first head unit 3, and the second head unit 4 are each disposed on a base 5. A plurality of tape feeders 6 for supplying components are arranged in the X direction at both ends of the base 5 on the Y direction side.

  The board transport conveyor 2 is configured to transport the printed circuit board 1 carried in from a transport path (not shown) in the X direction and place the printed circuit board 1 at a predetermined mounting position. Moreover, the board | substrate conveyance conveyor 2 has the function to carry out the printed circuit board 1 which the mounting operation was complete | finished. In the first embodiment, the printed circuit board 1 is carried in from the X1 direction side (upstream side) of the board conveyor 2 by a conveyance path (not shown), and after the mounting operation, the printed circuit board 1 is moved to the conveyance path (not shown) on the X2 direction side (downstream side). It is carried out.

  As shown in FIGS. 1 to 3, the first head unit 3 and the second head unit 4 have the same configuration. The first head unit 3 (second head unit 4) acquires components from a component take-out unit 6a (see FIG. 2) described later of the tape feeder 6 and also puts components on the printed circuit board 1 on the substrate transport conveyor 2. Has the function to implement. The components are small electronic components such as ICs, transistors, capacitors, and resistors.

  Further, as shown in FIGS. 1 and 2, the first head unit 3 and the second head unit 4 are configured to be linearly movable in the X direction along head unit support portions 31 and 41 extending in the X direction, respectively. Yes. Specifically, as shown in FIG. 2, the head unit support portion 31 (head unit support portion 41) includes a ball screw shaft 31a (41a) extending in the X direction and a servo motor 31b that rotates the ball screw shaft 31a (41a). (41b) and a guide rail (not shown) in the X direction. Moreover, the field coil arrange | positioned in the vicinity of the stator 72 (refer FIG. 1 and 2) provided in the fixed rail part 70 mentioned later in each both ends of the head unit support part 31 and the head unit support part 41. A mover 73 is attached.

  The first head unit 3 has a ball nut 32 that is screwed onto the ball screw shaft 31a. The second head unit 4 has a ball nut 42 that is screwed onto the ball screw shaft 41a. As a result, the first head unit 3 (second head unit 4) has the head unit support portion 31 (41) that is rotated by the ball screw shaft 31a (41a) by the servo motor 31b (41b) (X-axis motor). Is moved in the X direction.

  Each of the head unit support portions 31 and 41 is configured to be movable in the Y direction along a pair of fixed rail portions 70 extending in the Y direction so as to straddle the substrate transport conveyor 2. Moreover, as shown in FIGS. 1-3, the both ends of the X direction of the head unit support part 31 (41) formed so that it may extend in a X direction are respectively the other head unit support part 41 (31) side ( It has a protruding portion 311 (411) protruding in the Y2 (Y1) direction). Specifically, the protruding portions 311 (411) at both ends of the head unit support portion 31 (41) protrude in the Y2 (Y1) direction from the first head unit 3 (second head unit 4), respectively. . In addition, dampers 312 extending to the head unit support part 41 side (Y2 direction) are attached to the protrusions 311 of the head unit support part 31, respectively.

  The pair of fixed rail portions 70 are configured to be commonly used for the head unit support portions 31 and 41, respectively. Further, as shown in FIGS. 1 to 3, the pair of fixed rail portions 70 includes a guide rail 71 that supports both end portions of the head unit support portion 31 (41) so as to be movable in the Y direction, and a fixed rail portion. A stator 72 (see FIGS. 1 and 2) made of a plurality of permanent magnets arranged along the Y direction is provided on the inner side surface of 70. That is, the linear motor 7 (Y-axis motor) is configured by the mover 73 provided at both ends of the head unit support part 31 (41) and the stator 72 of the fixed rail part 70. As a result, the head unit support portion 31 (41) is linearly movable in the Y direction along the guide rail 71 by supplying a current to the mover 73 formed of a field coil. That is, the first head unit 3 (second head unit 4) can be moved in the XY directions on the base 5 by the head unit support portion 31 (41) and the linear motor 7.

  In addition, since the protrusions 311 (411) at both ends in the X direction of the head unit support part 31 (41) protrude in the Y2 (Y1) direction from the first head unit 3 (second head unit 4), respectively. Even if the damper 312 of the protrusion 311 of the first head unit 3 and the protrusion 411 of the second head unit 4 may interfere with each other during the movement in the Y direction, the first head unit 3 and the second head unit 4 They do not interfere with each other in movement in the X direction. That is, in the first embodiment, when the first head unit 3 and the second head unit 4 move in the X and Y directions, the damper 312 of the protruding portion 311 of the head unit support portion 31 and the protruding portion 411 of the head unit support portion 41 Only interference can occur. In the first embodiment, as will be described later, an area where the damper 312 of the head unit support part 31 may interfere with the protruding part 411 of the head unit support part 41 is set as the interference area.

  The first head unit 3 (second head unit 4) is moved above the tape feeder 6 (component supply position) in the Y1 direction (Y2 direction) by the linear motor 7 when adsorbing components. By moving in the X direction along the head unit support portion 31 (41), the suction nozzle 35 (45) is configured to be disposed above the predetermined component extraction portion 6a. Further, when mounting components, the first head unit 3 (second head unit 4) is moved above the printed circuit board 1 by the linear motor 7 and X along the head unit support portion 31 (41). The suction nozzle 35 (45) is configured to be located at a predetermined mounting position on the surface of the printed circuit board 1 by being moved in the direction.

  In addition, the first head unit 3 (second head unit 4) first holds a plurality of components by obtaining a plurality of components from the component extraction unit 6a at the component supply position and then moving in the Y2 (Y1) direction. The printed circuit board 1 is moved upward (with suction). The first head unit 3 (second head unit 4) is configured to mount a plurality of components at predetermined mounting positions on the surface of the printed circuit board 1 while repeating movement in the X, Y, and Z directions. ing. When the mounting operation is completed, the first head unit 3 (second head unit 4) is moved back in the Y1 (Y2) direction to be returned again from above the printed circuit board 1 to the component supply position (above the tape feeder 6). Then, a part acquisition (suction) operation is executed from the part take-out unit 6a.

  As shown in FIG. 2, the first head unit 3 and the second head unit 4 are each provided with ten suction nozzles 35 and 45 arranged in a row in the X direction. The suction nozzle 35 (45) is provided for sucking and mounting components. The first head unit 3 (second head unit 4) includes a negative pressure generator 351 (see FIG. 4) that generates a negative pressure state at the tip of the suction nozzle 35 (45), and a suction nozzle 35 (45). And a lifting device such as a servo motor 352 (Z-axis motor) (see FIG. 4) for moving the motor in the vertical direction (Z direction). Each suction nozzle 35 (45) can suck and hold components supplied from the tape feeder 6 using the negative pressure generated by the negative pressure generator 351.

  Further, each suction nozzle 35 (45) is configured to carry parts and the like in a state where it is raised with respect to the first head unit 3 (second head unit 4). Further, each suction nozzle 35 (45) is configured to suck the component from the tape feeder 6 and mount it on the printed circuit board 1 while being lowered with respect to the first head unit 3 (second head unit 4). It is configured. Each suction nozzle 35 (45) is configured to be rotatable about its axis by a nozzle rotating device such as a servo motor 353 (R-axis motor) (see FIG. 4). Thereby, in the surface mounting machine 100, it is possible to adjust the attitude | position (direction in a horizontal surface) of the components hold | maintained at the front-end | tip of a nozzle by rotating the adsorption nozzle 35 (45).

  In addition, as shown in FIG. 2, the X2 direction side portion of the first head unit 3 and the X1 direction side portion of the second head unit 4 have components sucked by the suction nozzles 35 and 45, respectively. Component imaging devices 36 and 46 for detecting the posture are attached. The component imaging device 36 (46) is configured to detect the posture of the component using a line sensor. The component imaging device 36 (46) is configured to capture an image of the lower surface of the component held by the suction nozzle 35 (45) from below. The component imaging device 36 (46) is attached so as to be movable in the X direction (the direction in which the ten suction nozzles 35 (45) are arranged) with respect to the first head unit 3 (second head unit 4). It has been. Thereby, the component imaging device 36 (46) can sequentially image the lower surface of the component held by the ten suction nozzles 35 (45) of the first head unit 3 (second head unit 4) from below. Is possible.

  Further, substrate imaging devices 37 and 47 are attached to the side portion of the first head unit 3 on the X1 direction side and the side portion of the second head unit 4 on the X2 direction side, respectively. The substrate imaging device 37 (47) is constituted by a CCD area camera. Moreover, the board | substrate imaging device 37 (47) is comprised so that the downward direction may be imaged from the 1st head unit 3 (2nd head unit 4). The board imaging device 37 (47) is configured to acquire a reference point of the mounting position of the component by imaging a board mark (not shown) provided on the surface of the printed board 1 when the component is mounted. Yes.

  As shown in FIG. 4, the surface mounter 100 further includes a control device 101, and is configured such that each operation of the surface mounter 100 is controlled by the control device 101. In the first embodiment, the first head unit 3, the second head unit 4, and the control device 101 constitute the head moving device of the present invention. The control device 101 includes a main control unit 102, a drive control unit 103, an image processing unit 104, a valve control unit 105, and a storage unit 106. Further, the control device 101 includes a display unit 107 such as a liquid crystal display device and an input unit 108 such as a keyboard. The main control unit 102 is an example of the “movement control unit” and “timing acquisition unit” in the present invention.

  The main control unit 102 includes a CPU that executes logical operations. Based on the mounting program 106a stored in the ROM of the storage unit 106, the main control unit 102 performs operations of the substrate transport conveyor 2, the first head unit 3, the second head unit 4 and the like via the drive control unit 103. Configured to control. The main control unit 102 controls the component imaging device 36 (46) and the board imaging device 37 (47) of the first head unit 3 (second head unit 4) via the image processing unit 104, respectively. It is configured. The main control unit 102 is configured to control a negative pressure generator 351 provided in the first head unit 3 (second head unit 4) via the valve control unit 105. Thereby, the main control unit 102 can control the suction operation of the component by the suction nozzle 35 (45).

  Here, in the first embodiment, the main control unit 102 is configured to read the board data 106b stored in the storage unit 106 and acquire the size and board mark position of the printed circuit board 1 to be mounted. Based on the acquired size of the printed circuit board 1, the main control unit 102 sets an area where the damper 312 of the head unit support unit 31 may interfere with the protrusion 411 of the head unit support unit 41 as an interference region. Configured to set. Specifically, the main control unit 102 determines range information (Y-direction coordinates) in which each of the first head unit 3 and the second head unit 4 may move based on the size of the printed circuit board 1. ) To get. Then, the main control unit 102 sets, as an interference region, a range in which the damper 312 of the head unit support unit 31 may interfere with the protrusion 411 of the head unit support unit 41 based on the acquired range information in the Y direction. Is configured to do.

  The main control unit 102 is configured to perform an on / off switching operation of the priority flag of each head unit 3 (4). Here, the priority flag is a flag for setting a head unit that can move preferentially in the interference area. In order to prevent both the priority flags of the first head unit 3 and the second head unit 4 from being turned on, the main control unit 102 first sets the other priority flag to the on state. The priority flag is turned off. Then, the main control unit 102 retracts the head unit whose priority flag is off from the interference area to the outside of the interference area, and causes the head unit whose priority flag is on to enter the interference area from outside the interference area. It is configured.

  Based on the control signal output from the main control unit 102, the drive control unit 103 is a motor (servo motor 31b (X-axis motor), linear motor 7 (Y-axis motor), suction nozzle) of each part of the first head unit 3. The servo motor 352 (Z-axis motor) of the lifting device 35 and the servo motor 353 (R-axis motor) of the nozzle rotating device of the suction nozzle 35 are controlled. Further, the drive control unit 103 is configured to control the driving of the motors of the respective units of the second head unit 4 in the same manner as the first head unit 3.

  Further, the drive control unit 103 is configured to control driving of motors (drive motor, rotation motor, and transfer motor) of each unit of the substrate transfer conveyor 2 based on a control signal output from the main control unit 102. ing. Signals from the encoders of these servo motors are output to the main control unit 102 via the drive control unit 103.

  The image processing unit 104 is configured to read out an imaging signal at a predetermined timing from the component imaging device 36 (46) and the board imaging device 37 (47) based on a control signal output from the main control unit 102. ing. The image processing unit 104 is configured to generate image data suitable for recognizing components and board marks by performing predetermined image processing on the read image pickup signal.

  The storage unit 106 includes a ROM (Read Only Memory) that stores a program for controlling the CPU, a RAM (Random Access Memory) that temporarily stores various data during operation of the apparatus, and the like. In addition, the storage unit 106 stores a mounting program 106a for manufacturing a predetermined printed circuit board 1 and board data 106b such as dimensions and reference mark positions of the printed circuit board 1 to be mounted.

  The tape feeder 6 holds a reel (not shown) around which a tape holding a plurality of parts with a predetermined interval is wound. The tape feeder 6 is configured to send out a tape for holding a component by rotating a reel. And the tape feeder 6 is comprised so that components may be supplied from the component extraction part 6a of the front-end | tip of the tape feeder 6 by sending out a tape.

  Next, with reference to FIG. 5 and FIG. 6, the head unit retraction process for retreating from the interference area to the outside of the interference area by the main control unit 102 will be described. In the first embodiment, the retreat processing of the first head unit 3 and the second head unit 4 by the main control unit 102 is the same. Here, as an example, the retraction process by the main control unit 102 when the second head unit 4 retreats from the interference area to the outside of the interference area will be described.

  First, in step S1, the main control unit 102 performs control to move (withdraw) the second head unit 4 that has finished the component mounting operation from the interference area to the outside of the interference area. Thus, the second head unit 4 is returned from the interference area to the component supply position outside the interference area by the linear motor 7 (Y-axis motor). Then, after starting the movement (retraction) control, the main control unit 102 switches the priority flag of the second head unit 4 from the on state to the off state in step S2. For example, in the example of the movement state of the second head unit 4 shown in FIG. 6, the second head unit 4 starts a retreat operation from the interference area to the outside of the interference area at the time t2 and the time t6, and the second head The priority flag of unit 4 is switched from the on state to the off state at time t2 and time t6.

  Next, with reference to FIG. 6 and FIG. 7, a description will be given of a head unit entry process that enters the interference region from outside the interference region by the main control unit 102. In the first embodiment, the entry processes of the first head unit 3 and the second head unit 4 by the main control unit 102 are the same. Here, as an example, an entry process performed by the main control unit 102 when the first head unit 3 enters the interference area from outside the interference area will be described.

  First, after the first head unit 3 finishes acquiring a component at the component supply position, the main control unit 102 checks the on / off state of the priority flag of the second head unit 4 in step S11. In step S12, the main control unit 102 determines whether or not the priority flag of the second head unit 4 is in an on state. If the priority flag is in an on state, the first head unit 3 is in step S13. Is determined whether or not has been moved to the standby position. Here, the standby position is a position in the vicinity of the interference region where the head unit that has finished acquiring the component at the component supply position is standby. As shown in FIG. 6, the standby position of the first head unit 3 is in the vicinity of the interference area on the Y1 direction side, and the standby position of the second head unit 4 is in the vicinity of the interference area on the Y2 direction side.

  If the first head unit 3 has not yet moved to the standby position (has not been moved to the standby position), the main control unit 102 controls the linear motor 7 in step S14 to thereby control the first head unit 3. Is moved to the standby position. As a result, while the first head unit 3 cannot enter the interference area (while the priority flag of the first head unit 3 is off), the first head unit 3 approaches the interference area and interferes. It is possible to wait in the vicinity of the interference area until entry into the area becomes possible. Thereafter, the approach processing operation returns to step S11. If the first head unit 3 has already been moved to the standby position in step S13, the process directly returns to step S11 without going through step S14.

  When the priority flag of the second head unit 4 is off in step S12, the main control unit 102 switches the priority flag of the first head unit 3 from the off state to the on state in step S15. For example, in the example of the movement status of the first head unit 3 shown in FIG. 6, the priority flag of the first head unit 3 is switched from the off state to the on state at time t2 and time t7. In step S <b> 16, the main control unit 102 confirms the position (coordinates) of the second head unit 4 in the Y direction. Thereby, the position of the second head unit 4 immediately before moving the first head unit 3 can be confirmed, and the first head unit 3 and the second head unit immediately before moving the first head unit 3 can be confirmed. 4 can be confirmed.

  Thereafter, in step S <b> 17, the main control unit 102 determines whether or not the second head unit 4 is moving (withdrawing) within the interference area. If the second head unit 4 is moving (retracting) within the interference area, in step S18, the main control unit 102 determines that the first head unit 3 is located within the interference area from the outside of the interference area (mounting position). The first head unit 3 is matched with the retraction acceleration, retraction speed, and retraction start timing when the second head unit 4 retreats from the interference region to the outside of the interference region. Control the movement of. Specifically, the main control unit 102 determines the magnitude of the Y direction component of the approach acceleration of the first head unit 3 and the Y of the approach speed based on the retract acceleration, retract speed, and retract start timing of the second head unit 4. The first head so that the magnitude of the direction component and the movement start timing are substantially the same as the magnitude of the Y-direction component of the retraction acceleration, the magnitude of the Y-direction component of the retraction speed, and the retraction start timing, respectively. The movement of the unit 3 is controlled. Here, the approach acceleration of the first head unit 3 means that the approach speed (constant speed) is reached after the first head unit 3 starts moving to the target position (mounting position), as shown in FIG. This is the acceleration of the first head unit 3 during the approach acceleration time (from time t2 to time t21). The retraction acceleration of the second head unit 4 is the retraction acceleration from the time when the second head unit 4 starts moving outside the interference area until the retraction speed (constant speed) is reached (from time t2 to time t21). This is the acceleration of the second head unit 4 over time.

  More specifically, the main control unit 102 evacuates the second head unit 4 based on the magnitude of the Y-direction component of acceleration per unit time in the approach acceleration time (from time t2 to time t21) of the first head unit 3. The movement of the first head unit 3 is controlled so as to be substantially the same as the magnitude of the Y-direction component of the acceleration per unit time in the acceleration time. That is, by the operation of step S18 in FIG. 7, the inclination including the curved portion in the approach acceleration time (from time t2 to time t21) of the first head unit 3 is retracted from the second head unit 4 as shown in FIG. This coincides with the slope at the acceleration time (from time t2 to time t21). Further, after time t21, the magnitude of the Y-direction component of the approach speed of the first head unit 3 and the magnitude of the Y-direction component of the retreat speed of the second head unit 4 coincide. As a result, as shown in FIG. 6, the interval in the Y direction between the first head unit 3 and the second head unit 4 is made substantially constant until the second head unit 4 comes out of the interference area. The first head unit 3 can be allowed to enter the interference area from outside the interference area while being maintained. Note that the retracting process shown in FIG. 5 and the approaching process shown in FIG. 7 are continuously executed in parallel by the main control unit 102 while the surface mounter 100 is activated, and the second head unit 4 It is possible to make the time when the retracting operation starts and the time when the first head unit 3 starts moving to the target position (mounting position) substantially coincide.

  If the second head unit 4 is not moving in the interference area in step S17, the main control unit 102 moves the first head unit 3 to the target position (step S19) without adjusting the approach acceleration or the like. Move to mounting position. Specifically, when the second head unit 4 is already located outside the interference region, the main control unit 102 adjusts the first head unit 3 without adjusting the approach acceleration, the approach speed, and the movement start timing. Is immediately moved to the target position (mounting position). For example, in the example of the movement status of the first head unit 3 shown in FIG. 6, since the second head unit 4 is already located outside the interference area at time t7, the priority of the first head unit 3 at time t7. While the flag is switched to the on state, the first head unit 3 immediately starts moving from the component supply position to the target position (mounting position). As described above, when the priority flag of the first head unit 3 is switched to the ON state, the second head unit 4 is already located outside the interference region, and the first head unit 3 and the second head unit 4 When there is no possibility of interference, the first head unit 3 can be quickly moved into the interference area from outside the interference area by moving the first head unit 3 immediately.

  In the first embodiment, as described above, the first head unit 3 moves from the outside of the interference area to the target position (mounting position) from the outside of the interference area while retracting the second head unit 4 from the inside of the interference area to the outside of the interference area. By providing the main control unit 102 for controlling the movement of the first head unit 3 in accordance with the retracting acceleration and retracting speed of the second head unit 4 so that the approaching acceleration and approaching speed of the first head unit 3 are adjusted, the second Since the first head unit 3 can enter the interference area even when the head unit 4 is located in the interference area, the first head unit 3 located outside the interference area can quickly enter the interference area. Can do. Further, the main control unit 102 controls the second head unit 4 and the first head based on the retraction acceleration and retraction speed of the second head unit 4 when the second head unit 4 retreats from the interference region to the outside of the interference region. In order to prevent the first head unit 3 from moving from the interference area to a target position (mounting position) in the interference area so that the unit 3 does not interfere with each other, the approach acceleration and approach speed of the first head unit 3 are set to the second head unit. The movement of the first head unit 3 is controlled in accordance with the retraction acceleration and retraction speed of 4. Thereby, the first head unit 3 can be moved from the outside of the interference area to the target position (mounting position) in the interference area with the approach acceleration and the approach speed according to the state of the second head unit 4 being retracted. Unlike the case where the first head unit 3 is moved regardless of the state of the second head unit 4 being retracted, the first head unit 3 is prevented from interfering with the second head unit 4 being retracted. it can. Therefore, in the surface mounter 100, the first head unit 3 positioned outside the interference region is quickly entered into the interference region while suppressing the second head unit 4 and the first head unit 3 from interfering with each other. Can be made. Further, in this surface mounter 100, it is possible to shorten the mounting work time by the first head unit 3 and the second head unit 4 by promptly entering the head unit into the interference region.

  In the first embodiment, the main control unit 102 causes the first head unit 3 to move within the interference area of the first head unit 3 from the start of movement to the target position (mounting position) until reaching the entry speed. The magnitude of the Y direction component of the approaching acceleration of the second head unit 4 from the start of movement outside the interference area to the retracting speed until the retracting speed of the second head unit 4 in the Y direction of the retracting acceleration The magnitude of the Y direction component of the approach speed in the interference area of the second head unit 4 is the magnitude of the Y direction component of the approach speed of the first head unit 3 in the interference area. By controlling the approach acceleration and approach speed of the first head unit 3 so that the distance between the second head unit 4 and the first head unit 3 in the Y direction is maintained substantially constant. It is possible to move the head unit 3 from outside the interference area in the target position (mounting position), may be a second head unit 4 and the first head unit 3 can be further inhibited from interfering with each other.

  In the first embodiment, the main control unit 102 accelerates the unit head time in the interference area from the start of the movement of the first head unit 3 to the target position (mounting position) to the approach speed. The magnitude of the Y-direction component is substantially the same as the magnitude of the Y-direction component of the acceleration per unit time in the interference area from when the second head unit 4 starts moving out of the interference area to the retreat speed. By controlling the acceleration per unit time of the first head unit 3 so that the distance between the second head unit 4 and the first head unit 3 in a predetermined direction is maintained substantially constant even per unit time. Since the first head unit 3 is moved to the target position (mounting position), it is possible to further suppress the second head unit 4 and the first head unit 3 from interfering with each other.

  In the first embodiment, the main controller 102 causes the second head unit 4 to move out of the interference area at substantially the same timing as the start timing of the movement of the second head unit 4 when the second head unit 4 is retracted from the interference area to the outside of the interference area. By controlling the start timing of the movement of the first head unit 3 so that the first head unit 3 located in the position starts moving to the target position (mounting position), the retraction from the interference area to the outside of the interference area is performed. The distance between the second head unit 4 located in the interference area immediately before the start and the first head unit 3 located outside the interference area immediately before the start of the movement from the outside of the interference area to the target position (mounting position) is set. The first head unit 3 can enter the interference area from outside the interference area while maintaining substantially the same. Thereby, it can suppress more reliably that the 1st head unit 3 and the 2nd head unit 4 mutually interfere.

(Second Embodiment)
Next, in the second embodiment, unlike the first embodiment, the movement of the head unit is started when a head unit located outside the interference area enters the interference area without adjusting the approach acceleration and the approach speed. An example of adjusting the timing will be described. With reference to FIG. 9 to FIG. 11, description will be given of the head unit entry processing that enters the interference region from the outside of the interference region by the main control unit 102 in the second embodiment of the present invention. In addition, about the same operation | movement as the approach process of the said 1st Embodiment shown in FIG. 7, the same number as the step number of FIG. 7 is attached | subjected, and detailed description is abbreviate | omitted. Similarly to the description in the first embodiment, in the second embodiment, as an example, an entry process by the main control unit 102 when the first head unit 3 enters the interference area from outside the interference area. explain.

  If the second head unit 4 is moving in the interference area in step S17 of FIG. 9, the main control unit 102 enters the interference area of the first head unit 3 located outside the interference area in step S181. Get the start timing of movement. Specifically, the main control unit 102 determines the retracting acceleration, retracting speed, and position (coordinates) immediately before starting the retracting of the second head unit 4, and the approaching acceleration, approaching speed, and current position (first position) of the first head unit 3. Based on the coordinates, the start timing of the movement of the first head unit 3 is acquired so that the first head unit 3 and the second head unit 4 do not interfere with each other. Specifically, the main control unit 102 determines the magnitude of the Y-direction component of the retracting acceleration of the second head unit 4, the magnitude of the Y-direction component of the retracting speed, and the position in the Y direction immediately before starting the retracting (Y-direction coordinates). ) And the magnitude of the Y-direction component of the approach acceleration of the first head unit 3, the magnitude of the Y-direction component of the approach speed, and the current Y-direction position (Y-direction coordinates). Get the start timing of movement. At this time, the main control unit 102 determines the magnitude of the Y direction component of the approach acceleration of the first head unit 3 and the Y direction of the approach speed based on the preset approach acceleration and approach speed of the first head unit 3. Get the size of each component. Further, the main control unit 102 determines the magnitude of the Y direction component of the retraction acceleration of the second head unit 4 and the Y direction component of the retraction speed based on the retraction acceleration and retraction speed of the second head unit 4 set in advance. Get the size of each.

  Thereafter, in step S182, the main controller 102 causes the first head unit 3 to start moving to the target position (mounting position) at the start timing (movement start time) acquired by the first head unit 3 in step S181. The linear motor 7 is controlled. For example, the magnitude of the Y direction component of the entering acceleration of the first head unit 3 set in advance is larger than the magnitude of the Y direction component of the retracting acceleration of the second head unit 4, and the entering of the first head unit 3 is performed. When the magnitude of the Y direction component of the speed is larger than the magnitude of the Y direction component of the retracting speed of the second head unit 4, as shown in FIGS. 10 and 11, the main control unit 102 causes the second head unit 4 to The movement of the first head unit 3 to the target position (mounting position) is started at a time t21 (start timing) that is later than the time t2 when the retreat is started by a predetermined time.

  In step S17, when the second head unit 4 is already located outside the interference area, the main control unit 102 does not acquire the start timing of the movement of the first head unit 3, and the first head unit 4 3 is moved to the target position (mounting position). For example, in the example of the movement state of the first head unit 3 shown in FIG. 10, since the second head unit 4 is already located outside the interference area at time t7, the priority of the first head unit 3 at time t7. While the flag is switched to the on state, the first head unit 3 immediately starts moving from the component supply position to the target position (mounting position).

  In addition, the other structure of 2nd Embodiment is the same as that of the said 1st Embodiment.

  In the second embodiment, as described above, the main control unit 102 makes the second head unit based on the retract acceleration and retract speed of the second head unit 4 and the approach acceleration and approach speed of the first head unit 3. 4 and the first head unit 3 acquire the start timing of the movement of the first head unit 3 located outside the interference region to the target position (mounting position) so as not to interfere with each other, and at the acquired start timing, the target position The start timing of the movement of the first head unit 3 located outside the interference area is controlled so as to start the movement to (mounting position). Thereby, it is not necessary to adjust the approach acceleration and approach speed of the first head unit 3 according to the retract acceleration and retract speed of the second head unit 4, and the retract acceleration and retract speed of the second head unit 4 Even if the approach acceleration and approach speed of one head unit 3 are different from each other, the movement of the first head unit 3 located outside the interference region to the target position (mounting position) is started at the acquired start timing. By simply controlling the start timing, the first head unit 3 positioned outside the interference region can be quickly and quickly moved into the interference region while suppressing the second head unit 4 and the first head unit 3 from interfering with each other. Can enter.

  In the second embodiment, in addition to the retract acceleration and retract speed of the second head unit 4 and the approach acceleration and approach speed of the first head unit 3, the main control unit 102 causes the second head unit 4 to move into the interference region. By acquiring the start timing based on the Y-direction position (Y-direction coordinates) of the second head unit 4 immediately before starting to retract outside, the second head unit 4 is based on the position immediately before the start of retracting. The main control unit 102 can acquire the start timing at which the second head unit 4 and the first head unit 3 do not interfere with each other more accurately than in the case where the start timing is acquired without the control.

  The remaining effects of the second embodiment are similar to those of the aforementioned first embodiment.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes all modifications within the meaning and scope equivalent to the scope of claims for patent.

  For example, in the first embodiment and the second embodiment described above, an example in which the head moving device of the present invention is applied to a surface mounter has been shown. The present invention may be applied to devices other than surface mounters such as a component testing device (IC handler) having a plurality of heads (working heads) disclosed in Japanese Patent Laid-Open No. 162439. The head moving device of the present invention may be applied when a plurality of heads are provided in an adhesive application device disclosed in a gazette or the like.

  In the first embodiment and the second embodiment, the main controller controls the outside of the interference region based on both the retraction acceleration and the retraction speed when the head unit located in the interference region retreats outside the interference region. However, the present invention is not limited to this, and the main control unit moves the head unit located in the interference area outside the interference area. The configuration may be such that the movement operation of the head unit located outside the interference area into the interference area is controlled based only on the retraction acceleration at the time of retraction.

  In the first embodiment and the second embodiment, the main control unit defines an area in which the protrusion of the head unit support part as a part of the moving mechanism of the head unit and the damper may interfere with each other. However, the present invention is not limited to this, and the main control unit may set an area where the two head units themselves may interfere with each other as an interference area, or one head. An area where the unit itself and a part of the moving mechanism of the other head unit may interfere with each other may be set as the interference area.

  In the first embodiment and the second embodiment, the example in which the main control unit sets the interference area based on the size of the printed board is shown. However, the present invention is not limited to this, and the print The interference area may be set based on the mounting position of the component on the board surface, or every mounting turn until the head unit moves from the component supply position, mounts the component on the printed circuit board surface, and returns to the component supply position. The interference area may be set based on the movement range of the head unit (every reciprocation). Further, the interference region may be set based on the moving range of the head unit for each mounting point at which the component is mounted on the printed circuit board or the moving range of the head unit for each group in which a plurality of mounting points are grouped.

  Further, in the second embodiment, the magnitude of the Y direction component of the approach acceleration of the first head unit 3 is larger than the magnitude of the Y direction component of the retracting acceleration of the second head unit 4, and the first head unit 3. However, the present invention is not limited to this, and the first head unit is not limited to this, but the Y direction component of the approach speed of the second head unit 4 is larger than the Y direction component of the retraction speed of the second head unit 4. 3 is smaller than the Y-direction component of the retracting acceleration of the second head unit 4, and the Y-direction component of the approach speed of the first head unit 3 is the second. The Y direction component of the retraction speed of the head unit 4 may be smaller than the Y direction component of the approach acceleration of the first head unit 3 or only the Y direction component of the approach speed. It may be greater than the magnitude of each of the Y-direction component or the Y direction component of the retracting speed of the retracting acceleration of de unit 4. In this case, the start timing of movement when the first head unit 3 located outside the interference area moves into the interference area is the start timing of retreating the second head unit 4 located inside the interference area outside the interference area. It may be faster.

  In the second embodiment, the example in which the movement start timing is acquired in step S181 when the other is moving in the interference region in step S17 of FIG. 9 is shown. Not limited to this, when the head unit stands by at the standby position before entering the interference area, the movement start timing may be acquired in advance after step S14 in FIG.

  Moreover, in the said 1st Embodiment and 2nd Embodiment, although the surface mounter provided with two head units was shown as an example of a component mounting apparatus, this invention is not limited to this, Three or more head units It may be a surface mounter equipped with.

3 First head unit (first working head (second working head), first mounting head (second mounting head))
4 Second head unit (second working head (first working head), second mounting head (first mounting head))
100 Surface mounter (component mounter)
102 Main control unit (movement control unit, timing acquisition unit)

Claims (8)

A first working head and a second working head movable independently of each other;
The first working head and the second working head are located in an interference area where they may interfere with each other, and the second working head is located outside the interference area; Based on at least the retracting acceleration of the first working head when the one working head is retracted from the interference area to the outside of the interference area, the first working head and the second working head do not interfere with each other. Movement operation of the second work head so that the second work head moves from outside the interference area to a work position in the interference area while retracting the first work head from inside the interference area to outside the interference area. and a movement control unit for controlling the,
When the movement control unit moves the second working head from outside the interference area to the interference area, a priority right that can move preferentially within the interference area is set to the first working head. When the second working head is moved to the standby position near the interference area and then moved into the interference area, and the priority is not set for the first working head, A head moving device configured to move the second working head into the interference area immediately without moving to the standby position and waiting .   The movement control unit includes the first work head and the first work head based on both the retraction acceleration and retraction speed of the first work head when the first work head retreats from the interference area to the outside of the interference area. The second work head positioned outside the interference area is moved to the work position so that the second work head does not interfere with the second work head. The head moving device according to claim 1, wherein the head moving device is configured to control at least one of start timings of movement of the work head.   The movement control unit is configured such that the magnitude of a predetermined direction component of the approach acceleration in the interference area of the second work head from when the second work head starts moving to the work position until reaching the approach speed. The magnitude of the predetermined direction component of the retract acceleration in the interference area of the first work head from when the first work head starts to move out of the interference area to the retract speed. The magnitude of the predetermined direction component of the approach speed in the interference area of the second work head is substantially the same, and the predetermined direction of the retraction speed in the interference area of the first work head 3. The configuration according to claim 2, wherein the approach acceleration as the moving acceleration and the approach speed as the moving speed of the second working head are controlled so as to be substantially the same as a component size. Head moving device.   The movement control unit is configured such that the magnitude of the predetermined direction component of the acceleration per unit time in the interference area from when the second work head starts moving to the work position until the approach speed is reached. The magnitude of the predetermined direction component of the acceleration per unit time in the interference area from when the first working head starts to move out of the interference area until the retraction speed is reached. The head moving device according to claim 3, wherein the head moving device is configured to control an acceleration per unit time of the second working head.   The movement control unit is located outside the interference area at substantially the same timing as the start timing of the movement of the first work head when the first work head retracts from the interference area to the outside of the interference area. The head moving device according to claim 3 or 4, wherein the head moving device is configured to control a start timing of the movement of the second work head so that the two work heads start moving to the work position. Based on the retraction acceleration and retraction speed of the first work head and the movement acceleration and movement speed of the second work head, the first work head and the second work head do not interfere with each other. A timing acquisition unit that acquires the start timing of the movement of the second work head located outside the interference area to the work position;
The movement control unit controls the start timing of the movement of the second work head located outside the interference area so as to start moving to the work position at the start timing acquired by the timing acquisition unit. The head moving device according to claim 2, configured as described above.   In addition to the retraction acceleration and retraction speed of the first work head and the movement acceleration and movement speed of the second work head, the timing acquisition unit causes the first work head to move out of the interference area. The head moving device according to claim 6, wherein the head moving device is configured to acquire the start timing based also on a position of the first work head immediately before starting retraction. A first mounting head and a second mounting head that mount electronic components and are movable independently of each other;
The first mounting head and the second mounting head are located in an interference area where they may interfere with each other, and the second mounting head is located outside the interference area; Based on at least the retracting acceleration of the first mounting head when the one mounting head is retracted from the interference area to the outside of the interference area, the first mounting head and the second mounting head do not interfere with each other. Movement operation of the second mounting head so that the second mounting head moves from the outside of the interference area to the mounting position in the interference area while retracting the first mounting head from the inside of the interference area to the outside of the interference area. and a movement control unit for controlling the,
When the movement control unit moves the second mounting head from outside the interference area to the interference area, a priority right that can move preferentially in the interference area is set to the first mounting head. When the second mounting head is moved to the standby position in the vicinity of the interference area and then moved into the interference area, and the priority is not set for the first mounting head, The component mounting apparatus configured to move the second mounting head into the interference area immediately without moving to the standby position and waiting .

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