JP6600243B2 - Component mounting apparatus, surface mounter, and component mounting method - Google Patents

Description

  The technology disclosed in this specification relates to a component mounting apparatus, a surface mounter, and a component mounting method.

  For example, as a surface mounter having a component mounting apparatus that picks up an electronic component and mounts the component on a substrate, a device described in Japanese Patent Application Laid-Open No. 2007-201310 (Patent Document 1 below) is known. This component mounting apparatus is of a rotary type and has a rotating unit provided with a plurality of suction nozzles for sucking electronic components. The rotation unit rotates around the rotation axis that is the center of the rotation unit, so that the plurality of suction nozzles rotate around the rotation axis of the rotation unit.

JP 2007-201310 A

  By the way, in general, in the rotary unit, the rotary gear provided in the rotary unit is engaged with the motor gear of the motor provided in the component mounting apparatus, and the motor gear of the motor rotates, so that the rotary unit rotates through the rotary gear.

  However, the shaft center of the gear may be eccentric due to the influence of the meshing gap of each gear or the shape of the gear. Then, an error occurs in the linearity (linearity) of the rotating shaft in the rotating unit, and as a result, the correct position cannot be determined in holding the electronic component, recognizing the electronic component, and mounting the electronic component.

  The present specification discloses a technique for eliminating misalignment during holding, recognition, and mounting of components.

  The technology disclosed in the present specification is a component mounting apparatus that holds a component and mounts the component on a substrate, and includes a plurality of component holding units that hold and release the component, and the rotation axis as a center. A rotating body that rotates so as to turn a plurality of component holding sections in the circumferential direction, a target rotation angle that is a target value of the rotation angle of the rotating body, and the component holding section in the rotating body that corresponds to the target rotation angle And a correction unit that corrects misalignment based on the actual position.

  In addition, the technology disclosed in this specification holds a plurality of component holding portions spaced apart in the circumferential direction, and rotates to rotate the plurality of component holding portions around the rotation axis in the circumferential direction. A component mounting method in a component mounting apparatus including a body, wherein a target rotation angle that is a target value of a rotation angle of the rotating body, and an actual of the component holding unit in the rotating body corresponding to the target rotation angle The positional deviation is corrected based on the position.

The technology disclosed in the present specification is a surface mounter, wherein the component mounting apparatus, a component supply apparatus that supplies the component to the component mounting apparatus, and the component by the component mounting apparatus. And a substrate transfer device that transfers the substrate up to the mounting range.
According to such a configuration, the positional deviation of the component holding unit is corrected in accordance with the target rotation angle before rotating the rotating body, thereby reducing the influence of linearity (linearity) errors on the rotating shaft of the rotating body. Can be made. Thereby, the position shift of a component holding part can be suppressed, and the position shift at the time of component holding, recognition, and mounting can be eliminated.

A drive unit that rotates the drive gear may be provided, and the rotating body may be configured to rotate via a rotating body gear meshed with the drive gear.
Since the rotating shaft of the rotating body is easily decentered due to the gap between the engagement of the driving gear and the rotating body gear, it is very effective to correct the positional deviation of the component holding portion in accordance with the target rotation angle.
The technology disclosed in the present specification may have the following configuration.
A storage unit that preliminarily stores correction data acquired from the target rotation angle of the rotating body and a shift angle of the component holding unit in the circumferential direction at the target rotation angle, and the correction unit includes the rotating body Before rotating, the correction angle with respect to the target rotation angle is specified from the correction data in the storage unit, and the rotation angle of the rotating body may be corrected.
According to such a configuration, since the rotating body is rotated after correcting the shift angle of the rotating body with respect to the target rotation angle, it is possible to prevent the component holding portion from being displaced in the rotation direction of the rotating body.

When the one direction along the substrate is the X direction and the direction along the substrate and perpendicular to the X direction is the Y direction, the target rotation angle of the rotating body and the component holding at the target rotation angle A storage unit that preliminarily stores correction data acquired from a correspondence relationship between an ideal position of the unit and an actual position in the XY direction, and the correction unit stores the correction data before rotating the rotating body. A correction amount in the XY direction with respect to the target rotation angle may be specified from correction data in the unit, and the position of the component holding unit in the rotating body may be corrected.
According to such a configuration, it is possible to correct the positional deviation in the XY direction of the component holding unit with respect to the rotation angle of the rotating body. , It is possible to prevent the component holding portion from being displaced in the XY direction.

The rotating body can be rotated in both directions around the rotation axis, and the storage unit can store the correction data in each rotation direction of the rotating body. It is good also as a structure correct | amended by the said correspondence based on the rotation direction of a rotary body.
In general, when the rotating body can rotate in both the left and right directions, for example, when the rotating body rotates in the reverse direction from the right rotation to the left rotation, there is a possibility that a position shift depending on the rotating direction may occur. However, according to such a configuration, even when the rotating body rotates in any rotation direction, it is possible to correct the positional deviation of the component holding unit.

The storage unit may store the correction data for each of the plurality of component holding units, and the correction unit may correct each component holding unit.
According to such a configuration, the positional deviation can be corrected in each component holding part, and therefore the positional deviation of the part holding part can be further suppressed.

  According to the technology disclosed in the present specification, it is possible to eliminate misalignment during holding and recognition of components and mounting.

The top view of the surface mounting machine concerning Embodiment 1 Perspective view of component mounting equipment Side view of component mounting equipment Side view enlarging a part of the component mounting equipment 4 is a partial cross-sectional view corresponding to the cross section taken along line AA in FIG. An enlarged perspective view of a part of a component mounting apparatus Perspective view of component mounting apparatus with rotary head exposed Cross-sectional view of component mounting equipment Partially cutaway sectional view of the lower end of the rotary head Block diagram showing the electrical configuration of the surface mounter Schematic diagram showing the displacement of the suction nozzle of the rotary head Flowchart diagram showing the mounting process Flowchart diagram showing correction processing The figure which showed the relationship between the rotation angle of the N axis | shaft of a rotary body, and correction data The figure which showed the relationship between the rotation angle of a rotary body, and the deviation | shift amount of the X direction from the N-axis of a rotary body The figure which showed the relationship between the rotation angle of a rotary body, and the deviation | shift amount of the Y direction from the N-axis of a rotary body. The flowchart figure which shows the correction process which concerns on Embodiment 2.

<Embodiment 1>
A first embodiment will be described with reference to FIGS.
The present embodiment illustrates a surface mounter 10 that mounts an electronic component (an example of “component”) E on a printed circuit board (an example of “substrate”) B. As shown in FIG. 1, the surface mounter 10 mounts an electronic component E on a base 12, a transport conveyor (an example of a “board transport device”) 13 disposed on the base 12, and a printed board B. A component mounting apparatus 20 for supplying the electronic component E to the component mounting apparatus 20, and a component mounting apparatus 20.

  As shown in FIG. 1, the base 12 has a substantially rectangular shape in plan view. In addition, a backup plate (not shown) for backing up the printed circuit board B when the electronic component E is mounted on the printed circuit board B is provided below the transport conveyor 13 in the base 12. In the following description, the long side direction of the base 12 and the left and right direction of FIG. 1 that is the transport direction of the transport conveyor 13 are defined as the X direction, and the vertical direction of FIG. The vertical direction of FIG. 2 that is the vertical direction of the component mounting apparatus 20 will be described as the Z direction.

  As shown in FIG. 1, the transport conveyor 13 is disposed at a substantially central portion in the Y direction of the base 12 and transports the printed circuit board B along the X direction. The conveyor 13 includes a pair of conveyor belts 15 that are circulated and driven in the X direction, and the printed circuit board B is set on the pair of conveyor belts 15. Then, the printed circuit board B is carried from the right side in the X direction along the conveyor belt 15 into the mounting range in the substantially central portion in the X direction on the base 12, and after the electronic component E is mounted, Along the left side in the X direction.

  As shown in FIG. 1, the component supply device 14 is a feeder type, and two parts are arranged in the X direction on both sides in the vertical direction of the transport conveyor 13, so that the parts supply device 14 is arranged at a total of four locations. A plurality of feeders 16 are attached to these component supply devices 14 in an aligned state in the X direction. Each feeder 16 includes an unillustrated electric delivery device that pulls out a component supply tape containing a plurality of electronic components E from a reel, and the electronic components E are fed from the end of each feeder 16 on the side of the conveyer 13. One by one is supplied.

  As shown in FIG. 1, the component mounting apparatus 20 includes a pair of support frames 21 disposed on both sides in the X direction of the base 12, a rotary rotary head 50, and a head driving apparatus 40 that moves the rotary head 50. And is configured. Each support frame 21 has an elongated shape extending in the Y direction, and is disposed on both sides of the base 12 in the X direction.

The head drive device 40 includes a Y-axis servo mechanism 41 and an X-axis servo mechanism 46 and is provided so as to be installed on the pair of support frames 21.
As shown in FIG. 1, the Y-axis servo mechanism 41 includes a pair of Y-axis guide rails 42 provided along the support frames 21 in a form extending in the Y direction, and a Y-axis in which a ball nut (not shown) is screwed. A shaft ball screw 43 and a Y-axis servo motor 44 provided at the end of the Y-axis ball screw 43 are provided. A pair of Y-axis guide rails 42 have a head support 45 fixed to a ball nut. Is installed in the form of erection. When the energization of the Y-axis servomotor 44 is controlled, the ball nut advances and retreats along the Y-axis ball screw 43. As a result, the head support 45 fixed to the ball nut and the head support 45 are mounted. The rotary head 50 moves in the Y direction along the Y-axis guide rail 42.

As shown in FIG. 1, the X-axis servo mechanism 46 has an X-axis ball screw in which an X-axis guide rail (not shown) provided on the head support 45 in a form extending in the X direction and a ball nut (not shown) are screwed together. 47 and an X-axis servo motor 48 provided at the end of the X-axis ball screw 47. A rotary head 50 is movably attached to the X-axis guide rail along the X direction. When the X-axis servo motor 48 is energized and controlled, the ball nut advances and retreats along the X-axis ball screw 47, As a result, the rotary head 50 fixed to the ball nut moves in the X direction along the X-axis guide rail.
Thereby, the rotary head 50 is movable in the X direction and the Y direction within a certain movable region.

  As shown in FIGS. 2 and 3, the rotary head 50 has an arm shape in which a head main body 51 extending in the Z direction is covered with a cover 52, and sucks an electronic component E supplied by the component supply device 14. And is mounted on the printed circuit board B.

  Further, as shown in FIGS. 6 to 8, the rotary head 50 includes a rotating body 60 that holds a plurality (18 in this embodiment) of nozzle shafts 53 so as to be movable in the Z direction.

  As shown in FIGS. 6 and 7, the rotating body 60 includes a shaft portion 61 having an axial shape extending in the Z direction, and a shaft holding portion 63 provided around the shaft portion 61 at the lower end portion of the rotary head 50. Have. The shaft portion 61 of the rotating body 60 is supported by the head main body portion 51 so as to be capable of rotating in both directions around the axis of the shaft portion 61.

  Further, the shaft portion 61 has a double structure, and as shown in FIGS. 7 and 8, the upper portion of the inner shaft portion 61A disposed on the inner side of the shaft portion 61 is around the axis of the inner shaft portion 61A. Is provided with an N-axis driven gear (an example of a “rotor gear”) 62N, and an R-axis driven gear 62R is provided around the axis of the outer shaft portion 61B at the upper portion of the outer shaft portion 61B disposed on the outside. It has been.

  On the other hand, an approximately N-axis driving device (an example of a “driving unit”) 65 for rotationally driving the rotating body 60 is provided at a substantially central portion in the Z direction at the rear part of the head main body 51, as shown in FIGS. Is provided. As shown in FIG. 5, the N-axis drive device 65 is provided with an N-axis drive gear (an example of a “drive gear”) 66 meshed with the N-axis driven gear 62N of the inner shaft portion 61A. The gear ratio between the shaft driven gear 62N and the N-axis driving gear 66 is 9: 1. When the N-axis drive device 65 operates and the N-axis drive gear 66 rotates, the power of the N-axis drive device 65 is transmitted to the inner shaft portion 61A via the N-axis driven gear 62N, and the rotating body 60 is moved to the shaft. It rotates at an arbitrary angle around the part 61. In FIG. 5, a part of the relationship is omitted in order to facilitate understanding of the relationship between the N-axis drive gear 66 and the N-axis driven gear 62N.

  As shown in FIG. 8, the shaft holding portion 63 of the rotating body 60 has a substantially cylindrical shape having a diameter larger than that of the outer shaft portion 61 </ b> B, and the shaft holding portion 63 is formed on the outer peripheral edge of the shaft holding portion 63. A plurality of through holes 63A penetrating in the direction are formed (18 in this embodiment) at equal intervals in the circumferential direction. In each through hole 63A, as shown in FIG. 7, a nozzle shaft 53 extending in the Z direction is held in a state of penetrating the shaft holding portion 63 via a cylindrical shaft holder 54. The nozzle shaft 53 is coupled by a ball spline.

  In other words, the plurality of nozzle shafts 53 are held by the rotating body 60 in a state of being circumferentially spaced at the outer peripheral edge portion of the shaft holding portion 63, and the N-axis driving device 65 is operated to operate the N-axis driving gear 66. Is rotated, the rotating body 60 and the plurality of nozzle shafts 53 are turned around the rotation axis N in the circumferential direction via the N-axis driven gear 62N.

  As shown in FIGS. 7 and 8, suction nozzles (an example of a “component holding portion”) 55 that sucks the electronic component E are respectively provided at the lower end portion of each nozzle shaft 53 that protrudes downward from the shaft holding portion 63. Is provided. Therefore, when the rotating body 60 is rotated by the N-axis drive device 65, each suction nozzle 55 is centered on the rotation axis N that is the axis of the rotating body 60 and the shaft portion 61, as shown in FIG. It turns with the nozzle shaft 53 in the circumferential direction.

  Each suction nozzle 55 is supplied with a negative pressure or a positive pressure from an air pressure supply device 87 provided at the upper part of the head main body 51. When a negative pressure is supplied to the suction nozzle 55, the electronic component E is sucked and held at the lower end of the suction nozzle 55, and when a positive pressure is supplied to each suction nozzle 55, it is held by the suction nozzle 55. The electronic component E is released.

  Further, an R-axis drive device 70 that rotates each nozzle shaft 53 around its axis is provided at a substantially central portion in the Z direction at the front portion of the head main body 51, as shown in FIGS. ing. An R-axis drive gear 71R meshed with the R-axis driven gear 62R of the outer shaft portion 61B is provided at the lower end portion of the R-axis drive device 70, and more than the R-axis driven gear 62R in the outer shaft portion 61B. A common gear (not shown) that rotates with the rotation of the R-axis driven gear 62R is provided below.

  On the other hand, as shown in FIGS. 6 and 7, nozzle gears 53 </ b> R meshed with the common gear of the R-axis drive device 70 are provided on the outer peripheral portion of each shaft holder 54. The nozzle gear 53R is configured to rotate as the R-axis drive gear 71R of the R-axis drive device 70 rotates and the common gear rotates through the R-axis driven gear 62R. That is, by rotating the R-axis drive gear 71R of the R-axis drive device 70, each shaft holder 54 rotates, and the nozzle shaft 53 rotates at the same angle and the same angle around the axis.

  Further, as shown in FIGS. 7 and 8, a winding spring 56 is mounted on the outer surface side of each nozzle shaft 53, and a spring retaining bolt 57 is screwed to the upper end portion of each nozzle shaft 53. Yes. The coil spring 56 is compressed in the Z direction between the spring retaining bolt 57 and the shaft holder 54, and the coil spring 56 urges each nozzle shaft 53 upward by an elastic force.

  Further, as shown in FIGS. 7 and 8, the rotary head 50 is configured to raise and lower the nozzle shafts 53 at both ends in the X direction among the plurality of nozzle shafts 53 with respect to the rotating body 60 in the Z direction. A pair of Z-axis drive devices 75 having a box shape are provided. The pair of Z-axis drive devices 75 are disposed on both sides in the Z direction of the rotary head 50 with the upper portion of the shaft portion 61 of the rotating body 60 interposed therebetween, and are disposed above each nozzle shaft 53.

The Z-axis drive device 75 has a Z-axis movable portion 76 that is displaced in the Z direction. As shown in FIG. 8, a spring retaining bolt 57 of the nozzle shaft 53 is provided at the lower end portion of the Z-axis movable portion 76. A cam follower 77 that presses downward is provided.
The cam follower 77 contacts the spring retaining bolt 57 of the nozzle shaft 53 from above when the Z-axis movable portion 76 of the Z-axis driving device 75 is lowered from the rising end position, and resists the urging force of the winding spring 56. 53 is lowered. When the suction nozzle 55 is lowered as the nozzle shaft 53 is lowered, the suction nozzle 55 comes close to the printed circuit board B at the component supply position or work position of the component supply device 14. When the Z-axis movable portion 76 is raised, the cam follower 77 is raised accordingly, and the nozzle shaft 53 and the suction nozzle 55 are raised by the elastic return force of the winding spring 56.

  Further, as shown in FIG. 9, the rotary head 50 includes a plurality of switching devices 80 for switching the pressure supplied to each suction nozzle 55 between a negative pressure and a positive pressure. The plurality of switching devices 80 are provided at a total of 18 locations at equal intervals on the outer peripheral edge of the shaft holding portion 63 so as to be positioned between two adjacent nozzle shafts 53.

Further, as shown in FIG. 9, each switching device 80 has a cylindrical sleeve 81 attached to the upper end portion of the shaft holding portion 63 and a valve spool 82 having an axial shape housed in the sleeve 81. is doing.
The sleeve 81 has a negative pressure input port 84 for inputting a negative pressure into the sleeve 81, a positive pressure input port 85 for inputting a positive pressure into the sleeve 81, and a negative pressure or a positive pressure input into the sleeve 81. An output port 86 that outputs from the sleeve 81 is provided.

On the other hand, as shown in FIG. 9, the valve spool 82 is accommodated in the sleeve 81 in a state where a substantially U-shaped abutting portion 83 which is provided at the upper end and opens outward in the radial direction is exposed. It can be moved along the Z direction.
The valve spool 82 moves along the Z direction so that the pressure supplied to each suction nozzle 55 can be switched between negative pressure and positive pressure.

  Further, at both ends in the X direction of the rotary head 50, valve drive devices 90 that press the contact portions 83 of the valve spool 82 in the Z direction are provided on both sides of the lower portion of the shaft portion 61 in the rotating body 60. Yes. As shown in FIGS. 7 and 8, the valve driving device 90 has a movable portion 91 that is displaced in the Z-axis direction, and the upper end portion of the movable portion 91 is in contact with the valve spool 82 in the switching device 80. A valve cam follower 92 that presses the portion 83 in the Z-axis direction is provided.

  Therefore, when the movable portion 91 of the valve driving device 90 moves upward, the contact portion 83 of the valve spool 82 is pushed up by the valve cam follower 92. When the movable portion 91 of the valve driving device 90 moves downward, the contact portion 83 of the valve spool 82 is pushed down by the valve cam follower 92. That is, the electronic component E is held by supplying a negative pressure to the suction nozzle 55 corresponding to the switching device 80, and the electronic component E is opened by supplying a positive pressure to the suction nozzle 55 corresponding to the switching device 80. Then, it is mounted on the printed circuit board B.

  The rotary head 50 is provided with a substrate recognition camera (not shown). The board recognition camera moves integrally with the rotary head 50 and takes an image at an arbitrary position on the printed board B stopped at the work position. Further, as shown in FIG. 1, a component recognition camera C is fixed near the work position on the base 12, and the component recognition camera C is an electronic component held by the suction nozzle 55 in the component supply device 14. The image of E is taken.

Next, the electrical configuration of the surface mounter 10 will be described with reference to FIG.
The surface mounter 10 is entirely controlled by the management device 110. The management device 110 includes a control unit 111 configured with a CPU and the like, and a storage unit 112.

The storage unit 112 stores various programs such as a mounting program and a correction data program executed by the control unit 111 and various data. The storage unit 112 stores data acquired by various programs.
The control unit 111 controls the surface mounter 10 according to various programs stored in the storage unit 112, and drives the conveyor 13, the head driving device 40, and the rotary head 50 according to the mounting process by the mounting program, for example, Each feeder 16 attached to the component supply apparatus 14 is controlled.

  In addition, the control unit 111 receives the imaging signals output from the board recognition camera and the component recognition camera C, respectively, and performs the analysis of the component image and the analysis of the board image based on the imaging signal.

  Further, the control unit 111 executes a correction data creation program for correcting the positional deviation of the rotation axis N of the rotary head 50 before starting the mounting process of the electronic component E by the mounting program. The created correction data 115 is recorded in the storage unit 112. Then, when the mounting of the electronic component E is instructed, the control unit 111 executes a mounting program, corrects the positional deviation of each suction nozzle 55 based on the acquired correction data 115, and controls the position of each suction nozzle 55. I do.

  Next, a mounting process in which the surface mounter 10 of the present embodiment mounts the electronic component E at a predetermined mounting position on the printed circuit board B based on a mounting program will be described.

  When the control unit 111 drives the transport conveyor 13 and stops the printed circuit board B transported by the transport conveyor 13 at a predetermined position, the control unit 111 recognizes the positions of the printed circuit board B in the X direction and the Y direction by the substrate recognition camera.

  Then, the control unit 111 drives the Y-axis servo motor 44 and the X-axis servo motor 48 in the head drive device 40 and also drives the N-axis drive device 65 in the rotary head 50, so that the rotary head 50 is made into a component. The suction nozzle 55 is moved above the electronic component E of the component supply tape of the feeder 16 while being moved onto the supply device 14.

  By the way, the rotating body 60 is assembled by engaging the N-axis driven gear 62N in the shaft portion 61 of the rotating body 60 with the N-axis driving gear 66 in the N-axis driving device 65 of the head main body 51, thereby assembling the N-axis driving device. By rotating the 65 N-axis drive gear 66, the N-axis drive gear 62N is rotated. For this reason, the rotating shaft N that is the axis of the N-axis driven gear 62N is decentered due to the influence of the meshing gap between the N-axis driven gear 66 and the N-axis driven gear 62N, and the rotation of the rotating body 60. There may be a deviation in the linearity on the axis N.

  Therefore, when the mounting program is executed while the linearity of the rotating body 60 on the rotation axis N is shifted, the ideal position P1 of the suction nozzle 55 when the rotating body 60 is rotated as shown in FIG. A deviation of the axis angle of the rotation axis N (hereinafter referred to as “deviation angle dθ”) occurs between the actual position P2 of the suction nozzle 55 and the actual measurement position P2.

  Therefore, as a countermeasure, in the present embodiment, as shown in FIG. 12, the control unit 111 first determines whether or not the linearity of the rotation axis N of the rotary head 50 is corrected (S100). If not, as shown in FIG. 13, the position control of the suction nozzle 55 is performed by the correction process (S10) by the correction data creation program. Note that the control unit 111 of the present embodiment corresponds to a “correction unit”.

  In the correction process by the correction data creation program, first, the target rotation angle R that is the target value of the rotation angle of the suction nozzle 55 for one rotation (360 °) in the rotating body 60 and the actual position corresponding to the target rotation angle R. The deviation angle dθ is calculated from the actual coordinates (Xobs, Yobs) of P2, and the correction angle at each target rotation angle R is acquired as (−dθ). Then, the correction angle (−dθ) for one rotation (360 °) of the rotating body 60 is stored as the correction data 115, the deviation angle dθ of each suction nozzle 55 is corrected based on the correction data 115, and each suction nozzle 55 is corrected. Perform position control.

  As a detailed procedure for creating the correction data 115, a component jig serving as an index is attached to the lower end of the nozzle shaft 53 of the rotary head 50 in place of the suction nozzle 55, and then the rotary head 50 is placed on the component recognition camera C. And execute the correction data creation program.

In the correction data creation program, first, as an initial setting, when the component jig of the rotator 60 is placed at the initial position P0, the R-axis drive device 70 causes the nozzle shaft 53 to rotate once by 90 ° four times, A component jig at each angle is photographed by the component recognition camera C. Then, the center coordinates of the component jig are recognized from the four-angle imaging data of the component jig, and the actual coordinates of the component jig are acquired as the initial coordinates (X ₀ , Y ₀ ) of the suction nozzle 55 (S11).

When the initial coordinates (X ₀ , Y ₀ ) of the component jig are obtained, “1” is set to the rotation flag n (S12), and the target rotation angle R of the rotating body 60 is set to a predetermined angle r (this embodiment) The N-axis drive gear 66 of the N-axis drive device 65 is rotated as a product (r × n) of the rotation flag n (1 ° in the embodiment) (S13).

  Next, when the rotating body 60 is rotated, the nozzle shaft 53 is rotated once by 90 degrees four times by the R-axis drive device 70, and the component jig at each angle is photographed by the component recognition camera C. Then, the center coordinates of the component jig are recognized from the four-angle imaging data of the component jig, and acquired as the actual coordinates (Xobs, Yobs) of the component jig (S14).

Next, the component jig is calculated from the coordinates (0, 0) of the rotation axis N of the rotating body 60, the initial coordinates (X ₀ , Y ₀ ) of the component jig, and the actual coordinates (Xobs, Yobs) of the component jig. The actual rotation angle Robs that is the actual rotation angle is calculated, and the difference (Robs−R) between the target rotation angle R and the actual rotation angle Robs is obtained as the deviation angle dθ (S15). That is, the actual rotation angle Robs can also be expressed as the sum (R + dθ) of the target rotation angle R and the shift angle dθ.

  Based on this deviation angle dθ, the correction angle at the target rotation angle R of the rotating body 60 is stored as (−dθ) (S16).

When the correction angle (−dθ) of the target rotation angle R is stored, “1” is added to the rotation flag n (S17) until the target rotation angle R exceeds 360 ° (until the rotating body 60 makes one revolution). ) And S13 to S17 are repeated (S18).
In this way, the correction angle (−dθ) corresponding to the target rotation angle R for each predetermined angle on the rotation axis N of the rotator 60 is acquired, and the correction angle (−360 °) for one rotation (360 °) of the rotator 60 is obtained. dθ) is stored as the correction data 115 (S19).

Then, the deviation angle dθ of each suction nozzle 55 is corrected based on the correction data 115 obtained in advance, and the position control of each suction nozzle 55 is performed.
Specifically, in the rotating body 60, when the predetermined angle r is 20 ° and the rotation flag n is 2, the target rotation angle R is 40 °, and the correction angle (−dθ) at that time is as follows: Is obtained.

  First, the N-axis drive gear 66 of the N-axis drive device 65 is rotated so that the target rotation angle R of the rotating body 60 is 40 °, and the actual coordinates of the component jig based on the target rotation angle (R = 40 °). (X40obs, Y40obs) is acquired.

Next, from the coordinates (0, 0) of the rotation axis N of the rotating body 60, the initial coordinates (X ₀ , Y ₀ ) of the component jig, and the actual coordinates (X 40obs, Y40 obs) of the component jig, the component repair is performed. The actual rotation angle Robs of the tool is calculated. For example, when the actual rotation angle Robs is, for example, 40.05 °, the deviation angle dθ from the target rotation angle (R = 40 °) is 40.05−40 = 0.1 °, and correction at that time The angle (−dθ) is acquired as (−0.05 °). In this manner, by obtaining the correction angle (−dθ) for each predetermined angle r interval, the correction data 115 is completed as shown in FIG.

  In the position control of the suction nozzle 55 at the time of mounting the electronic component E, when the suction nozzle 55 of the rotating body 60 is rotated by 40 ° from the initial position P0, as shown in FIG. A correction angle (−0.05) corresponding to R = 40 ° is specified, and a correction angle ((−dθ) = (− 0.05)) is added to the target rotation angle (R = 40 °). Thereby, the target rotation angle R of the rotator 60 is changed to 39.95 °, and the rotation angle of the rotator 60 rotated by the N-axis drive gear 66 of the N-axis drive device 65 is corrected to approximately 40 °. That is, the suction nozzle 55 of the rotating body 60 is suppressed from being displaced while being affected by the linearity error of the rotating shaft N in the rotating body 60.

  As described above, according to the present embodiment, the positional displacement of the suction nozzle 55 accompanying the movement of the rotation axis N at a predetermined angle of the rotating body 60 is suppressed, and the positional accuracy of the suction nozzle 55 with respect to the electronic component E can be improved. It can be done.

  Note that the rotating body 60 of the present embodiment can rotate in either the left or right direction around the rotation axis N. For example, when the clockwise correction data 115 can be acquired, the counterclockwise rotation Correction data 115 is acquired. Thereby, for example, when the rotation is reversed from the right rotation to the left rotation, even if a position shift depending on the rotation direction occurs, the position shift of the suction nozzle 55 can be reliably suppressed. .

  Further, the correction data 115 of the suction nozzle 55 in the present embodiment is created in all of the plurality of suction nozzles 55 in the rotating body 60, and the positional deviation can be corrected for each suction nozzle 55. That is, since the positional deviation depending on each suction nozzle 55 can be corrected, the position accuracy of each suction nozzle 55 can be further improved.

  Therefore, as shown in FIG. 12, when the position deviation of the suction nozzle 55 can be corrected by the correction data 115 (S10), the suction nozzle 55 is moved above the electronic component E. Then, the electronic component E is held by the suction nozzle 55 by lowering the nozzle shaft 53 and supplying negative pressure to the suction nozzle 55 from the air pressure supply device 87 (S101). At this time, the electronic component E may be held by one or both of the suction nozzles 55 arranged on both sides in the X direction of the rotary head 50, and a plurality of suctions can be obtained by rotating the rotating body 60 of the rotary head 50. The electronic component E may be continuously held in the nozzle 55.

  Next, when the electronic component E is held by the suction nozzle 55, the nozzle shaft 53 is raised and the rotary head 50 is moved onto the component recognition camera C. When the electronic component E moves onto the component recognition camera C, the electronic component E is imaged by the component recognition camera C, the electronic component E is recognized, and imaging data of the electronic component E is output to the control unit 111.

  And the control part 111 acquires the dimension of the XY direction of the electronic component E from the imaging data of the electronic component E, and acquires the center position of the electronic component E based on this dimension and the center position of the suction nozzle 55 (S102). ).

  Here, also when the electronic component E is recognized, the rotation angle is corrected based on the correction angle (−dθ) of the correction data 115, and it is possible to suppress the occurrence of positional deviation when the component recognition camera C recognizes the component. Can do.

  Next, the control unit 111 prints the rotary head 50 by driving the Y-axis servo motor 44 and the X-axis servo motor 48 in the head drive device 40 and driving the N-axis drive device 65 in the rotary head 50. The electronic component E held by the suction nozzle 55 is moved to the mounting position on the printed board B while being moved onto the board B. Then, the nozzle shaft 53 is lowered toward the printed circuit board B, and positive pressure is supplied from the air pressure supply device 87 to the suction nozzle 55, whereby the electronic component E is released from the suction nozzle 55, and the electronic component E is printed on the printed circuit board. It is mounted at a predetermined mounting position on B (S103).

  Here, also when the electronic component E held by the suction nozzle 55 is moved to the mounting position on the printed circuit board B, the rotation angle is corrected based on the correction angle (−dθ) of the correction data 115, and the printed circuit board B is moved. The position accuracy when mounting the electronic component E can be improved.

  When the electronic component E is mounted on the printed circuit board B, the nozzle shaft 53 is raised. At this time, the electronic component E may be mounted at the mounting position of the printed circuit board B in one or both of the suction nozzles 55 arranged on both sides in the X direction of the rotary head 50, and the rotating body 60 of the rotary head 50 is rotated. By doing so, the electronic component E may be continuously mounted at the mounting position of the printed circuit board B in the plurality of suction nozzles 55.

  When the component mounting operation of the electronic component E is completed in this way (S103), the rotary head 50 moves the rotary head 50 to the component supply device 14 again when there is an electronic component E to be mounted next, and then mounts it. The electronic component E to be held is held by suction.

<Example>
An embodiment of the present invention will be described with reference to FIGS. 15 and 16.
In this embodiment, the relationship between the rotation angle of the rotating body 60 and the deviation from the N-axis which is the center position of the rotating body 60 is shown in FIGS. 15 and 16.

  In the graph shown in FIG. 15, the horizontal axis represents the magnitude of the rotation angle of the rotating body 60, and the vertical axis represents the deviation in the X direction from the N axis of the rotating body 60. In the graph shown in FIG. 16, the horizontal axis represents the magnitude of the rotation angle of the rotating body 60, and the vertical axis represents the deviation of the N axis of the rotating body 60 in the Y direction. .

  Here, comparing the data of L1 before correction and L2 after correction, the amount of positional deviation in L2 after correction is smaller in both the X direction and the Y direction than L1 before correction. As described above, according to the present embodiment, the positional deviation associated with the movement of the rotation axis N of the rotating body 60 in the suction nozzle 55 is suppressed, and the positional accuracy of the suction nozzle 55 with respect to the electronic component E can be improved.

  As described above, according to the present embodiment, even if the linearity in the rotation axis N of the rotating body 60 is deviated, the correction data (−dθ) at a predetermined angle interval is executed by the correction data creation program before the mounting program is executed. ) Is created, and the deviation angle dθ of each suction nozzle 55 is corrected based on this correction data 115. Therefore, the positional deviation of each suction nozzle 55 is detected at any rotation angle at a predetermined angular interval. Can be suppressed.

  Further, according to the present embodiment, the correction data 115 for the bidirectional rotation of the rotating body 60 is acquired. Therefore, even if a positional shift depending on the rotating direction occurs due to the rotating body 60 rotating in the reverse direction, the suction nozzle The position shift of 55 can be reliably suppressed.

  Further, according to the present embodiment, since the correction data 115 is acquired for all the suction nozzles 55 in the rotating body 60, the positional deviation depending on each suction nozzle 55 can be corrected, and the position accuracy of each suction nozzle 55 is increased. Further improvements can be made.

<Embodiment 2>
Next, Embodiment 2 will be described with reference to FIGS. 11 and 17.
The correction data 115 according to the second embodiment is obtained by changing the content of the correction data 115 according to the first embodiment, and the configuration, operation, and effect common to those in the first embodiment are duplicated. The same reference numerals are used for the same configurations as those in the first embodiment.

  In the second embodiment, unlike the first embodiment, as shown in FIG. 11, the deviation between the ideal position P1 and the measured position P2 of the suction nozzle 55 is acquired as the coordinate values of the X and Y coordinates, and each target rotation is obtained. The correction amount (−dx, −dy) at the angle R is acquired as the correction data 115. Here, the X and Y coordinates are the direction X along the long side direction of the base 12 along the printed circuit board B, and the direction along the printed circuit board B and perpendicular to the X direction is the Y direction. It is a coordinate when doing.

The correction data creation program in this embodiment will be described below.
As shown in FIG. 17, in the correction data creation program, as an initial setting, when the component jig of the rotating body 60 is disposed at the initial position P0, the R-axis drive device 70 causes the nozzle shaft 53 to be rotated 90 ° four times. The component recognition camera C photographs the component jig at each angle. Then, the center coordinates of the component jig are recognized from the four-angle imaging data of the component jig, and the actual coordinates of the component jig are acquired as the initial coordinates (X ₀ , Y ₀ ) of the suction nozzle 55 (S21).

  Next, “1” is set to the rotation flag n (S22), and the target rotation angle R of the rotating body 60 is set to a product (r × n) of a predetermined angle r (1 ° in the present embodiment) and the rotation flag n. ), The N-axis drive gear 66 of the N-axis drive device 65 is rotated (S23).

  Then, when the rotating body 60 is rotated, the nozzle shaft 53 is rotated once every 90 ° by the R-axis driving device 70 four times, and a component jig at each angle is photographed by the component recognition camera C. Then, the center coordinates of the component jig are recognized from the four-angle imaging data of the component jig, and the actual coordinates (Xobs, Yobs) of the actual measurement position P2 of the component jig are acquired (S24).

Next, the coordinates of the ideal position P1 of the component jig (from the coordinates (0, 0) of the rotation axis N of the rotating body 60, the initial coordinates (X ₀ , Y ₀ ) of the component jig, and the rotation target angle R ( Xclac, Ycalc) is calculated, and the positional deviation amount (dx) between the coordinates (Xclac, Ycalc) of the ideal position P1 of the component jig and the actual coordinates (Xobs, Yobs) of the actual measurement position P2 of the component jig , Dy) is acquired (S25).
Then, based on the positional deviation amount (dx, dy) of the coordinates, the correction amount at the target rotation angle R of the rotating body 60 is stored as (−dx, −dy) (S26).

  Further, when the correction amount (−dx, −dy) of the target rotation angle R is stored, “1” is added to the rotation flag n (S27) until the target rotation angle R exceeds 360 ° (the rotating body 60 is 1). The process from S13 to S17 is repeated (S28).

  In this way, the correction amount (−dx, −dy) of the target rotation angle R for each predetermined angle on the rotation axis N of the rotating body 60 is acquired, and the correction amount for one rotation (360 °) of the rotating body 60 ( -Dx, -dy) is stored as correction data 115 (S29).

  Therefore, according to the present embodiment, the coordinate shift (dx, dy) between the coordinates (Xclac, Ycalc) of the ideal position P1 of the component jig and the actual coordinates (Xobs, Yobs) of the actual measurement position P2 of the component jig. ) To obtain the correction amount (−dx, −dy) as correction data 115. Then, a correction amount corresponding to the target rotation angle R is specified from the correction data 115, and the position of each suction nozzle 55 is controlled. Thereby, the position shift of each suction nozzle 55 can be suppressed.

  That is, according to the present embodiment, since all the positional deviation amounts are acquired based on the X and Y coordinates, not only the deviation of the rotation angle but also any of the N-axis driving gear 66 and the N-axis driven gear 62N. Even if the shape of one or both of the gears is not a perfect circle and its axis is decentered, it is possible to correct the positional deviation depending on the rotation axis N of the rotating body 60.

<Other embodiments>
The technology disclosed in the present specification is not limited to the embodiments described with reference to the above description and drawings, and includes, for example, the following various aspects.

(1) In the said embodiment, the suction nozzle 55 was comprised as a component holding part. However, the present invention is not limited thereto, and a pair of holding claws that hold the electronic component E in between may be configured as the component holding portion.
(2) In the above embodiment, when the correction data 115 is created, the correction data 115 is configured by rotating the rotating body 60 by 360 ° by 1 °. However, the present invention is not limited to this, and the correction data may be configured by rotating the rotator 60 by 10 ° or by 360 ° by 20 °.
(3) In the above embodiment, the rotary body 60 has 18 suction nozzles assembled to the rotary body 60. However, the present invention is not limited to this, and a configuration in which nine or eighteen or more suction nozzles are assembled to the rotating body may be employed.
(4) In the above embodiment, the correction data 115 is created for all the suction nozzles 55. However, the present invention is not limited to this, and only correction data for the representative nozzle is created using one of the plurality of suction nozzles in the rotating body as a representative nozzle. The positional deviation may be corrected.

10: Surface mounter 13: Conveyor (an example of “substrate transport device”)
14: Component supply device 20: Component mounting device 55: Suction nozzle (an example of “component holding unit”)
60: Rotating body 62N: N-axis driven gear (an example of “rotating body gear”)
65: N-axis drive device (an example of “drive unit”)
66: N-axis drive gear (an example of “drive gear”)
111: Control unit (an example of “correction unit”)
112: Storage unit 115: Correction data B: Printed circuit board (an example of “board”)
E: Electronic component (an example of “component”)
N: rotation axis P1: ideal position P2: actual position R: target rotation angle Robs: actual rotation angle dθ: deviation angle −dθ: correction angle (−dx, −dy): correction amount

Claims (8)

A component mounting apparatus for holding a component and mounting the component on a substrate,
A plurality of component holders for holding and releasing the components;
A rotating body that rotates to rotate the plurality of component holding portions in the circumferential direction around a rotation axis;
A correction angle is obtained from a deviation angle in a circumferential direction between an ideal position and an actual position of the component holder corresponding to a target rotation angle that is a target value of a rotation angle of the rotating body, and one rotation of the rotating body is obtained. A storage unit for previously storing the correction angle as correction data;
And a correcting unit for correcting the position of the component holder in the rotary body corresponding to the previous SL target rotation angle,
The correction unit specifies the correction angle corresponding to the target rotation angle from the correction data in the storage unit before rotating the rotating body, and corrects the rotation angle of the rotating body to hold the component. component mounting apparatus that to correct the position of the parts. A component mounting apparatus for holding a component and mounting the component on a substrate,
A plurality of component holders for holding and releasing the components;
A rotating body that rotates to rotate the plurality of component holding portions in the circumferential direction around a rotation axis;
In the case where the one direction along the substrate is the X direction and the direction along the substrate and perpendicular to the X direction is the Y direction,
A correction amount is acquired from a positional deviation in the X and Y directions between an ideal position and an actual position of the component holder at a target rotation angle that is a target value of the rotation angle of the rotating body, and the correction for one rotation of the rotating body is performed. A storage unit that stores the amount in advance as correction data;
A correction unit that corrects the position of the component holding unit in the rotating body corresponding to the target rotation angle,
The correction unit specifies the correction amount in the X and Y directions corresponding to the target rotation angle from the correction data in the storage unit and rotates the component holding unit to correct the position of the component holding unit before rotating the rotating body. apparatus. A drive unit for rotating the drive gear;
The rotary body, a component mounting apparatus according to claim 1 or claim 2 rotated via the rotating body gear meshed with the driving gear. It can rotate in both directions around the rotation axis,
In the storage unit, the correction data in each rotation direction of the rotating body can be stored,
The component mounting apparatus according to claim 1 , wherein the correction unit performs correction based on a rotation direction of the rotating body. In the storage unit, the correction data is stored for each of the plurality of component holding units,
Wherein the correction unit, the component mounting apparatus according to any one of claims 1 to 4 for correcting for each of the component holder. The component mounting apparatus according to any one of claims 1 to 5 ,
A component supply device for supplying the component to the component mounting device;
A surface mounter comprising: a substrate transfer device configured to transfer the substrate to a mounting range of the component by the component mounting device. A component mounting method in a component mounting apparatus including a rotating body that holds a plurality of component holding portions at intervals in the circumferential direction and rotates to rotate the plurality of component holding portions in a circumferential direction around a rotation axis. Because
A correction angle corresponding to one rotation of the rotating body is used as correction data from a deviation angle in the circumferential direction between the ideal position and the actual position of the component holder corresponding to the target rotation angle that is a target value of the rotation angle of the rotating body. Remember in advance,
Mounting the component that corrects the position of the component holding unit by identifying the correction angle corresponding to the target rotation angle from the correction data and correcting the rotation angle of the rotating body before rotating the rotating body. Method. Component mounting including a rotating body that holds a plurality of component holding portions for mounting components on a substrate at intervals in the circumferential direction and rotates to rotate the plurality of component holding portions in the circumferential direction around a rotation axis A component mounting method in an apparatus,
In the case where the one direction along the substrate is the X direction and the direction along the substrate and perpendicular to the X direction is the Y direction,
A correction amount for one rotation of the rotating body is stored in advance as correction data based on a displacement in the X and Y directions between the ideal position and the actual position of the component holder at a target rotation angle that is a target value of the rotation angle of the rotating body. Aside,
  A component mounting method for specifying the correction amount in the XY directions corresponding to the target rotation angle from the correction data and correcting the position of the component holding unit before rotating the rotating body.

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