JP6496913B2 - Component mounting system and component mounting method - Google Patents

Description

  The present invention relates to a component mounting system and a component mounting method for mounting components on a workpiece having a three-dimensional shape.

  2. Description of the Related Art Conventionally, a component mounting system that manufactures a three-dimensional component mounting body by three-dimensionally mounting components on a three-dimensional workpiece is known (for example, Patent Document 1 below). In such a component mounting system, the posture of the workpiece is freely changed by the posture adjustment mechanism so that the mounting surface of the workpiece is directed in a predetermined working direction (usually upward), and the component is mounted on the mounting surface. Yes.

Japanese Patent No. 5779342

  However, in the conventional component mounting system described above, the posture of the workpiece is adjusted using a single posture adjustment mechanism having multiple degrees of freedom to mount components on a plurality of mounting surfaces, and the configuration is complicated. There was a problem.

  Therefore, an object of the present invention is to provide a component mounting system and a component mounting method capable of mounting components on a workpiece having a three-dimensional shape with a simple configuration.

  The component mounting system according to the present invention is a component mounting system for mounting a component on a workpiece having a three-dimensional shape. The component mounting system mounts one of the workpieces by swinging a workpiece holder holding the workpiece around a horizontal swing axis. A first positioning mechanism for positioning the workpiece so that the surface faces a predetermined work direction; and a first mounting for mounting a component on the one mounting surface of the workpiece positioned by the first positioning mechanism. A head, posture changing means for changing the posture of the workpiece on which the component is mounted on the one mounting surface, and the workpiece holding body whose posture has been changed by the posture changing means; A second positioning mechanism that positions the workpiece so that the other mounting surface of the workpiece faces the work direction, and the second positioning machine A second mounting head for mounting a component on the other mounting surface of the work positioned by means of the above, and a transport means for transporting the work holder from the first positioning mechanism to the second positioning mechanism. It was.

  The component mounting system of the present invention is a component mounting system for mounting a component on a workpiece having a three-dimensional shape, and a workpiece holding surface holding the workpiece is swung around a horizontal swing shaft so that the mounting surface of the workpiece is A positioning mechanism for positioning the workpiece so as to face a predetermined work direction; posture changing means for changing a posture of the work on the work holder; and a mounting surface directed in the work direction by the positioning mechanism. And a mounting head for mounting components.

  A component mounting method according to the present invention is a component mounting method for mounting a component on a workpiece having a three-dimensional shape, wherein a workpiece holding body holding the workpiece is swung around a horizontal swing shaft, A first positioning step for positioning the workpiece so that the mounting surface faces a predetermined work direction, and a first component for mounting the component on the one mounting surface of the workpiece positioned in the first positioning step A mounting step; a posture changing step of changing a posture of the workpiece on which the component is mounted on the one mounting surface; and the workpiece holding body in which the posture of the workpiece is changed in the posture changing step. A second positioning step of positioning the workpiece so that the other mounting surface of the workpiece faces the work direction by swinging around a horizontal swing axis; and positioning in the second positioning step. And and a second mounting step of mounting the component on the other mounting surface of the workpiece.

  According to the present invention, components can be mounted on a workpiece having a three-dimensional shape with a simple configuration.

The top view which shows schematic structure of the component mounting system in 1st Embodiment of this invention. The perspective view which shows schematic structure of the component mounting system in 1st Embodiment of this invention. (A) (b) The perspective view of the workpiece | work in which components are mounted by the component mounting system in 1st Embodiment of this invention. The perspective view of the workpiece holding body with which the component mounting system in 1st Embodiment of this invention is provided. (A) (b) The perspective view which shows the workpiece holding body with which the component mounting system in 1st Embodiment of this invention is provided with a workpiece | work. The perspective view which shows the workpiece holding body with a workpiece | work with which the component mounting system in 1st Embodiment of this invention is provided with a carrier. The perspective view which shows the workpiece holding body with the carrier with which the component mounting system in 1st Embodiment of this invention is provided. The perspective view which shows the workpiece holding body with the carrier with which the component mounting system in 1st Embodiment of this invention is provided. (A) (b) The perspective view which shows the workpiece holding body with a workpiece | work with which the component mounting system in 1st Embodiment of this invention is provided with a carrier. The principal part perspective view of the coating device which comprises the component mounting system in 1st Embodiment of this invention. The principal part perspective view of the mounting apparatus which comprises the component mounting system in 1st Embodiment of this invention. The perspective view which shows the work stage with which the component mounting system in 1st Embodiment of this invention is provided with the workpiece holding body with a workpiece | work. The side view which shows the work stage with which the component mounting system in 1st Embodiment of this invention is provided with the workpiece holding body with a workpiece | work. (A) (b) The partial side view of the work stage with which the component mounting system in 1st Embodiment of this invention is provided. (A) (b) The partial side view of the work stage with which the component mounting system in 1st Embodiment of this invention is provided. The principal part perspective view of the attitude | position change apparatus which comprises the component mounting system in 1st Embodiment of this invention. (A) (b) The figure explaining the change procedure of the attitude | position of a workpiece | work by the attitude | position change head with which the component mounting system in 1st Embodiment of this invention is provided. The top view which shows schematic structure of the component mounting system in 2nd Embodiment of this invention. The top view which shows schematic structure of the component mounting system in 3rd Embodiment of this invention. The perspective view which shows schematic structure of the component mounting system in 3rd Embodiment of this invention. The principal part perspective view of the coating device with which the component mounting system in 3rd Embodiment of this invention is provided. The principal part perspective view of the mounting apparatus with which the component mounting system in 3rd Embodiment of this invention is provided.

(First embodiment)
1 and 2 show a component mounting system 1 according to a first embodiment of the present invention. The component mounting system 1 manufactures a three-dimensional component mounting body by three-dimensionally mounting a plurality of components PT (FIG. 3B) on the three-dimensional workpiece 2 shown in FIGS. 3 (a) and 3 (b). System. Here, for convenience of explanation, the left-right direction of the component mounting system 1 as viewed from the operator OP is the X-axis direction, and the front-rear direction is the Y-axis direction. Also, the vertical direction is the Z-axis direction.

  In FIG. 1, the component mounting system 1 uses the X-axis direction as a work flow direction. In the component mounting system 1, a work holder 3 (FIG. 4) that holds the work 2 is used. The workpiece holder 3 is placed on the carrier 4 while holding the workpiece 2 (FIGS. 5A and 5B) (FIG. 6). While the carrier 4 is transported from the upstream side to the downstream side of the component mounting system 1, a viscous material such as solder or adhesive is applied to the workpiece 2 held by the workpiece holder 3, and the component PT (FIG. b)) is implemented. Here, a plurality of workpieces 2 held by the workpiece holder 3 are described, but the number of workpieces 2 is not necessarily plural. Moreover, although the workpiece holding body 3 mounted on the carrier 4 is described as being plural, the number of the workpiece holding bodies 3 is not necessarily plural.

  1 and 2, the component mounting system 1 includes two coating devices 11 (a coating device 11A and a coating device 11B) and two mounting devices 12 (a mounting device 12A and a mounting device 12B) in order from the upstream side. ing. A posture changing device 13 (an upstream posture changing device 13A and a downstream posture changing device 13B) is provided between each of the two coating devices 11 and between the two mounting devices 12. Each device is connected by a conveyance path 14 composed of a combination of a plurality of conveyors. Each device includes a transport mechanism such as a conveyor or a transfer robot, and the component mounting system 1 includes a transport unit configured by the transport mechanism of each device. In other words, the conveyance path 14 is a conveyance path of the work holder 3 by the conveyance means.

  As shown in FIGS. 3A and 3B, each workpiece 2 has a main body portion 21 and a columnar extension portion 22 extending from the main body portion 21. Here, as shown in FIGS. 3A and 3B, it is assumed that the posture in which the extending portion 22 extends downward is the reference posture of the workpiece 2. The main body 21 has four surfaces (a first surface 23a, a second surface 23b, a third surface 23c, and a fourth surface 23d) as a plurality of mounting surfaces 23.

  3A and 3B, when the workpiece 2 is in the reference posture, the first surface 23a and the third surface 23c are in a horizontal posture. The third surface 23c is located at a lower height than the first surface 23a. The second surface 23b is a slope whose upper end is connected to the first surface 23a. The fourth surface 23d is a vertical surface whose upper end is connected to the first surface 23a and whose lower end is connected to the third surface 23c. Each mounting surface 23 is formed with electrodes and wiring patterns (not shown) for electrically connecting the parts PT.

  3 (a) and 3 (b), the body portion 21 of each workpiece 2 has two ear portions 21Y in a posture of projecting and extending in the horizontal plane direction (side) when the workpiece 2 is in the reference posture. (In FIG. 3 (a), (b), one ear | edge part 21Y is not visible). The two ear portions 21 </ b> Y are provided at positions that are symmetric with respect to the vertical axis of the extending portion 22. Each ear 21Y is provided with a through hole 21H penetrating in the vertical direction.

  As shown in FIG. 3B, the component PT is mounted after a viscous material such as solder or adhesive is applied in advance to the mounting position of the component PT on each mounting surface 23. Each mounting surface 23 is provided with a plurality of recognition marks 24 that are used as references when applying the viscous material and mounting the component PT (FIGS. 3A and 3B).

  In FIG. 4, the work holder 3 is composed of a plate-like member extending in one direction, and has a plurality of (here, three) work holding holes 31 arranged in a line in the longitudinal direction. Each work holding hole 31 has an inner diameter that is slightly larger than the outer diameter of the extending portion 22 of the work 2. Around each workpiece holding hole 31 on the upper surface of the workpiece holder 3, a plurality of protrusions 32 are provided so as to protrude upward. Two sets of each protrusion 32 are provided at two positions symmetrical to the center axis of the workpiece holding hole 31. Here, two pairs of protrusions 32 are provided at positions shifted by 90 degrees in two sets (four in total).

  4 and 5 (a) and 5 (b), a pair of cut-out portions 33 are provided at positions facing each other on the one end 34 side of the two long sides provided in the work holder 3. . The carrier holding hole 35 is provided at the end 34 of the work holder 3 on the side where the pair of cut-out portions 33 are provided. Counter-stage locking holes 36 are provided at both ends in the longitudinal direction of the work holder 3.

  6, 7, and 8, the carrier 4 is formed in a rectangular frame shape having two opposing vertical sides 41 and two opposing horizontal sides 42. Each of the two lateral sides 42 is provided with a holder support piece 43 that supports both ends in the longitudinal direction of the workpiece holder 3 from below. On the holding body support piece 43 provided on one lateral side portion 42, a protruding portion 44 that fits into the carrier holding hole 35 of the work holding body 3 is formed extending upward.

  When the workpiece 2 is held by the workpiece holder 3, the extending portion 22 of the workpiece 2 is inserted into the workpiece holding hole 31 from above (FIG. 5 (a) → FIG. 5 (b)). At this time, the two protrusions 32 of the work holder 3 are fitted into the two through holes 21H of the work 2. In the present embodiment, since the workpiece holder 3 has a plurality (three) of workpiece holding holes 31 arranged in a row, the number of workpieces 2 (three) of the workpiece holding holes 31 is arranged in a row. They can be held side by side (FIGS. 5A and 5B).

  In the present embodiment, as described above, two sets of the two protrusions 32 are provided by being shifted by 90 degrees, so that the workpiece 2 is around the vertical center axis of the workpiece holding hole 31 with respect to the workpiece holding body 3. It is possible to attach in two postures shifted from each other by 90 degrees (FIGS. 5A and 5B). Hereinafter, the posture of the workpiece 2 when attached to the workpiece holder 3 as shown in FIG. 5A is referred to as a “first posture”, and when the workpiece 2 is attached to the workpiece holder 3 as shown in FIG. The posture of the work 2 is referred to as a “second posture”.

  In order to change the posture of the workpiece 2 attached to the workpiece holder 3 in the “first posture” to the “second posture”, first, the workpiece 2 attached to the workpiece holder 3 is raised and the through hole 21H is moved to the workpiece. The workpiece 2 is removed from the workpiece holder 3 by being separated from the two protrusions 32 of the holder 3. Then, the work 2 is rotated 90 degrees around the central axis of the extending portion 22 (the vertical central axis of the work holding hole 31) and then lowered, and the two through holes 21H are fitted into the two protrusions 32 different from the previous ones. In this manner, the work holder 3 is attached. The procedure for changing the posture of the workpiece 2 attached to the workpiece holder 3 in the “second posture” to the “first posture” is the same.

  When the workpiece holder 3 holding the workpiece 2 is placed on the carrier 4, both ends in the longitudinal direction of the workpiece holder 3 are placed on the two holder support pieces 43 from above (FIG. 6). At this time, the carrier retaining hole 35 of the work holder 3 is fitted into the protrusion 44 of the carrier 4 from above. When the workpiece holder 3 is lifted with respect to the carrier 4 from such a state and the carrier retaining hole 35 is detached from the projection 44, the workpiece holder 3 is shifted in the longitudinal direction (FIG. 9 ( The arrow A) shown in a) indicates that the pair of cut-out portions 33 included in the workpiece holder 3 and the end portions of the holder support pieces 43 included in the carrier 4 are aligned vertically (FIG. 9A). When the workpiece holder 3 is lowered relative to the carrier 4 from such a state (arrow B shown in FIG. 9B), the workpiece holder 3 is pulled out below the carrier 4 and is removed from the carrier 4. They are separated (FIG. 9 (b)).

  As shown in FIGS. 2 and 10, the coating device 11 (the coating device 11 </ b> A and the coating device 11 </ b> B) includes a work stage 51 as a positioning mechanism for the workpiece 2 and a coating head 52. As illustrated in FIGS. 2 and 11, the mounting apparatus 12 (the mounting apparatus 12 </ b> A and the mounting apparatus 12 </ b> B) includes a work stage 51 as a workpiece 2 positioning mechanism, a component supply unit 53, a mounting head 54, and a component camera 55. ing. The configuration of the work stage 51 provided in the coating apparatus 11 and the work stage 51 provided in the mounting apparatus 12 are the same.

  The work stage 51 is disposed below the conveyance path 14 as shown in FIGS. 10 and 11. The work stage 51 has a mechanism for swinging the workpiece holder 3 holding the workpiece 2 about a swing axis YJ in a lateral direction (specifically extending in the X-axis direction).

  12 and 13, the work stage 51 includes a base body 61, a swing motor 62, a transmission shaft 63, and two synchronous drive mechanisms 64. The base body 61 has a horizontal horizontal portion 61a and two upright portions 61b extending vertically upward from both ends of the horizontal portion 61a in the X-axis direction. The swing motor 62 is provided on the upper surface of the horizontal portion 61a and directs the output shaft 62J in the X-axis direction. An output shaft pulley 62P is attached to the tip of the output shaft 62J. The transmission shaft 63 extends in the X-axis direction above the horizontal portion 61a, and both ends thereof penetrate the two upright portions 61b. The transmission shaft 63 is provided with a transmission shaft pulley 63P. The transmission shaft pulley 63P is located above the output shaft pulley 62P and is connected to the output shaft pulley 62P by the transmission belt 63B.

  12 and 13, the two synchronous drive mechanisms 64 are provided in each of the two upright portions 61b. Each synchronous drive mechanism 64 includes a drive pulley 71 attached to the end of the transmission shaft 63 protruding outward from the upright portion 61b, and two driven pulleys 72 disposed above the drive pulley 71 with the drive pulley 71 interposed therebetween. have. The driving pulley 71 and the two driven pulleys 72 are connected by a timing belt 73, and a tension pulley 74 that applies an appropriate tension to the timing belt 73 is disposed in the middle of the two driven pulleys 72. Between the two synchronous drive mechanisms 64, the driven pulleys 72 are positioned facing each other in the X-axis direction.

  In FIG. 13, the rotation shaft 72J of each driven pulley 72 extends through the upright portion 61b in the X-axis direction so as to protrude into the space between the two upright portions 61b, and the end of the protruding rotation shaft 72J. The holding body support member 75 is attached to (see also FIG. 12). The holding body support member 75 includes an arm portion 75a, and the arm portion 75a swings in the upper and lower surfaces (YZ plane) around the aforementioned swing axis YJ that is the axis of the rotation shaft 72J of the driven pulley 72.

  When the swing motor 62 rotates the output shaft 62J, the transmission shaft 63 rotates around the X axis via the output shaft pulley 62P, the transmission belt 63B, and the transmission shaft pulley 63P. As a result, in the two synchronous drive mechanisms 64, the drive pulley 71 rotates synchronously, and the four driven pulleys 72 rotate synchronously in the same direction via the two timing belts 73. Also, the four arm portions 75a are thereby rotated. Swings in the same direction synchronously. Since the four holding body support members 75 are attached in advance so that the arm portions 75a are parallel to each other, when the transmission shaft 63 rotates, the two arm portions 75a facing each other in the X-axis direction swing in synchronization. Swing around the axis YJ. As a result, the four arm portions 75a swing in a state in which the parallel postures are supported in synchronization with a direction corresponding to the rotation direction of the output shaft 62J of the swing motor 62.

  12 and 13, support protrusions 76 are provided to protrude upward from the tip ends of the four arm portions 75a. The distance between the two support protrusions 76 facing each other in the X-axis direction matches the distance between the two paired stage locking holes 36 of the work holder 3. For this reason, when the two pair stage locking holes 36 of the work holding body 3 are fitted into the two support protrusions 76 provided in the work stage 51 from above, both ends of the work holding body 3 are supported by the two arm portions 75a. (FIGS. 12 and 13). At this time, since the longitudinal direction of the workpiece holder 3 coincides with the extending direction of the swing axis YJ, the workpiece holder 3 holds the plurality of workpieces 2 in a state in which they are aligned in the extending direction of the swing axis YJ. Become.

  When the transmission shaft 63 is rotated around the X axis while the workpiece holding body 3 holding the workpiece 2 is supported by the arm portion 75a, the two arm portions 75a facing in the X axis direction are synchronously swung sideways. Swing around the axis YJ. In the workpiece 2 held by the workpiece holder 3 in the “first posture” (FIG. 5A), the posture where the first surface 23a is horizontal (FIG. 14A) and the second surface 23b is horizontal. (Fig. 14 (b)). Similarly, the workpiece 2 held by the workpiece holder 3 in the “second posture” (FIG. 5B) has a posture in which the third surface 23 c is horizontal (FIG. 15A) and the fourth surface. It is possible to take a posture in which 23d is horizontal (FIG. 15B).

  10 and 11, each of the coating apparatus 11 and the mounting apparatus 12 is provided with a stage moving mechanism 51M. These stage moving mechanisms 51M move the work stage 51 up and down and move it horizontally.

  In FIG. 10, the coating head 52 provided in the coating apparatus 11 includes a solder coating nozzle 52a that discharges solder and an adhesive coating nozzle 52b that discharges adhesive, and selectively discharges solder and adhesive. It can apply | coat to each mounting surface 23. FIG. The coating head 52 is moved in the horizontal plane by the coating head moving mechanism 52M. In FIG. 10, the coating device 11 includes a coating head recognition camera 52K with the imaging optical axis facing downward. The coating head recognition camera 52K is attached to the coating head 52 and is moved in the horizontal direction together with the coating head 52.

  In FIG. 11, the component supply unit 53 provided in the mounting apparatus 12 is composed of a plurality of tape feeders 53T here. Each tape feeder 53T supplies the component PT to a component supply port that is open to the conveyance path 14 side. The mounting head 54 includes a plurality of suction nozzles 54a extending downward and a mounting head recognition camera 54K. The mounting head 54 is moved in the horizontal plane direction by the mounting head moving mechanism 54M, and recognizes the above-described recognition mark 24 provided on the workpiece 2.

  Each suction nozzle 54 a included in the mounting head 54 is moved in the vertical direction by a nozzle drive mechanism (not shown) provided in the mounting head 54 and rotated around the vertical axis. In FIG. 11, the mounting head 54 is connected to the vacuum pressure supply mechanism 54V. When a vacuum pressure is supplied from the vacuum pressure supply mechanism 54V to the mounting head 54, a vacuum suction force is generated at the lower end of each suction nozzle 54a. The mounting head 54 picks up the component PT by adsorbing the component PT supplied by the component supply unit 53 to each of the suction nozzles 54a. The mounting head recognition camera 54K has the imaging optical axis directed downward, moves in the horizontal direction integrally with the mounting head 54, and recognizes the recognition mark 24 provided on the workpiece 2.

  In FIG. 11, the component camera 55 is provided between the conveyance path 14 and the component supply unit 53 with the imaging optical axis facing upward. The component camera 55 recognizes the component PT picked up by the mounting head 54.

  Each suction nozzle 54a is moved in the vertical direction by a nozzle drive mechanism (not shown) provided in the mounting head 54 and rotated about the vertical axis. A vacuum pressure supply mechanism 54V is connected to the mounting head 54. When a vacuum pressure is supplied from the vacuum pressure supply mechanism 54V to the mounting head 54, a vacuum suction force is generated at the lower end of each suction nozzle 54a. The mounting head 54 picks up the component PT by adsorbing the component PT supplied by the component supply unit 53 to each of the suction nozzles 54a. The mounting head recognition camera 54K has an imaging optical axis directed downward, and moves in the horizontal direction integrally with the mounting head 54.

  2 and 16, the posture changing device 13 (the posture changing device 13 </ b> A and the posture changing device 13 </ b> B) includes a posture changing head 81. As shown in FIGS. 17A and 17B, the posture change head 81 includes a plurality of fingers 82. The posture changing head 81 is moved in the horizontal plane direction by a posture changing head moving mechanism 81M (FIG. 16).

  The posture changing head 81 grips the workpiece 2 held by the workpiece holder 3 with a plurality of fingers 82 and lifts it. As a result, when the two through holes 21H of the work 2 are separated from the two protrusions 32 of the work holding body 3, the posture changing head 81 rotates about the vertical axis to move the work 2 around the axis of the extending portion 22 ( That is, the workpiece holding hole 31 is rotated 90 degrees (around the vertical center axis) (FIG. 17A → FIG. 17B). Then, the workpiece 2 is lowered so that the two through holes 21H are fitted into the two protrusions 32 different from the previous one. As a result, the posture of the workpiece 2 with respect to the workpiece holder 3 is changed. Thus, in the present embodiment, the posture changing head 81 is a posture changing means for changing the posture of the workpiece 2 in the workpiece holder 3.

  Next, a flow of component mounting work performed by the component mounting system 1 in the first embodiment will be described. In the component mounting system 1 according to the first embodiment, first, the viscous material is applied to each workpiece 2 by the two coating devices 11 (the coating device 11A and the coating device 11B), and then the two mounting devices 12 (mounting devices). 12A and the mounting apparatus 12B) mount the component PT on each workpiece 2.

  In the component mounting work, first, two work holders 3 are prepared in which a plurality (three in this case) of works 2 are attached so as to be in the “first posture” (FIG. 5A). The carrier 4 on which these two workpiece holders 3 are placed is transported by the transport path 14 and positioned at the coating work position above the work stage 51 provided in the coating apparatus 11A.

  When the two work holders 3 are positioned at the application work position of the coating apparatus 11A, the stage moving mechanism 51M is operated to raise the work stage 51, and the four support protrusions 76 included in the work stage 51 are replaced with the two work holders 3. It is made to fit into the two pair stage locking holes 36 with which each is provided from below. Then, the work stage 51 is further lifted to lift the two workpiece holders 3 and separate the two workpiece holders 3 from the carrier 4.

  After the two workpiece holders 3 are separated from the carrier 4, the conveyance path 14 slightly moves the carrier 4 in the X-axis direction and moves the two workpiece holders 3 relative to the carrier 4 in the X-axis direction. (Arrow A shown in FIG. 9A), the stage moving mechanism 51M of the coating apparatus 11A lowers the work stage 51 (arrow B shown in FIG. 9B). As a result, the two workpiece holders 3 are pulled out below the carrier 4 (FIG. 9B), and the two workpiece holders 3 are separated from the carrier 4. When the two workpiece holders 3 are separated from the carrier 4, the transport path 14 moves the carrier 4 in the X-axis direction to enter a standby state in which the carrier 4 is retracted from above the work stage 51 (FIG. 10).

  When the carrier 4 enters a standby state, the stage moving mechanism 51M of the coating apparatus 11A raises the work stage 51. In this state, the first surface 23a of each workpiece 2 is in a horizontal posture, is coated with a viscous material, and faces upward, which is a predetermined work direction in which the component PT is mounted (FIG. 14 (a )), The coating head 52 of the coating apparatus 11A first applies a viscous material to the first surface 23a of each workpiece 2.

  When the coating head 52 of the coating apparatus 11A applies a viscous material to the first surface 23a of each workpiece 2, the swing motor 62 operates to drive the two synchronous drive mechanisms 64, thereby swinging the two workpiece holders 3 respectively. Swing around the moving axis YJ. At this time, the two workpiece holders 3 swing synchronously in the same direction by the same angle (angle θ1 shown in FIG. 14B). As a result, the postures of the plurality of workpieces 2 held by the two workpiece holders 3 are collectively adjusted, and the second surface 23b of each workpiece 2 becomes a horizontal posture and faces the work direction (upward) (see FIG. 14 (b)). When the second surface 23b of each workpiece 2 faces the work direction, the coating head 52 of the coating apparatus 11A applies a viscous material to the second surface 23b of each workpiece 2.

  When the coating head 52 of the coating apparatus 11A applies the viscous material to the second surface 23b of each workpiece 2, the swing motor 62 is operated to swing the two workpiece holders 3 in the opposite directions by the angle θ1, and each workpiece. Return 2 to its original position. Then, the work stage 51 and the conveyance path 14 are operated in the reverse procedure to the above-described procedure, and the two work holders 3 are placed on the carrier 4 located at the application work position. When the two work holders 3 are placed on the carrier 4, the transport path 14 is operated to transport the carrier 4 to the downstream side, and the two work holders 3 are positioned at the posture changing work position of the posture changing device 13A.

  When the two workpiece holders 3 are positioned at the posture changing work position of the posture changing device 13A, the posture changing head 81 of the posture changing device 13A is operated, and the postures of the workpieces 2 held by the two workpiece holding members 3 are sequentially changed. , “First posture” (FIG. 5A) is changed to “second posture” (FIG. 5B). When the posture change of all the workpieces 2 held by the two workpiece holders 3 is completed, the conveyance path 14 conveys the carrier 4 to the downstream side, and the work stage provided with the two workpiece holders 3 in the coating apparatus 11B. 51 is positioned at the application work position above 51. When the two workpiece holders 3 are positioned at the application work position of the coating apparatus 11B, the coating apparatus 11B separates the two workpiece holders 3 from the carrier 4 and puts the carrier 4 in a standby state.

  When the carrier 4 enters the standby state, the stage moving mechanism 51M of the coating apparatus 11B raises the work stage 51. In this state, since the third surface 23c of each workpiece 2 is in a horizontal posture and faces the work direction (upward) (FIG. 15A), the coating head 52 of the coating apparatus 11B firstly A viscous material is applied to the third surface 23c. When the coating head 52 of the coating apparatus 11B applies a viscous material to the third surface 23c of each workpiece 2, the swing motor 62 operates to drive the two synchronous drive mechanisms 64, thereby swinging the two workpiece holders 3 respectively. Swing around the moving axis YJ. At this time, the two workpiece holders 3 are synchronously swung in the same direction by the same angle (angle θ2 shown in FIG. 15B). As a result, the postures of the plurality of workpieces 2 held by the two workpiece holders 3 are collectively adjusted, and the fourth surface 23d of each workpiece 2 becomes a horizontal posture and faces the work direction (FIG. 15B). )). When the fourth surface 23 d of each workpiece 2 faces the work direction, the coating head 52 applies a viscous material to the fourth surface 23 d of each workpiece 2.

  When the coating head 52 of the coating apparatus 11B applies a viscous material to the fourth surface 23d of each workpiece 2, the swing motor 62 is operated to swing the two workpiece holders 3 in the opposite directions by an angle θ2, and each workpiece. Return 2 to its original position. Then, the work stage 51 and the conveyance path 14 are operated in reverse order, and the two work holders 3 are placed on the carrier 4 located at the application work position. When the two work holders 3 are placed on the carrier 4, the transport path 14 is activated to transport the carrier 4 downstream, and the two work holders 3 are mounted above the work stage 51 provided in the mounting apparatus 12 </ b> A. To position.

  When the two work holders 3 are positioned at the mounting work position of the mounting apparatus 12A, the mounting apparatus 12A pulls out the two work holders 3 from the carrier 4 by the same operation as the coating apparatus 11, and puts the carrier 4 in a standby state ( FIG. 11). When the carrier 4 enters a standby state, the stage moving mechanism 51M of the mounting apparatus 12A raises the work stage 51. In this state, the third surface 23c of each workpiece 2 is in a horizontal posture and faces the work direction (upward) (FIG. 15 (a)). The component PT is mounted on the second third surface 23c.

  In mounting the component PT, first, the component supply unit 53 supplies the component PT, and the mounting head 54 picks up the component PT by the suction nozzle 54a. The mounting head 54 passes above the component camera 55 and causes the component camera 55 to recognize each component PT. When the mounting head 54 causes the component camera 55 to recognize each component PT, the mounting head 54 moves above the workpiece holder 3 held by the work stage 51 and mounts the component PT on the mounting surface 23 of the workpiece 2.

  When the mounting head 54 of the mounting apparatus 12A mounts the component PT on the third surface 23c of each workpiece 2, the swing motor 62 operates to drive the two synchronous drive mechanisms 64, thereby swinging the two workpiece holders 3 respectively. Swing around the moving axis YJ. At this time, the two workpiece holders 3 are synchronously swung in the same direction by the same angle (angle θ2 shown in FIG. 15B). As a result, the postures of the plurality of workpieces 2 held by the two workpiece holders 3 are collectively adjusted, and the fourth surface 23d of each workpiece 2 becomes a horizontal posture and faces the work direction (upward) (see FIG. 15 (b)). When the fourth surface 23d of each workpiece 2 faces the work direction, the mounting head 54 of the mounting apparatus 12A mounts the component PT on the fourth surface 23d of each workpiece 2.

  When the mounting head 54 of the mounting apparatus 12A mounts the part PT on the fourth surface 23d of each workpiece 2, the swing motor 62 is operated to swing the two workpiece holders 3 in the opposite directions by the angle θ2, and each workpiece Return 2 to its original position. Then, the work stage 51 and the conveyance path 14 are operated in reverse order, and the two work holders 3 are placed on the carrier 4 located at the application work position. When the two workpiece holders 3 are placed on the carrier 4, the transport path 14 is operated to transport the carrier 4 to the downstream side, and the two workpiece holders 3 are positioned at the posture changing work position of the posture changing device 13B.

  When the two workpiece holders 3 are positioned at the posture changing work position of the posture changing device 13B, the posture changing device 13B operates the posture changing head 81 to sequentially change the postures of the workpieces 2 held by the two workpiece holding members 3. , “Second posture” (FIG. 5B) is changed to “first posture” (FIG. 5A). When the posture change of all the workpieces 2 held by the two workpiece holders 3 is completed, the conveyance path 14 conveys the carrier 4 to the downstream side, and the work stage provided with the two workpiece holders 3 in the mounting apparatus 12B. 51 is positioned at a mounting work position above 51.

  When the two work holders 3 are positioned at the mounting work position of the mounting apparatus 12B, the mounting apparatus 12B pulls out the two work holders 3 from the carrier 4 by the same operation as the mounting apparatus 12A, and puts the carrier 4 in a standby state. When the carrier 4 enters the standby state, the stage moving mechanism 51M of the mounting apparatus 12B raises the work stage 51. In this state, since the first surface 23a of each workpiece 2 is in a horizontal posture and faces the work direction (upward) (FIG. 14A), the mounting head 54 of the mounting apparatus 12B firstly The component PT is mounted on the first surface 23a.

  When the mounting head 54 of the mounting apparatus 12B mounts the component PT on the first surface 23a of each workpiece 2, the swing motor 62 operates to drive the two synchronous drive mechanisms 64 and swing the two workpiece holders 3 respectively. Swing around the moving axis YJ. At this time, the two workpiece holders 3 swing synchronously in the same direction by the same angle (angle θ1 shown in FIG. 14B). As a result, the postures of the plurality of workpieces 2 held by the two workpiece holders 3 are collectively adjusted, and the second surface 23b of each workpiece 2 becomes a horizontal posture and faces the work direction (upward) (see FIG. 14 (b)). When the second surface 23b of each workpiece 2 faces the work direction, the mounting head 54 of the mounting apparatus 12B mounts the component PT on the second surface 23b of each workpiece 2.

  When the mounting head 54 of the mounting apparatus 12B mounts the component PT on the second surface 23b of each workpiece 2, the swing motor 62 is operated to swing the two workpiece holders 3 in the opposite directions by the angle θ1, and each workpiece Return 2 to its original position. Then, the work stage 51 and the conveyance path 14 are operated in reverse order, and the two work holders 3 are placed on the carrier 4 located at the mounting work position. When the two workpiece holders 3 are placed on the carrier 4, the conveyance path 14 is activated to convey the carrier 4 to the downstream side. Thereby, the component mounting operation for the plurality of workpieces 2 for one carrier 4 (two workpiece holding bodies 3) is completed.

  As described above, in the component mounting system 1 according to the first embodiment, the work stage 51 provided in the mounting apparatus 12A swings the workpiece holder 3 holding the workpiece 2 about the horizontal swing axis YJ to This is a first positioning mechanism that positions the workpiece 2 such that one mounting surface 23 (the third surface 23c and the fourth surface 23d) faces a predetermined work direction. Further, the mounting head 54 provided in the mounting apparatus 12A is the above-described one mounting surface 23 (third surface 23c and fourth surface 23d) of the work 2 positioned by the work stage 51 (first positioning mechanism) provided in the mounting apparatus 12A. ) Is a first mounting head for mounting the component PT.

  In the component mounting system 1 according to the first embodiment, the transport mechanism that transports the carrier 4 along the transport path 14 serves as a transport unit that transports the work holder 3 holding the work 2 downstream. The posture changing head 81 provided in the posture changing device 13B changes the posture of the workpiece 2 on which the component PT is mounted on the one mounting surface 23 (the third surface 23c and the fourth surface 23d) in the workpiece holding body 3. It is a posture changing means.

  In the component mounting system 1 according to the first embodiment, the work stage 51 provided in the mounting apparatus 12B is a work holding body in which the posture of the work 2 is changed by the posture changing head 81 (posture changing means) provided in the posture changing device 13B. First, the workpiece 2 is positioned so that the other mounting surface 23 (the first surface 23a and the second surface 23b) of the workpiece 2 faces the work direction (upward). 2 positioning mechanism. In addition, the mounting head 54 provided in the mounting apparatus 12B has the other mounting surface 23 (first surface 23a and second surface 23b) of the workpiece 2 positioned by the work stage 51 (second positioning mechanism) provided in the mounting apparatus 12B. ) Is a second mounting head for mounting the component PT.

  In the component mounting (component mounting method) in which the component PT is mounted on the workpiece 2 having a three-dimensional shape by the component mounting system 1 in the first embodiment having such a configuration, the workpiece holder 3 holding the workpiece 2 is moved sideways. The workpiece 2 is positioned so that one mounting surface 23 (the third surface 23c and the fourth surface 23d) of the workpiece 2 faces a predetermined work direction by swinging around the dynamic axis YJ (first positioning step). The component PT is mounted on the one mounting surface 23 (the third surface 23c and the fourth surface 23d) of the positioned work 2 (first mounting step). Then, the posture of the workpiece 2 on which the component PT is mounted on the one mounting surface 23 (the third surface 23c and the fourth surface 23d) is changed (posture changing step), and the workpiece holder 3 is shaken. The workpiece 2 is positioned so that the other mounting surface 23 (first surface 23a and second surface 23b) of the workpiece 2 faces the work direction by swinging around the moving axis YJ (second positioning step). The component PT is mounted on the other mounting surface 23 (the first surface 23a and the second surface 23b) of the positioned work 2 (second mounting step).

  In the component mounting system 1 according to the first embodiment, the work stage 51 of the mounting apparatus 12A that is the first positioning mechanism, the work stage 51 of the mounting apparatus 12B that is the second positioning mechanism, and the attitude change that is the attitude changing means. With the head 81, the component PT can be mounted with each of the plurality of mounting surfaces 23 of the workpiece holder 3 holding the workpiece 2 directed in a predetermined work direction.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. FIG. 18 shows a component mounting system 102 in the second embodiment. The component mounting system 102 according to the second embodiment includes a coating device 11A, a mounting device 12A, a coating device 11B, and a mounting device 12B in order from the upstream side. A posture changing device 13 is provided between the coating device 11B and the mounting device 12A. Each apparatus is connected with the conveyance path 14 similarly to the case of 1st Embodiment.

  In the component mounting system 102 of the second embodiment, the coating apparatus 11A applies a viscous material to one mounting surface 23 (the first surface 23a and the second surface 23b) of each workpiece 2. The mounting device 12A receives the workpiece holder 3 from the coating device 11A and mounts the component PT on the one mounting surface 23 (the first surface 23a and the second surface 23b) of each workpiece 2. The posture changing device 13 receives the workpiece holding body 3 from the mounting device 12A, and changes the posture of each workpiece 2 relative to the workpiece holding body 3 from the “first posture” to the “second posture”. The coating device 11B receives the workpiece holding body 3 from the posture changing device 13, and applies a viscous material to the other mounting surfaces 23 (third surface 23c and fourth surface 23d) of each workpiece 2. The mounting device 12B receives the workpiece holder 3 from the coating device 11B and mounts the component PT on the other mounting surface 23 (the third surface 23c and the fourth surface 23d) of each workpiece 2.

  As described above, in the component mounting system 102 according to the second embodiment, the work stage 51 included in the mounting apparatus 12A swings the workpiece holder 3 holding the workpiece 2 around the horizontal swing axis YJ. This is a first positioning mechanism that positions the workpiece 2 such that one mounting surface 23 (the first surface 23a and the second surface 23b) faces a predetermined work direction. Further, the mounting head 54 provided in the mounting apparatus 12A is the above-described one mounting surface 23 (first surface 23a and second surface 23b) of the work 2 positioned by the work stage 51 (first positioning mechanism) provided in the mounting apparatus 12A. ) Is a first mounting head for mounting the component PT.

  In the component mounting system 102 according to the second embodiment, the transport mechanism that transports the carrier 4 along the transport path 14 serves as a transport unit that transports the work holder 3 holding the work 2 downstream. In addition, the posture changing head 81 included in the posture changing device 13 is mounted on the one mounting surface 23 (the first surface 23a and the second surface 23b) by the mounting head 54 (first mounting head) included in the mounting device 12A. Is a posture changing means for changing the posture of the workpiece 2 on the workpiece holder 3.

  In the component mounting system 102 according to the second embodiment, the work stage 51 provided in the mounting apparatus 12B is a work holding body in which the posture of the work 2 is changed by the posture changing head 81 (posture changing means) provided in the posture changing device 13. 2 is positioned so that the other mounting surface 23 (the third surface 23c and the fourth surface 23d) of the workpiece 2 faces the work direction by swinging the shaft 3 about the horizontal swing axis YJ. It is a mechanism. Further, the mounting head 54 provided in the mounting apparatus 12B has the other mounting surface 23 (the third surface 23c and the fourth surface 23d) of the workpiece 2 positioned by the work stage 51 (second positioning mechanism) provided in the mounting apparatus 12B. ) Is a second mounting head for mounting the component PT.

  In the component mounting method in which the component PT is mounted on the workpiece 2 having a three-dimensional shape by the component mounting system 102 in the second embodiment having such a configuration, the workpiece holder 3 holding the workpiece 2 is moved around the horizontal swing axis YJ. The workpiece 2 is positioned so that one mounting surface 23 (the first surface 23a and the second surface 23b) of the workpiece 2 faces a predetermined work direction (first positioning step). The component PT is mounted on the one mounting surface 23 (the first surface 23a and the second surface 23b) of the workpiece 2 (first mounting step). And the attitude | position in the workpiece holding body 3 of the workpiece | work 2 with which component PT was mounted in said one mounting surface 23 (1st surface 23a and 2nd surface 23b) is changed (attitude change process), and the workpiece holding body 3 is turned sideways The workpiece 2 is positioned so that the other mounting surfaces 23 (the third surface 23c and the fourth surface 23d) of the workpiece 2 are directed in the work direction by swinging around the swing axis YJ of the workpiece (second positioning step). The component PT is mounted on the other mounting surface 23 (the third surface 23c and the fourth surface 23d) of the workpiece 2 positioned in the second positioning step (second mounting step).

  As described above, also in the component mounting system 102 in the second embodiment, the work stage 51 of the mounting apparatus 12A that is the first positioning mechanism and the mounting apparatus that is the second positioning mechanism, as in the case of the first embodiment. The component PT is mounted with the work stage 51 of 12B and the posture changing head 81 serving as posture changing means such that the plurality of mounting surfaces 23 of the workpiece holder 3 holding the workpiece 2 are directed in a predetermined work direction. Be able to. In addition, the component mounting system 102 according to the second embodiment can reduce the number of posture changing devices 13 as compared with the first embodiment, thereby reducing the total length of the component mounting system 102.

(Third embodiment)
Next, a third embodiment of the present invention will be described. 19 and 20 show a component mounting system 103 according to the third embodiment of the present invention. A component mounting system 103 according to the third embodiment includes a coating device 111 and a mounting device 112 in order from the upstream side. The coating device 111 and the mounting device 112 are connected by the conveyance path 14 as in the coating device 11 and the mounting device 12 of the first and second embodiments.

  In the component mounting system 103 according to the third embodiment, the coating apparatus 111 includes a posture changing head 81 in addition to the above-described configuration. The posture changing head 81 is provided integrally with the application head 52 (FIGS. 20 and 21). The mounting apparatus 112 also has a posture changing head 81 in addition to the above-described configuration. The posture changing head 81 is provided integrally with the mounting head 54 (FIGS. 20 and 22).

  In the component mounting system 103 according to the third embodiment, the coating device 111 swings the workpiece holder 3 holding the workpiece 2 in the “first posture” around the swing axis YJ by the work stage 51 as a positioning mechanism. The one mounting surface 23 (the first surface 23a and the second surface 23b) is directed in the work direction (upward). And a viscous body is apply | coated to the mounting surface 23 (1st surface 23a and 2nd surface 23b) of each workpiece | work 2 with the application head 52. FIG. After applying the viscous material to the one mounting surface 23 (the first surface 23 a and the second surface 23 b) of each workpiece 2, the coating device 111 causes the posture changing head 81 provided on the coating head 52 to apply each workpiece 2. The posture with respect to the work holder 3 is changed from the “first posture” to the “second posture”. Then, the workpiece holder 3 holding the workpiece 2 whose posture has been changed is swung around the swing axis YJ by the work stage 51 as a positioning mechanism, and the other mounting surface 23 (the third surface 23c and A viscous material is applied to the fourth surface 23d).

  After applying the viscous material to the other mounting surfaces 23 (the third surface 23c and the fourth surface 23d) of each workpiece 2, the coating device 111 applies the carrier 4 on which the workpiece holder 3 is placed to the downstream mounting device 112. To be taken out. The mounting apparatus 112 receives the carrier 4 from the coating apparatus 111, and swings the work holder 3 holding the work 2 in the “second posture” around the swing axis YJ by the work stage 51 as a positioning mechanism. The mounting surface 23 (the third surface 23c and the fourth surface 23d) is directed in the work direction (upward). Then, the component PT is mounted on the other mounting surface 23 (the third surface 23 c and the fourth surface 23 d) of each workpiece 2 by the mounting head 54. After mounting the component PT on the other mounting surface 23 (the third surface 23 c and the fourth surface 23 d) of each workpiece 2, the mounting apparatus 112 uses the attitude change head 81 provided on the mounting head 54 to change the position of each workpiece 2. The posture with respect to the workpiece holding body 3 is changed from the “second posture” to the “first posture”. Then, the work holding body 3 holding the work 2 whose posture has been changed is swung around the swing axis YJ by a work stage 51 as a positioning mechanism, and one mounting surface 23 (first surface 23a and The component PT is mounted on the second surface 23b).

  As described above, in the component mounting system 103 according to the third embodiment, the work stage 51 included in the mounting device 112 swings the workpiece holder 3 holding the workpiece 2 around the horizontal swing axis YJ. This positioning mechanism positions the workpiece 2 so that one mounting surface 23 faces a predetermined work direction.

  In the component mounting system 103 according to the third embodiment, the transport mechanism that transports the carrier 4 along the transport path 14 is a transport unit that transports the work holder 3 holding the work 2 downstream. Further, the posture changing head 81 provided in the mounting device 112 is a posture changing means for changing the posture of the workpiece 2 on which the component PT is mounted on one mounting surface (the third surface 23c and the fourth surface 23d). It has become.

  In the component mounting method in which the component PT is mounted on the workpiece 2 having a three-dimensional shape by the component mounting system 103 according to the third embodiment having such a configuration, the workpiece holder 3 holding the workpiece 2 is moved around the horizontal swing axis YJ. The workpiece 2 is positioned so that one mounting surface 23 (the third surface 23c and the fourth surface 23d) of the workpiece 2 faces a predetermined work direction (first positioning step). The component PT is mounted on the one mounting surface 23 (the third surface 23c and the fourth surface 23d) of the workpiece 2 (first mounting step). And the attitude | position in the workpiece holding body 3 of the workpiece | work 2 with which component PT was mounted in said one mounting surface 23 (3rd surface 23c and 4th surface 23d) is changed (attitude change process), and the workpiece holding body 3 is turned sideways The workpiece 2 is positioned so that the other mounting surfaces 23 (the first surface 23a and the second surface 23b) of the workpiece 2 face the work direction by swinging around the swing axis YJ (second positioning step) ), Mounting the component PT on the other mounting surface 23 (first surface 23a and second surface 23b) of the workpiece 2 positioned in the second positioning step (second mounting step). In the third embodiment, the total length of the component mounting system 103 can be shortened as compared with the first embodiment and the second embodiment.

  As described above, in the component mounting systems 1, 102 and 103 according to the present embodiment, the workpiece 2 is held by swinging the workpiece holder 3 holding the workpiece 2 having a three-dimensional shape around the horizontal swing axis YJ. The mounting surface 23 can be directed in a predetermined work direction, and the other mounting surface 23 of the work 2 can be directed in the work direction by changing the posture of the work 2 with respect to the work holder 3. The component PT can be mounted. For this reason, it is possible to mount the component PT on the workpiece 2 having a three-dimensional shape with a simple configuration. Further, since the component mounting systems 1, 102, 103 of the present invention are not complicated as in the known literature, the manufacturing cost can be reduced.

  Provided are a component mounting system and a component mounting method capable of mounting components on a workpiece having a three-dimensional shape with a simple configuration.

1, 102, 103 Component mounting system 2 Work 3 Work holder 4 Carrier 11, 111 Coating device 12, 112 Mounting device 13 Attitude change device 23 Mounting surface 23a First surface 23b Second surface 23c Third surface 23d Fourth surface 51 Work stage (positioning mechanism)
52 Coating head 54 Mounting head 81 Posture change head (posture change means)
YJ swing shaft PT parts

Claims (13)

A component mounting system for mounting a component on a workpiece having a three-dimensional shape,
A first positioning mechanism that positions the workpiece so that one mounting surface of the workpiece faces a predetermined work direction by swinging a workpiece holding body that holds the workpiece around a horizontal swing axis;
A first mounting head for mounting a component on the one mounting surface of the workpiece positioned by the first positioning mechanism;
Posture changing means for changing the posture of the workpiece on which the component is mounted on the one mounting surface in the workpiece holder;
The workpiece holding body whose posture has been changed by the posture changing means is swung around a horizontal swing shaft, and the work is positioned so that the other mounting surface of the work faces the work direction. A second positioning mechanism;
A second mounting head for mounting a component on the other mounting surface of the workpiece positioned by the second positioning mechanism;
A component mounting system comprising transport means for transporting the work holder from the first positioning mechanism to the second positioning mechanism.   The component mounting system according to claim 1, wherein the posture changing unit is provided in the first mounting head or the second mounting head.   2. The component mounting system according to claim 1, wherein the posture changing unit is disposed in a conveyance path of the workpiece holder by the conveyance unit between the first positioning mechanism and the second positioning mechanism.   The component mounting system according to any one of claims 1 to 3, wherein the posture changing means is attached to the work holding body after the work is removed from the work holding body and rotated.   The workpiece holding body holds a plurality of workpieces arranged in a row, and swing axes of the first positioning mechanism and the second positioning mechanism extend in the same direction as the arrangement direction of the plurality of workpieces. The component mounting system according to claim 1.   The component mounting system according to claim 1, wherein the transporting unit transports the work holder placed on a carrier. A component mounting system for mounting a component on a workpiece having a three-dimensional shape,
A positioning mechanism for positioning the workpiece so that the workpiece mounting surface faces a predetermined work direction by swinging a workpiece holding body holding the workpiece around a horizontal swing axis;
Posture changing means for changing the posture of the workpiece in the workpiece holder;
A component mounting system comprising: a mounting head for mounting a component on a mounting surface directed in the work direction by the positioning mechanism.   The component mounting system according to claim 7, wherein the posture changing means is provided in the mounting head.   The component mounting system according to claim 7 or 8, wherein the posture changing means is attached to the workpiece holder after the workpiece is removed from the workpiece holder and rotated.   The component mounting system according to claim 7, wherein the workpiece holder holds a plurality of the workpieces in a line, and a swing shaft of the positioning mechanism extends in the same direction as the arrangement direction of the plurality of workpieces. . A component mounting method for mounting a component on a workpiece having a three-dimensional shape,
A first positioning step of positioning the workpiece so that one mounting surface of the workpiece faces a predetermined work direction by swinging a workpiece holding body holding the workpiece around a horizontal swing axis;
A first mounting step of mounting a component on the one mounting surface of the workpiece positioned in the first positioning step;
A posture changing step of changing the posture of the workpiece on which the component is mounted on the one mounting surface;
The work holder whose posture has been changed in the posture changing step is swung around a horizontal swing shaft, and the work is positioned so that the other mounting surface of the work faces the work direction. A second positioning step;
A component mounting method including a second mounting step of mounting a component on the other mounting surface of the workpiece positioned in the second positioning step.   The component mounting method according to claim 11, wherein the posture changing step is performed in a procedure of attaching the work holder to the work holder after the work is removed from the work holder and rotated.   The component mounting method according to claim 11 or 12, wherein the workpiece holding body is configured to hold a plurality of the workpieces in a state in which the workpieces are arranged in an extending direction of the swing shaft.

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