JP6600570B2 - Component mounting equipment - Google Patents

Description

  The present invention relates to a component mounting apparatus.

  2. Description of the Related Art Conventionally, a component mounting apparatus that includes a component supply device in which component take-out positions of a plurality of tape feeders are arranged in a predetermined direction, and a head unit that is movable in the XY directions and includes a lifting nozzle and a camera arranged in the same direction as the predetermined direction. Is known (see, for example, Patent Document 1). In addition, in the component mounting device, the component may be displaced with respect to the component removal position due to tape feeding error of the tape feeder, etc., so that the image of the component at the component removal position is recognized by the camera mounted on the head unit, A device that performs suction position correction is also known (see, for example, Patent Document 2).

JP 2010-50380 A (FIG. 2) JP 2006-324395 A (paragraph 0004)

  However, in the component mounting apparatus of Patent Document 1, when the suction position correction of Patent Document 2 is performed, an operation of imaging the component at the component pick-up position with the camera and the suction position correction based on the captured image are performed. The operation of adsorbing to the nozzle is performed separately. For example, after the parts at the plurality of parts pick-up positions are sequentially imaged by the camera, the parts at the plurality of parts pick-up positions are sequentially attracted to the nozzle. If it does so, since the moving distance of a head unit will become long, component mounting time will become long.

  The present invention has been made to solve such a problem, and a main object thereof is to shorten the component mounting time.

The component mounting apparatus of the present invention is
A component supply device in which a plurality of component take-out positions are arranged in a predetermined direction, a head unit that is movable in the XY directions in which an elevating nozzle and a camera are arranged in the same direction as the predetermined direction, the elevating nozzle, the camera, and the head unit Control means for controlling the component, and the control means corrects the target suction position of the component based on an image obtained by imaging the component arranged at the component pickup position with the camera, and sets the corrected target suction position to the target suction position after correction. A component mounting apparatus that controls to adsorb the component to the lift nozzle based on the component and to transport the component to a predetermined position on the substrate and to mount the component at the predetermined position;
An interval between the lifting nozzle and the camera is equal to an interval between a first component extraction position and a second component extraction position downstream from the first component extraction position among the plurality of component extraction positions. ,
The control means moves the head unit so that the elevating nozzle is positioned above the first component extraction position and the camera is positioned above the second component extraction position. Controlling the camera to image the component at the second component extraction position in parallel to controlling the lifting nozzle to pick up the component at the first component extraction position;
Is.

  In this component mounting apparatus, the interval between the lifting nozzle and the camera is the same as the interval between the first component extraction position and the second component extraction position. The control means moves the head unit so that the elevating nozzle is positioned above the first component extraction position and the camera is positioned above the second component extraction position, and the first component extraction is performed in that state. In parallel with the control of the lifting nozzle to pick up the component at the position, the camera is controlled so as to capture the image of the component at the second component pickup position. That is, at least the suction operation of the component at the first component extraction position and the imaging operation of the component at the second component extraction position can be performed in parallel. As a result, the moving distance of the head unit is reduced compared to the case of picking up the parts at the multiple parts pick-up positions sequentially with the camera and then picking up the parts at the multiple parts pick-up positions to the nozzles in sequence. It can be shortened.

  It should be noted that “matching” means not only the case where they completely match, but also the case where they substantially match (for example, when the lifting nozzle is positioned above the first component extraction position, the component at the second component extraction position) In the case where the image can be captured by the camera). The term “in parallel” includes not only the case where they are performed simultaneously but also the case where they are performed almost simultaneously (for example, the case where the other is performed immediately after performing one of the adsorption operation and the imaging operation).

  In the component mounting apparatus of the present invention, the head unit holds a plurality of nozzles arranged on the same circumference so as to be movable on the circumference, and the nozzle stopped at a predetermined position on the circumference. You may hold | maintain so that raising / lowering is possible as the said raising / lowering nozzle. In this way, since a plurality of nozzles are sequentially raised and lowered nozzles, the opportunity to perform the suction operation and the imaging operation in parallel increases. Therefore, the component mounting time can be further shortened.

  In the component mounting apparatus of the present invention, there may be a plurality of combinations that have a relationship between the first component removal position and the second component removal position among the plurality of component removal positions. In this way, the opportunity to perform the adsorption operation and the imaging operation in parallel increases. Therefore, the component mounting time can be further shortened.

  In the component mounting apparatus of the present invention, the camera may also be used to read a board mark on the board. In this way, the cost can be reduced as compared with the case where a camera for imaging the component at the component extraction position and a camera for reading the board mark are provided separately.

The perspective view of the component mounting machine 10. FIG. FIG. 3 is a perspective view showing the inside of the head 18. Explanatory drawing which shows typically the positional relationship of the mark camera 34 and the nozzle 40. FIG. An explanatory view showing electrical connection of controller. The perspective view of the reel 70. FIG. The flowchart of a production job processing routine. Explanatory drawing which shows the procedure of the components adsorption | suction of this embodiment. Explanatory drawing which shows the procedure of the components adsorption | suction of another embodiment. Explanatory drawing which shows the procedure of the components adsorption | suction of another embodiment. Explanatory drawing which shows the procedure of the components adsorption | suction of another embodiment.

  Preferred embodiments of the present invention will be described below with reference to the drawings. 1 is a perspective view of the component mounting machine 10, FIG. 2 is a perspective view of the head 18, FIG. 3 is an explanatory view schematically showing a positional relationship between the mark camera 34 and the nozzle 40, and FIG. FIG. 5 is a perspective view of the reel 70. In the present embodiment, the left-right direction (X-axis), the front-rear direction (Y-axis), and the up-down direction (Z-axis) are as shown in FIG.

  As shown in FIG. 1, the component mounter 10 includes a board transfer device 12, a head 18, a mark camera 34, a parts camera 36, a controller 38 that executes various controls, and a reel unit 50. .

  The substrate transport device 12 transports the substrate S from the left to the right by conveyor belts 16 and 16 (only one of which is shown in FIG. 1) attached to the pair of left and right support plates 14 and 14, respectively. Further, the substrate transfer device 12 fixes the substrate S by lifting the substrate S from below with the support pins 17 disposed below the substrate S and pressing the substrate S against the roof portions of the support plates 14, 14. The substrate S is released by being lowered.

  The head 18 is detachably attached to the front surface of the X-axis slider 20. The X-axis slider 20 is slidably attached to guide rails 22 and 22 provided in front of the Y-axis slider 24 and extending in the left-right direction (X-axis direction). The Y-axis slider 24 is slidably attached to guide rails 26 and 26 extending in the front-rear direction (Y-axis direction). Therefore, the head 18 moves in the X axis direction as the X axis slider 20 moves in the X axis direction, and moves in the Y axis direction as the Y axis slider 24 moves in the Y axis direction. The head 18 includes an auto tool 42 having a plurality (eight in this case) of nozzles 40 for sucking parts. As shown in FIGS. 2 and 3, the nozzles 40 are provided at regular intervals (here, 45 °) along the circumference of the cylindrical body of the auto tool 42. The nozzle 40 is configured to slide in a sleeve 41 that extends vertically, and is normally positioned at a predetermined upper position (see a solid line in FIG. 2) by a spring (not shown). The nozzle 40 uses pressure to adsorb components at the nozzle tip or release components adsorbed at the nozzle tip. The auto tool 42 includes a nozzle operating mechanism 44. The nozzle operating mechanism 44 has a function of revolving the nozzle 40 by rotating the cylindrical body of the auto tool 42, a function of rotating the nozzle 40 itself, and a nozzle 40 positioned at a predetermined nozzle raising / lowering position 40p in the Z-axis direction. A function of pressing, a function of adjusting the pressure at the tip of the nozzle 40, and the like. The plurality of nozzles 40 are sequentially positioned at the nozzle lifting position 40p every time the cylindrical body of the auto tool 42 rotates 45 °. The nozzle 40 positioned at the nozzle raising / lowering position 40p is lowered from the upper position to the lower position (dotted line in FIG. 2) when pressed by the nozzle operating mechanism 44. The lowered nozzle 40 is returned to its original upper position by a spring (not shown) when the pressing by the nozzle operating mechanism 44 is released. The auto tool 42 is replaced with another auto tool (for example, an auto tool having four nozzles or an auto tool having twelve nozzles) as necessary.

  The mark camera 34 is installed at the lower end of the X-axis slider 20 so that the image capturing direction faces the substrate S. Therefore, the mark camera 34 moves as the head 18 moves in the XY direction. As shown in FIG. 3, the mark camera 34 and the nozzle 40 positioned at the nozzle lifting position 40p of the auto tool 42 are aligned in the X-axis direction. Here, the mark camera 34 is positioned at the nozzle lifting position 40p. It is provided on the right side of the nozzle 40. The mark camera 34 images an unillustrated reference mark for positioning a substrate provided on the substrate S, or images a component P fed to a predetermined component removal position 60p (see FIG. 4) by the feeder 60. . The interval between the mark camera 34 and the nozzle 40 positioned at the nozzle raising / lowering position 40p is an integral multiple (here, twice) the inter-slot distance D described later.

  The parts camera 36 is installed between the reel unit 50 and the substrate transport apparatus 12 so that the imaging direction is upward at the approximate center of the length in the left-right direction. This parts camera 36 images the part adsorbed by the nozzle 40 passing above.

  As shown in FIG. 4, the controller 38 is configured as a microprocessor centered on a CPU 38a, and includes a ROM 38b for storing processing programs, an HDD 38c for storing various data, a RAM 38d used as a work area, and the like. The controller 38 is connected to an input device 38e such as a mouse or a keyboard and a display device 38f such as a liquid crystal display. The controller 38 is connected so as to be capable of bidirectional communication with a feeder controller 68 and a management computer 80 built in the feeder 60. Further, the controller 38 is connected so that control signals can be output to the substrate transport device 12, the X-axis slider 20, the Y-axis slider 24, the nozzle operating mechanism 44, the mark camera 34, and the parts camera 36. The controller 38 is connected so as to be able to receive images from the mark camera 34 and the parts camera 36. For example, the controller 38 recognizes the position (coordinates) of the substrate S by processing the image of the substrate S captured by the mark camera 34 and recognizing the position of the reference mark. Further, the controller 38 determines whether or not a component is attracted to the nozzle 40 based on an image captured by the parts camera 36, and determines the shape, size, suction position, and the like of the component.

  As shown in FIG. 1, the reel unit 50 includes a device pallet 52 and a feeder 60. The device pallet 52 is detachably mounted on the component mounter 10 and has a slot 54 on the upper surface. The slot 54 is a groove into which the feeder 60 can be inserted, and a plurality of slots 54 are arranged in the left-right direction. The intervals between adjacent slots 54 (slot distance D) are all equal. The feeder 60 is inserted into the slot 54. The feeder 60 rotatably holds a reel 70 (see FIG. 5) around which a tape 72 is wound. A plurality of recesses 74 are formed in the tape 72 so as to be aligned along the longitudinal direction of the tape 72. Each recess 74 accommodates a part P. These parts P are protected by a film 75 that covers the surface of the tape 72. The feeder 60 has a component picking position 60p. The component take-out position 60p is a position determined by design in which the nozzle 40 sucks the component P. Each time the tape 72 is fed backward by a predetermined amount by the feeder 60, the components P accommodated in the tape 72 are sequentially arranged at the component removal position 60p. The part P that has reached the part take-out position 60p is in a state where the film 75 has been peeled off and is adsorbed by the nozzle 40.

  As shown in FIG. 4, the management computer 80 includes a personal computer main body 82, an input device 84, and a display 86, and can input signals from the input device 84 operated by an operator. An image can be output. Production job data is stored in the memory of the PC main body 82. In the production job data, it is determined which component P is mounted on the substrate S in each component mounting machine 10 in what order, and how many substrates S are mounted.

  Next, an operation in which the controller 38 of the component mounter 10 mounts the component P on the board S based on the production job received from the management computer 80 will be described. FIG. 6 is a flowchart of the production job processing routine. First, the controller 38 controls the board transfer device 12 to carry the board S to a predetermined position in the component mounter 10 and position it (step S100). Next, the controller 38 controls the X-axis slider 20, the Y-axis slider 24, and the nozzle operating mechanism 44 so that the parts P supplied from the feeder 60 are attracted to the nozzles 40 of the auto tool 42 (step S200). Thereafter, the controller 38 controls the X-axis slider 20, the Y-axis slider 24, and the nozzle operating mechanism 44 to sequentially mount the components P attracted by the nozzles 40 on the substrate S (step S300). Next, the controller 38 determines whether or not all the components P to be mounted on the substrate S have been mounted (step S400). If there are still components P to be mounted on the substrate S, the step is again performed. Return to S200. On the other hand, if all the components P to be mounted on the substrate S are mounted in S400, the controller 38 controls the substrate transfer device 12 to carry out the substrate S (step S500). Thereafter, the controller 38 determines whether or not the processing of the number of produced sheets determined in the production job has been completed (step S600). If not completed, the controller 38 returns to S100 again, and the process of S100 to S500 for the new substrate S is performed. Execute the process. On the other hand, when the processing of the number of productions determined for the production job is completed, the controller 38 ends this routine. Thereafter, if there is another production job, the controller 38 performs the same processing for the production job.

  Here, the basic procedure of the component suction processing in step S200 described above will be described below. The controller 38 causes the mark camera 34 to capture an image of the component P to be attracted by the nozzle 40 in advance. This part P is arranged at a part picking position 60p of the feeder 60. The controller 38 corrects the coordinates of the target suction position of the part P (for example, the gravity center position of the part P) based on the image of the part P, and the coordinates of the target suction position of the nozzle 40 at the nozzle raising / lowering position 40p are corrected. The X-axis slider 20 and the Y-axis slider 24 are controlled so that the tip is disposed. Subsequently, the controller 38 controls the nozzle operating mechanism 44 to lower the nozzle 40 at the nozzle raising / lowering position 40p and supply negative pressure to the tip of the nozzle 40 to adsorb the component P to the nozzle 40. The nozzle 40 is returned to the upper position. Subsequently, the controller 38 controls the nozzle operating mechanism 44 to revolve the nozzle 40 to position the next nozzle 40 at the nozzle lifting position 40p. The controller 38 adsorbs the parts P for all the nozzles 40 provided in the auto tool 42 by such a procedure.

  By the way, when creating a production job, the mounting order of all components to be mounted on the substrate S, the slot position of the feeder 60 for supplying each component, and the like are determined. In that case, the parts P1 to P8 sucked by the first to eighth (# 1 to # 8) nozzles 40 of the auto tool 42 are supplied in this order by the feeder 60 inserted into the slots 54 of # 1 to # 8. If it can be set to be done, it is set as such.

  The component suction processing to each nozzle 40 of the auto tool 42 in such a case will be described below with reference to FIG. The parts removal positions 60p provided in the plurality of feeders 60 are arranged in the X-axis direction. First, the controller 38 positions the mark camera 34 so that the mark camera 34 is disposed immediately above the component P1 disposed at the component removal position 60p of the # 1 feeder 60, and causes the mark camera 34 to capture an image of the component P1. (See FIG. 7 (a)). Next, the controller 38 moves the X-axis slider 20 to the right by the inter-slot distance D along the X-axis direction. Then, the mark camera 34 is disposed immediately above the component P2 disposed at the component removal position 60p of the # 2 feeder 60. In this state, the controller 38 causes the mark camera 34 to capture an image of the component P2 (see FIG. 7B).

  Next, the controller 38 controls the nozzle operating mechanism 44 to revolve the nozzle 40 to place the # 1 nozzle 40 at the nozzle raising / lowering position 40p, and to move the X-axis slider 20 to the inter-slot distance D along the X-axis direction. Just move it to the right. Then, the mark camera 34 is disposed immediately above the component P3 disposed at the component removal position 60p of the # 3 feeder 60, and the # 1 nozzle 40 positioned at the nozzle lift position 40p is directly above the component P1. Placed in. The controller 38 corrects the coordinates of the target suction position of the component P1 based on the captured image of the component P1, and X so that the tip of the nozzle # 1 is arranged immediately above the corrected target suction position. The axis slider 20 and the Y-axis slider 24 are controlled. In this state, the controller 38 moves the component P1 arranged at the component removal position 60p of the # 1 feeder 60 to the component removal position 60p of the # 3 feeder 60 in parallel with the suction of the component P1 to the nozzle 40 of # 1. The mark camera 34 is caused to capture an image of the arranged component P3 (see FIG. 7C). Since the mark camera 34 has a sufficiently wide field of view, even if the position of the mark camera 34 is adjusted so that the tip of the # 1 nozzle 40 is positioned immediately above the corrected target suction position of the component P1, the imaging of the component P3 is performed. Will not cause any problems. Thereafter, similarly to this, the controller 38 performs the suction of the component P2 by the # 2 nozzle 40 and the imaging of the component P4 in parallel, and the suction of the component P3 by the # 3 nozzle 40 and the imaging of the component P5. The suction of the component P4 by the # 4 nozzle 40 and the imaging of the component P6 are performed in parallel, and the suction of the component P5 by the # 5 nozzle 50 and the imaging of the component P7 are performed in parallel. The part P6 is sucked by the # 6 nozzle 40 and the part P8 is imaged in parallel (see FIG. 7D).

  Next, the controller 38 revolves the nozzle 40 to place the # 7 nozzle 40 at the nozzle lift position 40p, and moves the X-axis slider 20 to the right by the inter-slot distance D along the X-axis direction. In addition, the controller 38 causes the tip of the nozzle # 7 to be disposed immediately above the target suction position of the component P7 after correction based on the image of the captured component P7. In this state, the controller 38 adsorbs the component P7 to the # 7 nozzle 40 (see FIG. 7E). Finally, the controller 38 causes the component P8 to be attracted to the # 8 nozzle 40 in the same manner (see FIG. 7F).

  Here, the correspondence between the components of the present embodiment and the components of the present invention will be clarified. The component mounting machine 10 of the present embodiment corresponds to the component mounting device of the present invention, the reel unit 50 corresponds to the component supply device, the nozzle 40 positioned at the nozzle lifting position 40p corresponds to the lifting nozzle, and the mark camera 34 Corresponds to the camera, the head 18 and the X-axis slider 20 correspond to the head unit, and the controller 38 corresponds to the control means. The n-th (n is an integer from 1 to 6) component removal position 60p corresponds to the first component removal position, and the (n + 2) th component removal position 60p corresponds to the second component removal position.

  In the component mounting machine 10 described above, the interval (= 2D) between the nozzle 40 positioned at the nozzle lifting position 40p and the mark camera 34 is the nth component extraction position 60p and the (n + 2) th component extraction position 60p. Is consistent with the interval. Further, the controller 38 sets the nozzle 40 positioned at the nozzle raising / lowering position 40p so that it is located above the nth component takeout position 60p and the mark camera 34 is located above the (n + 2) th component takeout position 60p. The X-axis slider 20 is moved, and in this state, the component imaging operation is performed in parallel with the component suction operation. Therefore, the moving distance of the X-axis slider 20 is shorter than in the case where the components P at the plurality of component pick-up positions 60p are sequentially picked up by the mark camera 34 and then picked up by the nozzle 40 sequentially. Therefore, the component mounting time can be shortened accordingly.

  The auto tool 42 of the head 18 holds a plurality of nozzles 40 arranged on the same circumference so as to be movable on the circumference, and the nozzle stopped at a predetermined nozzle raising / lowering position 40p on the circumference. 40 is held as an elevating nozzle so as to be movable up and down. Accordingly, since the plurality of nozzles 40 are sequentially raised and lowered nozzles, the opportunity for performing the suction operation and the imaging operation in parallel increases. Therefore, the component mounting time can be further shortened.

  Further, for example, in the example of FIG. 7, there are multiple times (six times) that the suction operation and the imaging operation can be performed in parallel. Therefore, the component mounting time can be further reduced as compared with the case where such an opportunity is only once.

  Furthermore, since the mark camera 34 is also used for reading the board mark on the board S, it is compared with a case where a camera for picking up the part P at the part picking position 60p and a camera for reading the board mark are provided separately. , Can reduce the cost.

  It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that the present invention can be implemented in various modes as long as it belongs to the technical scope of the present invention.

  For example, in the above-described embodiment, the distance between the nozzle 40 positioned at the nozzle raising / lowering position 40p and the mark camera 34 is twice the inter-slot distance D, but may be one time the inter-slot distance D. The component suction processing to each nozzle 40 of the auto tool 42 in such a case will be described below with reference to FIG. First, the controller 38 positions the mark camera 34 so as to be disposed immediately above the component P1, and causes the mark camera 34 to capture an image of the component P1 (see FIG. 8A). Next, the controller 38 arranges the # 1 nozzle 40 at the nozzle lifting position 40p, and moves the X-axis slider 20 to the right by the inter-slot distance D along the X-axis direction. Then, the mark camera 34 is disposed immediately above the component P2, and the # 1 nozzle 40 is disposed immediately above the component P1. The controller 38 causes the tip of the # 1 nozzle 40 to be disposed immediately above the target suction position of the component P1 after correction based on the image of the component P1. In this state, the controller 38 causes the mark camera 34 to capture an image of the component P2 in parallel with the suction of the component P1 to the # 1 nozzle 40 (see FIG. 8B). Thereafter, similarly to this, the controller 38 performs the suction of the component P2 and the imaging of the component P3 in parallel, performs the suction of the component P3 and the imaging of the component P4 in parallel, and sucks the component P4. And the imaging of the component P5 are performed in parallel, the suction of the component P5 and the imaging of the component P6 are performed in parallel, and the suction of the component P6 and the imaging of the component P7 are performed in parallel. Suction and imaging of the component P8 are performed in parallel (see FIG. 8C). Next, the controller 38 arranges the # 8 nozzle 40 at the nozzle lifting position 40p, and moves the X-axis slider 20 to the right by the inter-slot distance D along the X-axis direction. Further, the controller 38 arranges the tip of the # 7 nozzle 40 directly above the target suction position of the component P8 after the image of the captured component P8 is corrected. In this state, the controller 38 sucks the component P8 onto the # 8 nozzle 40 (see FIG. 8D). In this way, the opportunity to perform the suction operation and the imaging operation in parallel is further increased as compared with the above-described embodiment.

  In the above-described embodiment, when creating a production job, eight parts to be sucked by the nozzles 40 of # 1 to # 8 of the auto tool 42 are inserted into the slots 54 of # 1, # 3, # 5,. If it can be set to be supplied by the feeder 60, it may be set as such. The component suction processing to each nozzle 40 of the auto tool 42 in such a case will be described below with reference to FIG. Since FIG. 9A is the same as FIG. 7A, description thereof is omitted. From the state of FIG. 9A, the controller 38 arranges the # 1 nozzle 40 at the nozzle lifting position 40p, and moves the X-axis slider 20 to the right by twice the inter-slot distance D along the X-axis direction. . Then, the mark camera 34 is disposed immediately above the component P3, and the # 1 nozzle 40 is disposed immediately above the component P1. The controller 38 causes the tip of the # 1 nozzle 40 to be disposed immediately above the target suction position of the component P1 after correction based on the image of the captured component P1. In this state, the controller 38 causes the mark camera 34 to capture an image of the component P3 in parallel with the suction of the component P1 to the # 1 nozzle 40 (see FIG. 9B). Thereafter, similarly to this, the controller 38 performs the suction of the component P3 by the # 2 nozzle 40 and the imaging of the component P5 in parallel (see FIG. 9C), and the # 3 nozzle of the component P5. The suction by 40 and the imaging of the component P7 are performed in parallel (see FIG. 9D). That is, the adsorption of the component Pk arranged at the component extraction position 60p of the kth (k is an odd number) feeder 60 and the imaging of the component P (k + 2) arranged at the component extraction position 60p of the (k + 2) th feeder 60 Will be implemented in parallel. Even if it does in this way, the effect similar to embodiment mentioned above is acquired.

  In the above-described embodiment, the head including the auto tool 42 that holds the plurality of nozzles 40 arranged on the same circumference so as to be movable is used. However, as shown in FIG. A head 118 in which nozzles # 3 to # 3 are arranged from right to left along the X-axis direction may be used. The distance between the mark camera 34 and the # 1 nozzle 140 and the distance between adjacent nozzles 140 are set to be the same as the inter-slot distance D. In that case, the controller 38 first positions the mark camera 34 so as to be disposed immediately above the # 1 component P1, and causes the mark camera 34 to capture an image of the component P1 (see FIG. 10A). . Next, the controller 38 moves the mark camera 34 and the head 118 to the right by the inter-slot distance D along the X-axis direction. Then, the mark camera 34 is disposed immediately above the component P2, and the # 1 nozzle 140 is disposed immediately above the component P1. The controller 38 causes the tip of the # 1 nozzle 140 to be disposed immediately above the target suction position of the component P1 after correction based on the image of the captured component P1. In this state, the controller 38 causes the mark camera 34 to capture an image of the component P2 in parallel with the suction of the component P1 to the # 1 nozzle 140 (see FIG. 10B). Thereafter, the controller 38 moves the mark camera 34 and the head 118 to the right by twice the inter-slot distance D along the X-axis direction. Then, the mark camera 34 is disposed immediately above the component P4, and the # 2 nozzle 140 is disposed immediately above the component P2. The controller 38 causes the tip of the # 2 nozzle 140 to be disposed immediately above the target suction position of the component P2 after correction based on the image of the captured component P2. In this state, the controller 38 causes the mark camera 34 to capture an image of the component P4 in parallel with the suction of the component P2 by the # 2 nozzle 140 (see FIG. 10C). Thereafter, the controller 38 moves the mark camera 34 and the head 118 to the right by three times the inter-slot distance D along the X-axis direction. Then, the # 3 nozzle 140 is disposed immediately above the component P4. The controller 38 causes the tip of the # 4 nozzle 140 to be disposed immediately above the target suction position of the component P4 after correction based on the image of the captured component P4. In this state, the controller 38 sucks the component P4 onto the # 3 nozzle 140 (see FIG. 10D). Even in this case, the suction operation and the imaging operation can be performed in parallel.

  In the embodiment described above, the mark camera 34 is arranged on the right side of the auto tool 42, but the mark camera 34 may be arranged on the left side of the auto tool 42. In that case, the controller 38 may control the X-axis slider 20 to move sequentially from right to left. Further, a rotation mechanism that revolves both the mark camera 34 and the head 18 is provided in the head unit, and this rotation mechanism is arranged in accordance with the arrangement direction of the takeout position of the next component to be picked up and the takeout position of the component to be picked up next. You may control to rotate. In this way, the opportunity to carry out the imaging and taking out of the parts in parallel increases, and the time can be further reduced.

DESCRIPTION OF SYMBOLS 10 Component mounting machine, 12 Substrate transport device, 14 Support plate, 16 Conveyor belt, 17 Support pin, 18, 118 Head, 20 X axis slider, 22 Guide rail, 24 Y axis slider, 26 Guide rail, 34 Mark camera, 36 Parts camera, 38 controller, 38a CPU, 38b ROM, 38c HDD, 38d RAM, 38e input device, 38f display device, 40,140 nozzle, 40p nozzle lifting position, 41 sleeve, 42 auto tool, 44 nozzle operating mechanism, 50 reel Unit, 52 Device pallet, 54 Slot, 60 Feeder, 60p Parts removal position, 68 Feeder controller, 70 Reel, 72 Tape, 74 Recess, 75 Film, 80 Management computer, 82 PC body, 8 Input device, 86 display.

Claims (4)

A component supply device in which a plurality of component take-out positions are arranged in a predetermined direction, a head unit that is movable in the XY directions in which an elevating nozzle and a camera are arranged in the same direction as the predetermined direction, the elevating nozzle, the camera, and the head unit Control means for controlling the component, and the control means corrects the target suction position of the component based on an image obtained by imaging the component arranged at the component pickup position with the camera, and sets the corrected target suction position to the target suction position after correction. A component mounting apparatus that controls to adsorb the component to the lift nozzle based on the component and to transport the component to a predetermined position on the substrate and to mount the component at the predetermined position;
An interval between the lifting nozzle and the camera is equal to an interval between a first component extraction position and a second component extraction position downstream from the first component extraction position among the plurality of component extraction positions. ,
The control means moves the head unit so that the elevating nozzle is positioned above the first component extraction position and the camera is positioned above the second component extraction position. Controlling the camera to image the component at the second component extraction position in parallel to controlling the lifting nozzle to pick up the component at the first component extraction position;
Component mounting equipment. The head unit holds a plurality of nozzles arranged on the same circumference so as to be movable on the circumference, and holds the nozzle stopped at a predetermined position on the circumference as the elevation nozzle so as to be raised and lowered. To
The component mounting apparatus according to claim 1. There are a plurality of combinations that have a relationship between the first component extraction position and the second component extraction position among the plurality of component extraction positions.
The component mounting apparatus according to claim 1 or 2. The camera is also used to read a substrate mark on the substrate.
The component mounting apparatus of any one of Claims 1-3.

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