JP6666692B2 - Component mounting machine, component suction method - Google Patents

Description

  The present invention relates to a component suction technique for suctioning a component using a plurality of nozzles arranged on a circumferential orbit around a rotation axis and rotatable around the rotation axis.

  Patent Documents 1 to 3 disclose a component mounting that sucks a component supplied by a feeder by using a rotary head that holds a plurality of nozzles arranged on a circumferential orbit around a rotation axis so as to be rotatable around the rotation axis. Machine is listed. In particular, in Patent Document 2, a plurality of component supply positions are arranged in a predetermined arrangement direction, and the rotary head is arranged such that the distance between two nozzles arranged in this arrangement direction is an integral multiple of the adjacent interval between the component supply positions. It is configured. In such a configuration, after the two nozzles are simultaneously opposed to the two component supply positions, the suction of the components from the two component supply positions is executed by the two nozzles opposed to each other, so that the components are picked up. Adsorption can be performed efficiently.

JP 2010-219306 A JP 2009-272652 A JP 2013-125921 A

  However, due to a mechanical error or the like, a deviation may occur in the mutual positional relationship between the two feeders that supply the two components to be suctioned and the two nozzles that perform suction. is there. For this reason, the positional deviation between the two nozzles that are the main suction components and the two components that are the suction targets becomes large, and the components may not be properly suctioned in some cases.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above problem, and even when the positional relationship between a feeder and a nozzle is displaced, the distance between the two nozzles that are mainly suctioned and the two parts that are suctioned objects is reduced. It is an object of the present invention to provide a technique capable of suppressing a displacement and allowing a proper suction of a component.

  A component mounter according to the present invention includes a component supply unit in which a first feeder and a second feeder that supply components by sending components in a first direction are provided at different positions in a second direction orthogonal to the first direction. A mounting head that holds the first nozzle and the second nozzle so as to be integrally rotatable about a predetermined rotation axis, and the first nozzle and the second nozzle that are attached to components supplied by the first feeder and the second feeder from above. And a control unit for performing a positioning operation to face each other, wherein the control unit rotates the first nozzle and the second nozzle to shift the respective positions in the first direction, thereby supplying the first and second feeders. A rotation adjustment process for adjusting the positions of the first nozzle and the second nozzle with respect to the position of the component that has been performed can be performed by a positioning operation. After completion, along with a component supplied by the first feeder adsorbed by the first nozzle, to adsorb component supplied by the second feeder by the second nozzle.

  The component suction method according to the present invention includes a step of performing a positioning operation of causing the first nozzle and the second nozzle to face the components supplied by the first feeder and the second feeder from above, and a step of performing the positioning operation after the completion of the positioning operation. A step of adsorbing the component supplied by the first feeder by the first nozzle, and adsorbing the component supplied by the second feeder by the second nozzle, wherein the first feeder and the second feeder are arranged in a first direction. Is supplied at a different position in a second direction orthogonal to the first direction, and the first nozzle and the second nozzle are integrally rotatable about a predetermined rotation axis. In the aligning operation, the first nozzle and the second nozzle are rotated to shift their respective positions in the first direction, so that the first and second feeders are moved to the first and second feeders. Ri is capable of executing rotational adjustment process of adjusting the position of the first nozzle and the second nozzle relative to the position of the supplied parts.

  In the present invention configured as described above (the component mounting machine and the component suction method), the first feeder and the second feeder that supply the component by sending the component in the first direction are arranged in the second direction orthogonal to the first direction. Provided at different locations. Further, the first nozzle and the second nozzle are held rotatably about a rotation axis. Then, the components supplied by the first feeder and the second feeder are sucked by the first nozzle and the second nozzle. At this time, a positioning operation for causing the first nozzle and the second nozzle to face the components supplied by the first feeder and the second feeder from above is performed in advance. In particular, in the present invention, by rotating the first nozzle and the second nozzle to shift their positions in the first direction, the first nozzle and the second nozzle are moved relative to the position of the component supplied by the first feeder and the second feeder. The rotation adjustment processing for adjusting the position of the second nozzle can be executed in the positioning operation. Therefore, even if the positional relationship between the feeder and the nozzles is displaced, by executing this rotation adjustment process, the two nozzles, which are the main suction members, and the two components, which are the suction targets, are not connected. Can be suppressed. As a result, it is possible to appropriately pick up components.

  Further, when a feeder position error occurs in which the position of the first feeder and the position of the second feeder are shifted in the first direction, the control unit rotates the first nozzle and the second nozzle to set the respective positions to the second position. The component mounter may be configured to execute a rotation adjustment process of adjusting the positions of the first nozzle and the second nozzle in the first direction in accordance with the feeder position error by shifting in one direction. Thereby, even if the mutual positional relationship of the plurality of feeders is shifted in the first direction, the positional shift between the two nozzles, which are the main suction members, and the two components, which are the suction targets, is suppressed. can do.

  Further, the control unit controls the first nozzle and the second nozzle with respect to a feeder interval that is a distance in a second direction between a center of the component supplied by the first feeder and a center of the component supplied by the second feeder. When the center-to-center distances are different, the first nozzle and the second nozzle are rotated to shift their respective positions in the first direction, so that the positions of the first nozzle and the second nozzle are shifted in the second direction according to the feeder interval. The component mounter may be configured to execute a rotation adjustment process for adjusting. Such a configuration utilizes the fact that the positions of the first nozzle and the second nozzle also shift in the second direction as the positions of the first nozzle and the second nozzle shift in the first direction due to the rotation. The positions of the first nozzle and the second nozzle are adjusted in the second direction according to the interval. Thereby, even if the positional relationship between the feeder and the nozzles is displaced in the second direction, the displacement between the two nozzles, which are the main suction members, and the two components, which are the suction targets, is suppressed. be able to.

  Further, in the positioning operation, the controller adjusts the position of the component supplied by the first feeder and the second feeder in accordance with the shift of the position of the first nozzle and the position of the second nozzle in the first direction due to the rotation adjustment processing. The component mounter may be configured to adjust in the first direction. This makes it possible to more accurately align the positions of the first nozzle and the second nozzle with respect to the components supplied by the first feeder and the second feeder in both the first direction and the second direction. In this way, it is possible to more reliably suppress the displacement between the two nozzles that are the main suction components and the two components that are the suction targets.

  In the mounting head, three or more nozzles including the first nozzle and the second nozzle are arranged on a circumferential orbit around the rotation axis, and the three or more nozzles are integrally rotated about the rotation axis. A rotary head that can be held as possible may be used.

  Alternatively, the mounting head is an inline head in which three or more nozzles including a first nozzle and a second nozzle are arranged in a straight line, and holds the three or more nozzles so as to be integrally rotatable about a rotation axis. May be.

  As described above, according to the present invention, even when the positional relationship between the feeder and the nozzles is displaced, the positional displacement between the two nozzles that are mainly suctioned and the two components that are to be suctioned is determined. In this way, it is possible to appropriately suck the parts.

FIG. 2 is a partial plan view schematically showing the component mounter according to the present invention. FIG. 2 is a block diagram illustrating an electrical configuration of the component mounter of FIG. 1. FIG. 3 is a partial front view schematically showing the vicinity of a lower end of an example of a mounting head. FIG. 4 is a partial plan view schematically illustrating a bottom of the mounting head of FIG. 3. It is a flowchart which shows an example of the acquisition operation | movement of the position information of a tape feeder and a nozzle. 9 is a flowchart illustrating an example of a positioning operation and a component suction operation. It is a top view which shows the 1st example of rotation adjustment processing typically. It is a top view which shows the 2nd example of rotation adjustment processing typically.

  FIG. 1 is a partial plan view schematically showing a component mounter according to the present invention. FIG. 2 is a block diagram showing an electrical configuration of the component mounter of FIG. In both figures and the following figures, XYZ orthogonal coordinates where the Z direction is a vertical direction are appropriately shown. As shown in FIG. 2, the component mounter 1 includes a controller 100 that controls the entire apparatus. The controller 100 includes an arithmetic processing unit 110 which is a computer including a CPU (Central Processing Unit) and a RAM (Random Access Memory), and a storage unit 120 including a HDD (Hard Disk Drive). Further, the controller 100 includes a drive control unit 130 that controls a drive system of the component mounter 1 and an imaging control unit 140 that controls an image pickup system of the component mounter 1.

  Then, the arithmetic processing unit 110 controls the drive control unit 130 according to the program stored in the storage unit 120 to execute component mounting specified by the program. At this time, the arithmetic processing unit 110 controls component mounting based on images captured by the imaging cameras 51 and 52 by the imaging control unit 140. The component mounter 1 is provided with a display / operation unit 150, and the arithmetic processing unit 110 displays the status of the component mounter 1 on the display / operation unit 150 or inputs the status to the display / operation unit 150. Or receive instructions from a given worker.

  As shown in FIG. 1, the component mounter 1 includes a pair of conveyors 12 provided on a base 11. Then, the component mounter 1 mounts the components on the board S carried into the mounting processing position (the position of the board S in FIG. 1) from the upstream side in the X direction (substrate transport direction) by the conveyor 12, and mounts the components. The completed substrate S is carried out from the mounting processing position to the downstream side in the X direction by the conveyor 12.

  The component mounter 1 includes a pair of Y-axis rails 21 extending in the Y direction, a Y-axis ball screw 22 extending in the Y direction, and a Y-axis motor My for driving the Y-axis ball screw 22 to rotate. 23 is fixed to a nut of a Y-axis ball screw 22 in a state supported by a pair of Y-axis rails 21 and 21 so as to be movable in the Y direction. An X-axis ball screw 24 extending in the X direction and an X-axis motor Mx for rotating the X-axis ball screw 24 are attached to the head support member 23, so that the head unit 20 can move on the head support member 23 in the X direction. And is fixed to a nut of the X-axis ball screw 24 while being supported by the. Therefore, the drive control unit 130 rotates the Y-axis ball screw 22 by the Y-axis motor My to move the head unit 20 in the Y direction, or rotates the X-axis ball screw 24 by the X-axis motor Mx to move the head unit 20 to the X direction. Can be moved in any direction.

  On both sides of the pair of conveyors 12 in the Y direction, two component supply units 3 are arranged in the X direction. A plurality of tape feeders 31 are removably attached to each of the component supply units 3 in the X direction (feeder arrangement direction). The tape feeder 31 extends in the Y direction, and has a component supply point 32 at a tip end on the head unit 20 side in the Y direction. Then, a tape containing small pieces of components (chip electronic components) such as an integrated circuit, a transistor, and a capacitor at predetermined intervals is loaded in the tape feeder 281. Each tape feeder 31 has a built-in feed motor Mf for driving the tape in the Y direction, and the tape is intermittently moved in the Y direction toward the head unit 20 by the feed motor Mf that rotates in response to a command from the drive control unit 130. Send out. As a result, the components in the tape are sent out in the Y direction (feed direction), and are sequentially supplied to the component supply points 32 of each tape feeder 31. The feed motor Mf is provided for each tape feeder 31, but FIG. 2 shows only one feed motor Mf.

  The head unit 20 has a plurality (four) of mounting heads 4 arranged linearly in the X direction. Each mounting head 4 suctions and mounts the component E by a nozzle 40 (FIG. 3) attached to the lower end. That is, the mounting head 4 moves above the tape feeder 31 and sucks the component E supplied to the component supply location 32 by the tape feeder 31. Specifically, the mounting head 4 sucks the component E by lowering the nozzle 40 until it comes into contact with the component E and then raising the nozzle 40 while generating a negative pressure in the nozzle 40. Subsequently, the mounting head 4 moves above the substrate S at the mounting processing position and mounts the component E on the substrate S. Specifically, the mounting head 4 mounts the component E by lowering the nozzle 40 until the component E comes into contact with the substrate S and then generating atmospheric pressure or positive pressure in the nozzle 40.

  Further, the component mounter 1 includes an imaging camera 51 attached to the head unit 20 and moving with the head unit 20. The imaging camera 51 is mounted facing downward, and under the control of the imaging control unit 140, captures an image of a fiducial mark attached to the substrate S, a component supply location 32 of the tape feeder 31, and the like. Then, the arithmetic processing unit 110. Based on the imaging result of the imaging camera 51 acquired via the imaging control unit 140, the position of the substrate S and the component supply location 32 can be recognized.

  Further, the component mounter 1 includes an imaging camera 52 mounted on the base 11 facing upward between the component supply units 28 arranged in the X direction. The imaging camera 52 captures an image of the nozzle 40 of the mounting head 4 passing above the nozzle 40 from below. Then, the arithmetic processing unit 110 determines the suction state of the component E by the nozzles 40 and recognizes the position of each nozzle 40 based on the imaging result of the imaging camera 52 acquired via the imaging control unit 140. Can be.

  FIG. 3 is a partial front view schematically showing the vicinity of the lower end of an example of the mounting head. FIG. 4 is a partial plan view schematically showing the bottom of the mounting head of FIG. As shown in FIGS. 3 and 4, each mounting head 4 is a rotary head in which a plurality of nozzles 40 are arranged in a circle. Subsequently, the configuration of the mounting head 4 will be described with reference to FIGS. Since the configuration of the four mounting heads 4 is common, only one mounting head 4 will be described here. A set of the Z-axis motor Mz, the head motor Mh, and the rotary motor Mr related to the driving of the mounting head 4 is provided for each mounting head 4, but only one set is shown in FIG.

  The mounting head 4 has a main shaft 41 extending in the Z direction (vertical direction), and a nozzle holder 42 supported at a lower end of the main shaft 41. The nozzle holder 42 is supported so as to be rotatable with respect to the main shaft 41 in a rotation direction R about a rotation axis C (virtual axis) parallel to the Z direction, and controls the driving force of the rotary motor Mr (FIG. 2). Receive and rotate. In addition, the nozzle holder 42 supports a plurality (eight) of elevating shafts 43 arranged at equal angles θi in a circle around the rotation axis C.

  Each elevating shaft 43 is supported so as to be able to move up and down, and is urged upward by an unillustrated urging member. A nozzle 40 is detachably attached to the lower end of each elevating shaft 43. Thus, the nozzle holder 42 supports a plurality of nozzles 40 arranged at equal angles θi in a circle around the rotation axis C. Therefore, when the drive control unit 130 outputs a rotation command to the rotary motor Mr, the plurality of nozzles 40 are integrally formed around the rotation axis C with the nozzle holder 42 that rotates by receiving the driving force from the rotary motor Mr. It rotates along the circumferential orbit O.

  Thus, in the mounting head 4, the eight nozzles 40 are arranged around the rotation axis C at an equal rotation angle θi, in other words, the eight nozzles 40 are equal to each other along the circumferential trajectory O. Lined up with a center distance a. Here, the center of the nozzle 40 can be represented by, for example, a vertical line passing through the geometric center of gravity of the opening where the nozzle 40 sucks the component E in bottom view. In order to adjust the rotation angle of the component E to be sucked, the nozzle 40 is generally rotatable. Therefore, the center of the nozzle 40 can be represented by the rotation center line of the nozzle 40 instead of the vertical line passing through the geometric center of gravity of the opening. The center distance a can be represented by the distance along the circumferential orbit O between the centers of two adjacent nozzles 40, and the radius r from the rotation axis C to the nozzle 40 (the radius of the circumferential orbit O). And corresponds to the length of an arc centered at the angle θi.

  The main shaft 41 supports a nozzle elevating mechanism 44 above the plurality of elevating shafts 43. The nozzle raising / lowering mechanism 44 has two pressing members 441 arranged at an angle of 180 degrees about the rotation axis C. Each pressing member 441 receives a driving force of a Z-axis motor Mz (FIG. 2) built in the nozzle elevating mechanism 44 and moves up and down independently of each other. Therefore, when the drive control unit 130 outputs a lowering command to the Z-axis motor Mz, the pressing member 441 is lowered by receiving the driving force from the Z-axis motor Mz. Thus, the pressing member 441 lowers one of the plurality of elevating shafts 43 located immediately below the elevating shaft 43 against the urging force acting on the elevating shaft 43, and the lowering position where the component E is sucked or mounted. The nozzle 40 is lowered to Zd. On the other hand, when the drive control unit 130 outputs a rising command to the Z-axis motor Mz, the pressing member 441 rises by receiving the driving force from the Z-axis motor Mz. Thereby, the one elevating shaft 43 pressed by the pressing member 441 rises according to the urging force with the nozzle 40, and the nozzle 40 rises to the rising position Zu. Note that FIG. 3 shows a lower position Zd and an upper position Zu with respect to the lower end of the nozzle 40, respectively.

  In such a mounting head 4, immediately below the pressing member 441 is a working position Po where the nozzle 40 sucks and mounts the component E. That is, in the mounting head 4, two working positions Po, Po are provided at an angle of 180 degrees about the rotation axis C in correspondence with the arrangement of the two pressing members 441 described above. On the other hand, as shown in FIG. 4, in the nozzle holder 42, two nozzles 40 (two two nozzles located on the opposite sides with respect to the rotation axis C) Four pairs of nozzles (nozzle 40) are provided, and 2 × 4 (= 8) nozzles 40 are arranged along the circumferential orbit O. The two nozzles 40 forming a pair satisfy the arrangement relationship in which one nozzle 40 is located at one working position Po and at the same time the other nozzle 40 is located at the other working position Po. Therefore, the drive control unit 130 adjusts the rotation angle of the plurality of nozzles 40 by the rotary motor Mr, thereby controlling each of the two nozzles 40, 40 forming an arbitrary one of the four nozzle pairs. It can be used for sucking and mounting the component E by positioning it at the work position Po, Po.

  For example, when picking up the component E at the work position Po, the mounting head 4 is moved above the component supply unit 3 to position the work position Po directly above the component supply point 32 of the tape feeder 31. In this state, the nozzle 40 that does not suck the component E is stopped at the working position Po in the rotation direction R, and is lowered from the raised position Zu to the lowered position Zd in the Z direction. Then, a negative pressure is applied to the nozzle 40 at the timing when the nozzle 40 comes into contact with the component E supplied to the component supply location 32, and the component E is sucked from the tape feeder 31 to the nozzle 40. Subsequently, the nozzle 40 that has sucked the component E is raised from the lowering position Zd to the raising position Zu in the Z direction. Here, a series of operations from the time when the nozzle 40 at the working position Po starts descending from the ascending position Zu to the time when the part 40 sucks the component E at the descending position Zd and returns to the ascending position Zu is referred to as “component attracting operation”. It shall be.

  Alternatively, when mounting the component E at the work position Po, the mounting head 4 is moved above the substrate S, and the work position Po is positioned just above the mounting target position of the substrate S. In this state, the nozzle 40 that sucks the component E is stopped at the working position Po in the rotation direction R, and is lowered from the rising position Zu to the lowering position Zd in the Z direction. Then, the atmospheric pressure or the positive pressure is applied to the nozzle 40 at the timing when the component E contacts the substrate S, and the component E is mounted on the substrate S from the nozzle 40. Subsequently, the nozzle 40 from which the component E has detached is raised from the lowering position Zd to the raising position Zu in the Z direction.

  The main shaft 41 of the mounting head 4 is connected to a head motor Mh (FIG. 2). Then, when the drive control unit 130 outputs a rotation command to the head motor Mh, the main shaft 41 receives the driving force from the head motor Mh and rotates around the rotation axis C with the nozzle holder 42 and the nozzle elevating mechanism 44. Rotate in direction R. In this way, the drive control unit 130 can adjust the work positions Po and Po in the rotation direction R by rotating the mounting head 4 by the head motor Mh.

  As described above, in the mounting head 4 having the two working positions Po, Po, the two nozzles 40 located at different working positions Po can execute the component suction operation from the component supply point 32 in parallel with each other. . Here, that the two nozzles 40 perform the component suction operation in parallel means that the component suction operation of one nozzle 40 and the other operation performed while the rotation of the plurality of nozzles 40 in the rotation direction R is stopped. This shows that the component suction operation of the nozzle 40 at least partially overlaps with time. However, in order to perform the component suction operations in parallel as described above, it is necessary to execute a positioning operation in which the two nozzles 40 are opposed from above to the two components E supplied to the different component supply locations 32, respectively. There is.

  Therefore, in the present embodiment, even when the positional relationship between the two tape feeders 31 for supplying the component E to be suctioned and the two nozzles 40 for performing suction is misaligned, the positioning operation is appropriately performed. For this purpose, the control shown in FIGS. 5 and 6 is executed. Specifically, the position information of each of the tape feeder 31 and the nozzle 40 is obtained (FIG. 5), and the position of the tape feeder 31 and the nozzle 40 is adjusted based on the position information to suck the component E (FIG. 5). 6).

    FIG. 5 is a flowchart showing an example of the operation of acquiring the position information of the tape feeder and the nozzle. In step S11, the drive control unit 130 controls the X-axis motor Mx and the Y-axis motor My to move (scan) the imaging camera 51 in the X direction above the component supply location 32 of each tape feeder 31, The imaging control unit 140 causes the imaging camera 51 to image the respective component supply locations 32 below. Then, in step S12, the arithmetic processing unit 110 calculates the position information (X coordinate, Y coordinate) of the component supply point 32 based on the imaging result in step S11, and stores it in the storage unit 120. At this time, the position of the component E supplied to each of the component supply locations 32 may also be obtained and stored in the storage unit 120.

  In step S13, the drive control unit 130 controls the X-axis motor Mx and the Y-axis motor My so that the mounting control unit 140 moves (scans) the mounting head 4 in the X direction above the imaging camera 52, and the imaging control unit 140 performs imaging. The camera 52 causes the plurality of nozzles 40 of each mounting head 4 above to be imaged. In step S14, the arithmetic processing unit 110 calculates the position information (X coordinate, Y coordinate) of each nozzle 40 in each mounting head 4 based on the imaging result in step S13, and stores it in the storage unit 120. The position information of the nozzle 40 obtained at this time is coordinates in a local coordinate system fixed to the mounting head 4.

  Incidentally, here, the position information of the nozzle 40 is obtained after obtaining the position information of the component supply point 32. However, the execution order of steps S11 and S12 and steps S13 and S14 is reversed to obtain the position information of the nozzle 40. After that, the position information of the component supply point 32 can be obtained.

  FIG. 6 is a flowchart illustrating an example of the positioning operation and the component suction operation. In step S21, the drive control unit 130 controls the X-axis motor Mx and the Y-axis motor My so that the upper part of the two components E to be suctioned, which are supplied to the component supply point 32, is set as a destination. Are moved. Specifically, the drive control unit 130 controls the head motor Mh so that the two nozzles 40 respectively located at the work position Po are arranged in parallel in the X direction and the two The midpoint and the midpoint of the two nozzles 40 (that is, the rotation axis C) are matched in the X direction and the Y direction. Here, the midpoint of the two component supply locations 32 may be the midpoint of the center of each of the two component supply locations 32 (for example, the geometric center of gravity in plan view) determined from the position information of the component supply locations 32. The center of the two nozzles 40 can be the center of each of the two nozzles 40 obtained from the position information of the nozzles 40.

  In step S22, the arithmetic processing unit 110 determines whether there is a displacement between the two component supply locations 32 for supplying the component E to be suctioned and the two nozzles 40 mainly for suction. The determination is made based on the position information of the nozzle 32 and the nozzle 40.

  If it is determined in step S22 that there is a position shift (YES), the arithmetic processing unit 110 executes a rotation adjustment process in step S23. Specifically, the drive control unit 130 controls the head motor Mh to rotate the plurality of nozzles 40 in the rotation direction R, and moves the positions of the two nozzles 40 located at the working positions Po and Po in the Y direction. Stagger each other. Thereby, as illustrated later in FIGS. 7 and 8, the position of the component E supplied by the two tape feeders 31 to the component supply location 32 with respect to the positions of the two nozzles 40 at the working positions Po and Po, respectively. The position is adjusted. By this rotation adjustment processing, the positional deviation between the two nozzles 40 that are mainly suctioned and the two components E to be suctioned in plan view is reduced, and the two components E that are suctioned are attached to the two components E that are suctioned. When the nozzles 40 face each other from above, the processing unit 110 proceeds to step S24.

  On the other hand, when the arithmetic processing unit 110 determines in step S22 that there is no displacement (NO), at the time of the completion of the movement in step S21, the two nozzles 40 that are mainly suction and the two nozzles that are suction The positions of the individual parts E are in agreement. Therefore, the arithmetic processing unit 110 skips the rotation adjustment processing in step S23 and proceeds to step S24.

  As described above, in the flowchart of FIG. 6, the positioning operation is performed in steps S21 to S23. When the positioning operation is completed, the arithmetic processing unit 110 causes the two nozzles 40 at the work positions Po and Po to execute the component suction operation in parallel (step S24).

  By the way, the state of misalignment between the two component supply points 32 for supplying the component E to be suctioned and the two nozzles 40 mainly for suction is not limited. Therefore, it is possible to execute the rotation adjustment processing in step S23 in a manner according to the position shift state. Subsequently, a specific mode of the rotation adjustment processing will be described.

  FIG. 7 is a plan view schematically showing a first example of the rotation adjustment processing. In the figure, two tapes 2 are arranged with one tape feeder 31 interposed while comparing before rotation adjustment processing (left column in the figure) and after rotation adjustment processing (right column in the figure). The case where the component E supplied by the tape feeders 31 is sucked by the two nozzles 40 is illustrated. In addition, in order to distinguish the two tape feeders 31 that supply the component E to be sucked, different numbers 31a and 31b are given to the tape feeders 31, and different numbers are assigned to the component supply locations 32 of the tape feeders 31. 32a and 32b are attached. Further, in order to distinguish the components E supplied to these component supply locations 32, these components E are given different symbols Ea and Eb. Furthermore, in order to distinguish the two nozzles 40 mainly for suction, these nozzles 40 are given different symbols 40a and 40b.

  In the example of FIG. 7, since the tape feeders 31a and 31b are displaced in the Y direction, the respective component supply points 32a and 32b have a displacement amount ΔY (feeder position error) in the Y direction. As a result, the positions of the components Ea and Eb supplied to the component supply locations 32a and 32b are also shifted by the shift amount ΔY in the Y direction. Therefore, before the rotation adjustment processing, the nozzles 40a and 40b are arranged in parallel in the X direction, that is, their positions are aligned in the Y direction, so that the two components Ea and Eb displaced in the Y direction. It is not possible to simultaneously oppose each center (for example, the geometric center of gravity in plan view).

  Therefore, the arithmetic processing unit 110 executes the rotation adjustment processing to rotate the plurality of nozzles 40 in the rotation direction R by the angle θ1 corresponding to the deviation amount ΔY. Specifically, the position coordinates Ea (Xea, Yea) and Eb (Xeb, Yeb) of the components Ea, Eb supplied to the component supply points 32a, 32b are obtained from the position information of the component supply points 32a, 32b. Here, the position coordinates Ea (Xea, Yea) and Eb (Xeb, Yeb) can be obtained as, for example, the geometric center of gravity of the components Ea and Eb in plan view.

Subsequently, as the position coordinates C (Xc, Yc) of the rotation axis C of the plurality of nozzles 40 after the movement in step S21, the middle point of the parts Ea, Eb is expressed by the following equation: C (Xc, Yc) = ((Xea + Xeb) / 2, (Yea + Yeb) / 2)) Equation (1)
Based on

Then, the position information (Xoa, Yoa) (Xob, Yob) of the nozzles 40a, 40b in the mounting head 4 and the position coordinates C (Xc, Yc) of the rotation axis C are converted into the position coordinates Na of the nozzles 40a, 40b in the coordinate system XYZ. (Xna, Yna) and Nb (Xnb, Ynb) are replaced by the following equation: Na (Xna, Yna) = (Xoa-r, Yoa) Equation (2)
Nb (Xnb, Ynb) = (Xob + r, Yob) Equation (3)
Is converted based on The radius r (the radius of the circumferential orbit O) from the rotation axis C to the nozzle 40 is obtained in advance based on the position information of the nozzle 40.

From these, the differences Δa (ΔXa, ΔYa) and Δb (ΔXb, ΔYb) between the parts Ea, Eb and the nozzles 40a, 40b are calculated by the following equation: Δa (ΔXa, ΔYa) = Ea (Xea, Yea) −Na (Xna, Yna) Equation (4)
Δb (ΔXb, ΔYb) = Eb (Xeb, Yeb) −Nb (Xnb, Ynb) Equation (5)
Based on

Then, the following equation: r−r × sin θ1 = ΔYa Equation (6)
Is determined. At this time, instead of equation (6), the following equation is used: r−r × sin θ1 = ΔYb equation (7)
, The angle θ1 can be similarly obtained. After the rotation adjustment processing for rotating the plurality of nozzles 40 by the angle θ1 obtained in this manner, the positional deviation between the suction-target nozzles 40a and 40b and the suction target components Ea and Eb in plan view is suppressed, and the suction-target The nozzles 40a and 40b are opposed from above to substantially centers of the respective components Ea and Eb to be suctioned.

  FIG. 8 is a plan view schematically showing a second example of the rotation adjustment processing. The notation in FIG. 8 is the same as that in FIG. In the example of FIG. 8, the feeder interval If, which is the distance between the centers of the components Ea, Eb to be suctioned supplied by the tape feeders 31a, 31b in the X direction, is the nozzle interval, which is the distance between the centers of the nozzles 40a, 40b mainly for suction. Less than In (= 2 × r) (If <In). For this reason, before the rotation adjustment processing, the nozzles 40a and 40b, which are mainly suction, are displaced in the X direction with respect to the components Ea, Eb to be suctioned in a plan view.

  Therefore, the arithmetic processing unit 110 executes the rotation adjustment processing to rotate the plurality of nozzles 40 in the rotation direction R by the angle θ2 corresponding to the difference between the feeder interval If and the nozzle interval In. That is, when the nozzles 40a and 40b rotate in the rotation direction R, the X-direction nozzle interval Inx, which is the distance between the centers of the nozzles 40a and 40b in the X direction, becomes shorter than the nozzle interval In. The difference from the directional nozzle spacing Inx is reduced.

Specifically, based on the calculation results of Equations (1) to (5), the following equation: r−r × cos θ2 = ΔXa Equation (8)
Θ2 that satisfies is obtained. At this time, the following equation is used instead of equation (8): r−r × cos θ2 = ΔXb Equation (9)
Can also obtain the angle θ2 in the same manner. After the rotation adjustment processing for rotating the plurality of nozzles 40 by the angle θ2 obtained in this way, the positional deviation between the nozzles 40a, 40b mainly to be sucked and the components Ea, Eb to be sucked in the plan view is suppressed in the X direction. .

  Further, in the example of FIG. 8, the tape feeders 31a and 31b move the components Ea and Eb by a distance corresponding to the displacement in the Y direction generated between the nozzles 40a and 40b with the rotation in the rotation direction R. Move in the direction. Specifically, the tape feeder 31a sends the component Ea by a feed amount (= r × sin θ2) in the positive Y direction (arrow direction), and the tape feeder 31b moves in the negative Y direction (opposite arrow direction). The part Eb is sent by the feed amount (= r × sin θ2). Thereby, the positional deviation between the suction-target nozzles 40a, 40b and the suction target components Ea, Eb in a plan view is suppressed in both the X direction and the Y direction, and the suction-target nozzles 40a, 40b are connected to the suction target component. Opposite the centers of Ea and Eb from above.

  As described above, in the present embodiment, a plurality of tape feeders 31 that supply the component E by sending out the component E in the Y direction are provided at different positions in the X direction. Further, the plurality of nozzles 40 are arranged on a circumferential orbit O about the rotation axis C, and are held rotatably about the rotation axis C. Then, the components Ea and Eb supplied by the two tape feeders 31a and 31b are sucked by the two nozzles 40a and 40b. At this time, a positioning operation in which the nozzles 40a and 40b respectively face the components Ea and Eb supplied by the tape feeders 31a and 31b from above is performed in advance. In particular, in the present embodiment, the positions of the components Ea and Eb supplied by the tape feeders 31a and 31b are shifted by rotating the plurality of nozzles 40 to shift the positions of the nozzles 40a and 40b in the Y direction. A rotation adjustment process for adjusting the positions of the respective 40a and 40b can be executed in the positioning operation. Therefore, even if the positional relationship between the tape feeder 31 and the nozzles 40 is misaligned, by executing this rotation adjustment process, the two nozzles 40a and 40b that are mainly to be sucked and the two nozzles that are to be sucked are The displacement between the individual components Ea and Eb can be suppressed. As a result, it is possible to appropriately suction the component E.

  Further, as illustrated in FIG. 7, when a feeder position error ΔY in which the respective positions of the tape feeders 31a and 31b are shifted in the Y direction occurs, the position of the nozzles 40a and 40b is changed according to the feeder position error ΔY. A rotation adjustment process is performed so as to adjust in the direction. Accordingly, even when the mutual positional relationship between the plurality of tape feeders 31 is shifted in the Y direction, the two nozzles 40a and 40b serving as the suction main body and the two components Ea and Eb serving as the suction target are connected to each other. Can be suppressed in the Y direction.

  Further, as illustrated in FIG. 8, a nozzle is provided for a feeder interval If which is a distance in the X direction between the center of the component Ea supplied by the tape feeder 31a and the center of the component Eb supplied by the tape feeder 31b. When the center-to-center distances between the nozzles 40a and the nozzles 40b are different, a rotation adjustment process is performed so as to adjust the positions of the nozzles 40a and 40b in the X direction according to the feeder interval If. Accordingly, even when the positional relationship between the tape feeder 31 and the nozzles 40 is shifted in the X direction, the two nozzles 40a and 40b serving as suction main components and the two components Ea and Eb serving as suction targets are connected to each other. Can be suppressed in the X direction.

  Further, the positions of the components Ea and Eb supplied by the respective tape feeders 31a and 31b are adjusted in the Y direction according to the displacement of the positions of the nozzles 40a and 40b in the Y direction due to the rotation adjustment processing. Thus, in both the Y direction and the X direction, the positions of the nozzles 40a and 40b can be more accurately adjusted with respect to the components Ea and Eb supplied by the tape feeders 31a and 31b. In this way, it is possible to more reliably suppress the displacement between the two nozzles 40a and 40b, which are the main suction members, and the two components Ea, Eb to be suctioned.

  As described above, in the present embodiment, the component mounter 1 corresponds to an example of the “component mounter” of the present invention, the component supply unit 3 corresponds to an example of the “component supply unit” of the present invention, and the tape feeder 31 The mounting head corresponds to an example of the “feeder” of the present invention, the tape feeder 31a corresponds to an example of the “first feeder” of the present invention, and the tape feeder 31b corresponds to an example of the “second feeder” of the present invention. 4 corresponds to an example of the “head” of the present invention, the nozzle 40 corresponds to an example of the “nozzle” of the present invention, the nozzle 40a corresponds to an example of the “first nozzle” of the present invention, and the nozzle 40b corresponds to the The controller 100 corresponds to an example of the “control unit” of the present invention, the Y direction corresponds to an example of the “first direction” of the present invention, and the X direction corresponds to an example of the “second nozzle” of the present invention. This corresponds to an example of the “second direction” of the invention, and The axis C corresponds to an example of the “rotary axis” of the present invention, the circumferential trajectory O corresponds to an example of the “circular trajectory” of the present invention, and the deviation ΔY corresponds to an example of the “feeder position error” of the present invention. The feeder interval If corresponds to an example of the “feeder interval” of the present invention, and the nozzle interval In corresponds to an example of the “center-to-center distance between the first nozzle and the second nozzle” of the present invention.

The present invention is not limited to the above embodiment, and various changes can be made to the above described one without departing from the gist of the invention. For example, in the example shown in FIG. 8, as a result of moving the nozzles 40a and 40b in the Y direction by executing the rotation adjustment processing, one of the nozzles 40a and 40b is displaced in the Y direction from the corresponding component supply location 32. It is also assumed that the component E cannot be attracted from the component supply location 32. In such a case, the angle θ2 at which the nozzle 40 is rotated by the rotation adjustment processing may be limited to a range in which each of the nozzles 40a and 40b faces the corresponding component supply location 32. Specifically, with respect to the maximum amount A in which the components Ea and Eb can be moved in the Y direction within the range, the following equation is obtained.
It is preferable to obtain the angle θ2 so as to satisfy the following condition. With such a configuration, it is also possible to suppress the displacement between the two nozzles 40a and 40b that are the main suction elements and the two components Ea and Eb that are the suction targets, and it is possible to appropriately suction the component E. Become.

  Further, the nozzles 40a and 40b located at the working positions Po and Po perform the component suction operation in parallel. At this time, control can be performed so that the nozzles 40a and 40b simultaneously suck the components Ea and Eb. Here, the simultaneous suction refers to an operation of sucking the components Ea and Eb at the same timing in the component suction operations performed by the two nozzles 40a and 40b in parallel.

  Various changes can be made to the flowchart of FIG. Therefore, before or during the execution of step S21, step S22 for determining the presence or absence of a positional shift may be executed. Further, when it is determined that there is a position shift, the rotation adjustment processing may be executed before or during the execution of step S21.

  Further, the type of the mounting head 4 is not limited to the rotary type in which three or more nozzles 40 are arranged along a circumferential path O around the rotation axis C, but three or more nozzles 40 are arranged in a straight line. It may be an inline type. In other words, by configuring the inline head so that the nozzles 40 arranged in a straight line can be integrally rotated, the component mounter 1 using such an inline head can also perform the operations shown in FIGS. it can.

  In addition, the type of the feeder can be appropriately changed, and is not limited to the tape feeder 31 described above.

DESCRIPTION OF SYMBOLS 1 ... Component mounting machine 3 ... Component supply part 31 ... Tape feeder (feeder)
31a: Tape feeder (first feeder)
31b: Tape feeder (second feeder)
32: Component supply location 4: Mounting head 40: Nozzle 40a: Nozzle (first nozzle)
40b: Nozzle (second nozzle)
100 ... controller (control unit)
E: part Y: Y direction (first direction)
X: X direction (second direction)
C: Rotating axis O: Circumferential path ΔY: Displacement (feeder position error)
If: feeder interval In: nozzle interval (center-to-center distance between first and second nozzles)

Claims (7)

A component feeder in which a first feeder and a second feeder that supply components by feeding components in a first direction are provided at different positions in a second direction orthogonal to the first direction;
A mounting head that holds the first nozzle and the second nozzle so as to be integrally rotatable about a predetermined rotation axis;
A control unit that performs a positioning operation of causing the first nozzle and the second nozzle to face components supplied by the first feeder and the second feeder from above,
The control unit is configured to control the first nozzle and the first nozzle with respect to a feeder interval that is a distance in the second direction between the center of the component supplied by the first feeder and the center of the component supplied by the second feeder. When the center distance to the second nozzle is different, the first nozzle and the second nozzle are rotated to shift their respective positions in the first direction, so that the first nozzle and the second nozzle are shifted according to the feeder interval. Rotation for adjusting the position of the second nozzle in the second direction to adjust the position of the first nozzle and the second nozzle with respect to the position of the component supplied by the first feeder and the second feeder; The adjustment process can be performed by the positioning operation,
The mounting head, after completion of the alignment operation, sucks the component supplied by the first feeder by the first nozzle, and sucks the component supplied by the second feeder by the second nozzle. Mounting machine.   The control unit may rotate the first nozzle and the second nozzle when a feeder position error occurs in which the position of the first feeder and the position of the second feeder are shifted in the first direction. 2. The rotation adjustment process according to claim 1, wherein a position of the first nozzle and the second nozzle is adjusted in the first direction according to the feeder position error by shifting a position of the first nozzle in the first direction. 3. Component mounting machine.   In the positioning operation, the control unit may control the first feeder and the second feeder in accordance with a shift of the positions of the first nozzle and the second nozzle in the first direction due to the rotation adjustment processing. The component mounter according to claim 1, wherein a position of a component to be supplied is adjusted in the first direction.   The mounting head is configured such that three or more nozzles including the first nozzle and the second nozzle are arranged on a circular orbit around the rotation axis, and the three or more nozzles are arranged around the rotation axis. The component mounter according to claim 1, wherein the component mounter is a rotary head that integrally rotatably holds the component. A component feeder in which a first feeder and a second feeder that supply components by feeding components in a first direction are provided at different positions in a second direction orthogonal to the first direction;
A mounting head that is an in-line head in which three or more nozzles including a first nozzle and a second nozzle are linearly arranged, and the three or more nozzles are integrally rotatably held around a predetermined rotation axis. ,
A control unit that performs a positioning operation of causing the first nozzle and the second nozzle to face components supplied by the first feeder and the second feeder from above,
The control unit rotates the first nozzle and the second nozzle to shift their respective positions in the first direction, so that the position of the component supplied by the first feeder and the second feeder is shifted. Rotation adjustment processing for adjusting the positions of the first nozzle and the second nozzle can be executed by the alignment operation;
The mounting head, after completion of the alignment operation, sucks the component supplied by the first feeder by the first nozzle, and sucks the component supplied by the second feeder by the second nozzle. Mounting machine. A step in which the control unit executes a positioning operation for causing the first nozzle and the second nozzle to face components supplied by the first feeder and the second feeder from above,
After the completion of the positioning operation, a step of adsorbing the component supplied by the first feeder by the first nozzle, and adsorbing the component supplied by the second feeder by the second nozzle,
The first feeder and the second feeder supply components by feeding components in a first direction, and are provided at different positions in a second direction orthogonal to the first direction,
The first nozzle and the second nozzle are integrally rotatable about a predetermined rotation axis,
In the positioning operation, the first nozzle and the center of the component supplied by the first feeder are separated from the center of the component supplied by the second feeder in the second direction with respect to the feeder interval. When the center distance with the second nozzle is different, the first nozzle and the second nozzle are rotated to shift their respective positions in the first direction, so that the first nozzle is shifted according to the feeder interval. And adjusting the position of the second nozzle in the second direction to adjust the position of the first nozzle and the second nozzle with respect to the position of the component supplied by the first feeder and the second feeder. A component suction method in which the control unit can execute a rotation adjustment process. Performing a positioning operation of causing the first nozzle and the second nozzle of the mounting head to face components supplied by the first feeder and the second feeder from above,
After the completion of the positioning operation, a step of adsorbing the component supplied by the first feeder by the first nozzle, and adsorbing the component supplied by the second feeder by the second nozzle,
The first feeder and the second feeder supply components by feeding components in a first direction, and are provided at different positions in a second direction orthogonal to the first direction,
In the mounting head, three or more nozzles including the first nozzle and the second nozzle are arranged in a straight line, and the three or more nozzles are held so as to be integrally rotatable about a predetermined rotation axis. In-line head,
In the positioning operation, the first nozzle and the second nozzle are rotated to shift their respective positions in the first direction, so that the positions of the components supplied by the first feeder and the second feeder are shifted. A component adjustment method capable of executing a rotation adjustment process for adjusting the positions of the first nozzle and the second nozzle.

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