JP7352778B2 - Component mounting equipment and nozzle length determination method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a component mounting apparatus and a nozzle length determination method for mounting a component on a board by suctioning the component to the lower end of a nozzle attached to a mounting head.

The component mounting apparatus is configured to attract components to the lower end of a nozzle attached to a mounting head and mount them onto a board. In addition to the standard length nozzle, there are long nozzles that are longer than the standard nozzle, and can be used depending on the shape and size of the part (for example, the following nozzle). (See Patent Document 1).

In the component mounting work performed by the component mounting equipment, the nozzle replacement work in the mounting head is performed according to the procedure specified in the mounting program, but even if the length of the nozzle changes due to nozzle replacement, the position of the lower end of the nozzle remains the same. The height of the mounting head is varied according to the length of the nozzle so that Specifically, the height of the mounting head when the long nozzle is attached is set higher than the height of the mounting head when the standard nozzle is attached. This makes it possible to keep the focal length of the camera (component camera) that images the component picked up by the nozzle from below constant, and also to keep the amount of descent of the nozzle within a certain range when mounting the component on the board. .

Japanese Patent Application Publication No. 2017-27989

However, even though the mounting program is supposed to attach a standard nozzle to the mounting head, if a long nozzle is attached to the mounting head due to a work error during the setup stage, the mounting head may be attached to the standard nozzle. Since it moves at a height corresponding to the nozzle, there is a risk that the bottom end of the long nozzle, which is located below the standard nozzle, may come into contact with a structure on the base (for example, the component camera mentioned above) and damage the nozzle. There was a problem.

SUMMARY OF THE INVENTION Therefore, the present invention provides a component mounting device and a nozzle length determination method that can prevent damage to the nozzle even if a nozzle that is longer than the nozzle that should originally be attached to the mounting head is mistakenly attached. With the goal.

The component mounting apparatus of the present invention includes a mounting head that can replaceably attach a plurality of types of nozzles having different lengths, and a head moving mechanism that moves the mounting head, and the mounting head is moved by the head moving mechanism. The component mounting device attaches the component to the board by adsorbing the component to the lower end of the nozzle attached to the mounting head, the component mounting device is installed with the imaging optical axis directed in the horizontal direction, and is mounted on the mounting head. an imaging means having an imaging field within a movable range of the lower end of the nozzle; and a mounting head based on the height of the mounting head when the lower end of the nozzle attached to the mounting head is projected within the imaging field of view. and a nozzle length determination section that determines the length of the nozzle attached to the nozzle.

The nozzle length determination method of the present invention includes a mounting head to which multiple types of nozzles of different lengths can be attached interchangeably, a head moving mechanism for moving the mounting head, and a mounting head installed with the imaging optical axis directed in the horizontal direction. and an imaging means having an imaging field within a movable range of the lower end of the nozzle attached to the mounting head, and by moving the mounting head with the head moving mechanism, the nozzle attached to the mounting head A nozzle length determination method in a component mounting apparatus that attaches a component to a board by suctioning the component to a lower end, the nozzle having the longest length among multiple types of nozzles that may be attached to the mounting head. a first step of positioning the mounting head at an initial height that is the height of the mounting head when the lower end of the nozzle is projected within the imaging field of view when the nozzle is attached to the head; It is determined whether the lower end of the nozzle is projected within the imaging field of view while the nozzle is positioned at the initial height, and if the lower end of the nozzle is not projected within the imaging field of view, the mounting head is lowered. and a second step of determining whether or not the lower end of the nozzle is projected within the imaging field of view, based on the height of the mounting head when the lower end of the nozzle is projected within the imaging field of view. and a third step of determining the length of the nozzle attached to the mounting head.

According to the present invention, even if a nozzle that is longer than the nozzle that should originally be attached to the mounting head is mistakenly attached, damage to the nozzle can be prevented.

A side view of a part of a component mounting apparatus according to an embodiment of the present invention A plan view of a part of a component mounting apparatus according to an embodiment of the present invention A perspective view of a mounting head included in a component mounting apparatus according to an embodiment of the present invention A plan view of a component imaging unit included in a component mounting apparatus according to an embodiment of the present invention (a) (b) Diagrams showing a state in which a component is imaged by a component imaging unit included in a component mounting apparatus according to an embodiment of the present invention A diagram showing an example of an image obtained by imaging a component from the side using a side imaging camera included in a component mounting apparatus according to an embodiment of the present invention. A block diagram showing a control system of a component mounting apparatus according to an embodiment of the present invention A diagram showing a state in which the lower end of the nozzle is projected within the imaging field of the side imaging camera during nozzle length determination work by the component mounting apparatus according to an embodiment of the present invention. (a) (b) (c) Diagrams illustrating the height of the mounting head corresponding to the length of the nozzle included in the component mounting apparatus according to an embodiment of the present invention Flowchart showing the flow of nozzle length determination work performed by a component mounting apparatus in an embodiment of the present invention

Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 show a component mounting apparatus 1 according to an embodiment of the present invention. The component mounting apparatus 1 is an apparatus that repeatedly performs a component mounting operation of mounting a component BH on a board KB brought in from an upstream process side and transporting it to a downstream process side. For convenience of explanation, here, the transport direction of the board KB in the component mounting apparatus 1 (the left-right direction as seen from the worker OP) is assumed to be the X-axis direction, and the horizontal direction perpendicular to the X-axis direction (the front-rear direction as seen from the worker OP) is the Y-axis direction. Further, the vertical direction is the Z-axis direction.

1 and 2, the component mounting apparatus 1 includes a base 11, a board conveyor 12, a parts feeder 13, a mounting head 14, a head moving mechanism 15, a board camera 16, a component imaging unit 17, and a nozzle exchange table 18. ing. The base 11 is installed on the floor surface FL, and the substrate conveyor 12 is provided extending on the base 11 in the X-axis direction. The substrate conveyor 12 carries in the substrate KB sent from the upstream process side (arrow A shown in FIG. 2), and then positions the substrate KB at a predetermined work position.

In FIGS. 1 and 2, the parts feeder 13 is provided on the front side (operator OP side) of the substrate conveyor 12 on the base 11. In this embodiment, the parts feeder 13 consists of a tape feeder, which pulls out and conveys the carrier tape CT wound around the reel RL, and is provided at the end on the back side (board conveyor 12 side) as seen from the operator OP. The component BH is supplied to the component supply position 13K.

1 and 3, the mounting head 14 has a plurality of nozzle shafts 14S extending downward, and a nozzle 19 is attached to each of the plurality of nozzle shafts 14S. In this embodiment, nozzle shaft rows each consisting of four nozzle shafts 14S arranged in the horizontal direction (X-axis direction) are arranged in two rows, front and rear. A nozzle 19 can be attached to each nozzle shaft 14S provided in the mounting head 14, and when the nozzle 19 is attached to all the nozzle shafts 14S, there are four rows of nozzles 19 lined up in the X-axis direction. formed on each side. Hereinafter, the four nozzles 19 located on the front side of the mounting head 14 will be referred to as a front nozzle row, and the four nozzles 19 located on the rear side of the mounting head 14 will be referred to as a rear nozzle row (FIG. 3).

Each nozzle 19 included in the mounting head 14 can move up and down with respect to the mounting head 14 and rotate around the Z axis. The mounting head 14 picks up the component BH supplied by the parts feeder 13 to the component supply position 13K by adsorbing it to the lower end 19KT (FIG. 3) of each nozzle 19. The head moving mechanism 15 is composed of, for example, an XY moving mechanism, and moves the mounting head 14 in the horizontal plane and in the vertical direction.

In FIGS. 1 and 3, the substrate camera 16 is attached to the mounting head 14, and its imaging optical axis is directed downward. By moving together with the mounting head 14, the board camera 16 images the board KB positioned at the working position by the board conveyor 12.

In FIGS. 1 and 2, the component imaging unit 17 is provided in an area between the substrate conveyor 12 and the parts feeder 13 on the base 11. As shown in FIG. 4, the component imaging unit 17 includes a component camera 21, left and right side imaging cameras 22 (imaging means), and left and right lighting 23.

The component camera 21 is composed of a line sensor whose imaging field of view is directed upward. The component camera 21 detects when the mounting head 14 with the component BH adsorbed onto each of the plurality of nozzles 19 moves in the X-axis direction through an area above the component camera 21 (see FIGS. 5(a) and 5(b)). As shown in arrow B), each component BH is imaged from below.

The left and right side imaging cameras 22 each have an imaging field of view facing the side, and have an imaging field of view within the movable range of the lower end 19KT of the nozzle 19 attached to the mounting head 14. Specifically, as shown in FIG. 4, the left and right side imaging cameras 22 are arranged at positions sandwiching the component camera 21 on the left and right sides in a plan view, and their respective imaging optical axes 22J extend around the center of the component camera 21. It is set up to pass.

In FIG. 4, the focal point P1 of the left side imaging camera 22 (left side imaging camera 22L) among the left and right side imaging cameras 22 is when the mounting head 14 moves above the component camera 21 in the X-axis direction. The lower end 19KT of each of the four nozzles 19 constituting the front nozzle row is set at a position through which the lower end 19KT of each nozzle passes. In addition, the focal point P2 of the right side image pickup camera 22 (right side image pickup camera 22R) among the left and right side image pickup cameras 22 is after the mounting head 14 moves above the component camera 21 in the X-axis direction. The lower end 19KT of each of the four nozzles 19 constituting the side nozzle row is set at a position passing through.

Of the left and right illuminations 23, the right illumination 23 (right side illumination 23R) is provided at a position facing the left side imaging camera 22L with the component camera 21 in between, in plan view. Furthermore, the left side illumination 23 (left side illumination 23L) among the left and right illuminations 23 is provided at a position facing the right side imaging camera 22R with the component camera 21 in between, in plan view. The right illumination 23R emits illumination light LT toward the left side imaging camera 22L, and the left illumination 23L emits illumination light LT toward the right side imaging camera 22R.

When the component camera 21 images the component BH sucked to the lower end 19KT of the nozzle 19 from below, the left and right side imaging cameras 22 respectively image the component BH from the side. At this time, the left side imaging camera 22L images the component BH passing through the focal point P1 (the component BH sucked to each of the four nozzles 19 forming the front nozzle row of the mounting head 14) from the side (FIG. 5(a) , the right side imaging camera 22R images the component BH passing through the focal point P2 (the component BH sucked to each of the four nozzles 19 forming the rear nozzle row of the mounting head 14) from the side (FIG. 5(b) ).

The component BH imaged by the side imaging camera 22 receives illumination light LT emitted from the illumination 23 corresponding to the side imaging camera 22 from behind when viewed from the side imaging camera 22. Therefore, the image that has entered the field of view of the side imaging camera 22, that is, the image of the component BH captured by the side imaging camera 22, becomes an image of the silhouette of the component BH. Note that the nozzle 19 is also captured in the image (see imaging field of view SY shown in FIG. 6).

In FIG. 2, the nozzle exchange table 18 is provided on the base 11 in a region to the side of the component imaging unit 17. A plurality of nozzles 19 are set on the nozzle exchange table 18 in an arrangement that allows them to be attached to the mounting head 14 as they are (here, in an arrangement of 2 x 4 nozzles in the front and back). The mounting head 14 simultaneously lowers and raises the eight nozzle shafts 14S above the nozzle exchange stand 18, thereby removing the nozzles 19 from each of the eight nozzle shafts 14S and removing the nozzles 19 from each of the eight nozzle shafts 14S. Attachment of a new nozzle 19 to (that is, exchange of the nozzle 19) can be performed.

Here, the nozzle exchange stand 18 includes a standard nozzle with a length that is normally used (coded as "19H"), as well as a long nozzle with a length longer than the standard nozzle 19H (coded as "19L"). ) can be set. Therefore, a plurality of types of nozzles 19 having different lengths can be exchangeably attached to the mounting head 14.

In FIG. 1, a component mounting apparatus 1 includes a control device 30 and a touch panel 31. As shown in FIG. 7, the control device 30 includes an operation control section 41, a storage section 42, a nozzle length determination section 43, an inspection section 44, and an alarm control section 45.

In FIG. 7, the touch panel 31 is connected to the control device 30 and functions as an input/output device for the control device 30. Therefore, the operator OP can perform necessary input operations to the control device 30 from the touch panel 31, and the control device 30 can give necessary commands, warnings, etc. to the operator OP through the touch panel 31.

The operation control unit 41 included in the control device 30 includes a board conveyor 12, a parts feeder 13, a mounting head 14, a head moving mechanism 15, a board camera 16, a component imaging unit 17 (components camera 21, left and right side imaging cameras 22, and Left and right lights 23) Control their respective operations.

A storage unit 42 included in the control device 30 stores a mounting program JP and mounting data JD that define an operating procedure for component mounting work to be executed by the component mounting apparatus 1. The mounting data JD stores data such as the arrangement of the parts feeder 13, the correspondence between the parts feeder 13 and the parts BH to be supplied, the coordinates and mounting direction of the mounting position of the parts BH on the board KB, as well as nozzle data. .

The nozzle data is data on the nozzle 19 that can be used in the component mounting apparatus 1, and includes information such as the type of the nozzle 19 and its length. In this embodiment, in addition to the standard nozzle 19H, two long nozzles 19L (a first long nozzle 19La and a second long nozzle 19Lb, which is longer than the first long nozzle 19La) are used as nozzle types. shall be included.

The storage unit 42 also stores head height data HD (FIG. 7). Here, the "head height data HD" refers to the information about each of the plurality of types of nozzles 19 that may be attached to the mounting head 14 (that is, stored in the storage unit 42) when the nozzles 19 are attached to the mounting head 14. , is the height H of the mounting head 14 when the lower end 19KT of the nozzle 19 is projected within the imaging field of view SY of the side imaging camera 22 (FIG. 8) (FIGS. )).

As shown in FIGS. 9(a), (b), and (c), the above-mentioned "height H of the mounting head 14" is calculated from the reference height KJ of the mounting head 14 (for example, the height of the top surface of the base 11). It is the height of In the component mounting work performed by the component mounting apparatus 1, the nozzle 19 in the mounting head 14 is replaced in accordance with the procedure defined in the mounting program JP. The height H of the mounting head 14 is changed according to the length of the nozzle 19 so that the positions of the lower ends 19KT of the nozzles 19 are at the same height. Therefore, the longer the length of the nozzle 19 attached to the mounting head 14, the higher the height H of the mounting head 14 will be located from the reference height KJ.

Therefore, the types of nozzles 19 stored in the storage unit 42 are the standard nozzle 19H, the first long nozzle 19La, and the second long nozzle 19Lb, and the mounting head 14 when the standard nozzle 19H is attached. The height H is H=H0 (FIG. 9(a)), the height H of the mounting head 14 when the first long nozzle 19La is attached is H=H1 (FIG. 9(b)), and the second long nozzle 19La is If the height H of the mounting head 14 when the nozzle 19Lb is attached is H=H2 (FIG. 9(c)), then H0<H1<H2. As a result, the focal length of the component camera 21 that images the component BH picked up by the nozzle 19 from below can be kept constant, and the amount of descent of the nozzle 19 when mounting the component BH on the board KB can be kept within a certain range. You can also do that.

The nozzle length determination unit 43 included in the control device 30 determines the height H of the mounting head 14 when the lower end 19KT of the nozzle 19 attached to the mounting head 14 is projected within the imaging field of view SY of the side imaging camera 22. Based on this, the length of the nozzle 19 attached to the mounting head 14 is determined. Specifically, the nozzle length determination unit 43 lowers the mounting head 14 in stages based on the head height data HD stored in the storage unit 42, and lowers the lower end 19KT of the nozzle 19 attached to the mounting head 14. The length of the nozzle 19 attached to the mounting head 14 is determined based on the height of the mounting head 14 when it is projected within the imaging field of view SY of the side imaging camera 22.

The inspection unit 44 included in the control device 30 determines the length of the nozzle 19 that is determined to be attached to the mounting head 14 by the nozzle length determination unit 43 and the data that should be attached to the mounting head 14 at the time of the determination. The length of the upper nozzle 19 (the length of the nozzle 19 defined in the mounting data JD) is compared. Then, it is checked (determined) whether the two (the length of the nozzle 19 determined to be attached to the mounting head 14 and the length of the nozzle 19 according to the data) match.

An alarm control unit 45 included in the control device 30 controls the touch panel 31 when the inspection unit 44 determines that the length of the nozzle 19 attached to the mounting head 14 is different from the length of the nozzle 19 in the data. to issue a warning to the operator OP. In this case, the touch panel 31 functions as an alarm means for issuing an alarm.

The component mounting work is executed by the operation control section 41 controlling the operation of each section of the component mounting apparatus 1 according to the mounting program JP stored in the storage section 42. In the component mounting work, first, the board conveyor 12 is operated, receives the board KB sent from the upstream process side, and positions it at the work position. When the substrate conveyor 12 positions the substrate KB at the working position, the head moving mechanism 15 is activated to move the mounting head 14 above the substrate KB and cause the substrate camera 16 to take an image of the substrate KB. The control device 30 performs image recognition based on the image captured by the board camera 16 and recognizes the board KB.

When the control device 30 recognizes the board KB, the parts feeder 13, the head moving mechanism 15, and the mounting head 14 operate in conjunction with each other to repeatedly perform mounting turns. In the mounting turn, the parts feeder 13 supplies the parts BH to the parts supply position 13K, and the mounting head 14 moved by the head moving mechanism 15 picks up the parts BH from the parts supply position 13K above the parts feeder 13. It moves from the side of the component imaging unit 17 so as to pass above the component camera 21 in the X-axis direction.

When the mounting head 14 moves to pass above the component camera 21 in the X-axis direction, the component camera 21 images the component BH sucked by the nozzle 19 from below, and the side imaging camera 22 images the component BH from the side. Take an image from the side. Then, the control device 30 performs component recognition based on the image from below of the component BH obtained by imaging with the component camera 21 and the image from the side of the component BH obtained by imaging by the side imaging camera 22. conduct.

As can be seen from FIG. 6, based on the image taken by the side imaging camera 22, the control device 30 can read the dimension TH in the thickness direction of the part BH sucked by the nozzle 19, and The dimension TH in the thickness direction is used as one data for recognizing the part BH. In this way, part recognition that also uses data on the dimension TH in the thickness direction of the part BH makes it possible to obtain sufficient recognition results even for minute parts BH for which recognition is insufficient only by imaging from below. .

After the mounting head 14 moves to pass above the component camera 21 in the X-axis direction, it moves above the board KB. Then, the component BH picked up by the nozzle 19 is mounted on a predetermined position on the board KB. At this time, the result of component recognition performed by the control device 30 is used, and the component BH is mounted on the board KB with necessary position corrections and the like.

As described above, in the present embodiment, the component mounting apparatus 1 moves the mounting head 14 by the head moving mechanism 15, causes the lower end of the nozzle 19 attached to the mounting head 14 to adsorb the component BH, and mounts the component BH on the board KB. The structure is as follows.

When all the parts BH to be mounted on the board KB are mounted by repeating the above mounting pattern, the board transport conveyor 12 transports the board KB to the downstream process side. This completes the component mounting work for each board KB.

Next, with reference to the flowchart shown in FIG. 10, the execution procedure (nozzle length determination method) of the nozzle length determination work performed in the component mounting apparatus 1 will be described.

The nozzle length determination work is executed when a new nozzle 19 is attached to the mounting head 14 or when the nozzle 19 attached to the mounting head 14 is replaced. In detail, when the mounting head 14 operates according to the mounting program JP and a plurality of nozzles 19 (here, 2 rows x 4, total 8 nozzles) set on the nozzle exchange stand 18 are attached to the mounting head 14. The nozzle length determination work is executed by the nozzle length determination unit 43 of the control device 30 controlling each part of the component mounting apparatus 1 .

When performing nozzle length determination work, the nozzle length determination unit 43 first reads out the nozzle data and head height data HD of each nozzle 19 stored in the storage unit 42 (step ST1), and determines the length of the mounting head 14. An initial height is set (step ST2). Here, the initial height is the height of the mounting head when the lower end 19KT of the nozzle 19 is imaged within the imaging field of view SY of the side imaging camera 22 when the longest nozzle 19 is attached to the mounting head 14. 14, and its value is set based on the head height data HD read from the storage section 42.

After setting the initial height, the nozzle length determining unit 43 positions the mounting head 14 at the set height (here, the initial height) (step ST3). When the mounting head 14 is positioned at the set height, the mounting head 14 is moved at that height (moved so as to pass above the component camera 21 in the X-axis direction), and the side imaging camera 22 takes an image. It is determined whether the lower end 19KT of the nozzle 19 is displayed within the visual field SY (step ST4).

In step ST4, when the lower end 19KT of the nozzle 19 is imaged within the imaging field of view SY of the side imaging camera 22, the nozzle length determination unit 43 determines the height H of the mounting head 14 that corresponds to the set height H of the mounting head 14. It is determined that the nozzle 19 is attached to the mounting head 14 (step ST5). On the other hand, in step ST4, if the lower end 19KT of the nozzle 19 is not imaged within the imaging field of view SY of the side imaging camera 22, the nozzle length determination unit 43 does not proceed to step ST5, and instead determines the length of the mounting head 14. The height H is set to a height corresponding to the next longest nozzle 19 (step ST6). Then, the process returns to step ST3, and the mounting head 14 is positioned at the newly set height in step ST6.

In the returned step ST3, the nozzle length determination unit 43 positions the mounting head 14 at the height newly set in step ST6, and then moves the mounting head 14 at that height (the position above the component camera 21 is set on the X axis). direction), and it is determined whether the lower end 19KT of the nozzle 19 is displayed within the imaging field of view SY of the side imaging camera 22 (step ST4 again). Then, in step ST4 again, if the lower end 19KT of the nozzle 19 is imaged within the imaging field of view SY of the side imaging camera 22, the nozzle length determination unit 43 determines the set height of the mounting head 14. It is determined that the nozzle 19 corresponding to H is attached to the mounting head 14 (step ST5).

In step ST5, for example, if the lower end 19KT of the nozzle 19 is imaged within the imaging field of view SY when the set height H of the mounting head 14 is H=H2, the second height H of the mounting head 14 is displayed. It is determined that the long nozzle 19Lb is attached. Furthermore, if the lower end 19KT of the nozzle 19 is projected within the imaging field of view SY when the set height H of the mounting head 14 is H=H1, the first long nozzle 19La is attached to the mounting head 14. It is determined that it is attached. Furthermore, if the lower end 19KT of the nozzle 19 is projected within the imaging field of view SY when the set height H of the mounting head 14 is H=H0, the standard nozzle 19H is attached to the mounting head 14. It is determined that there is.

If the nozzle length determination unit 43 determines in step ST5 that the nozzle 19 corresponding to the set height H of the mounting head 14 is attached to the mounting head 14, the inspection unit 44 determines the nozzle length. The length of the nozzle 19 determined to be attached to the mounting head 14 by the unit 43 is compared with the length of the nozzle 19 specified in the mounting data JD, and it is checked whether these two match (step ST7). As a result, if the length of the nozzle 19 attached to the mounting head 14 matches the length of the nozzle 19 specified in the mounting data JD, it is assumed that there is no abnormality and the component mounting work is continued (step ST8). On the other hand, in step ST7, if the length of the nozzle 19 attached to the mounting head 14 does not match the length of the nozzle 19 specified in the mounting data JD, an alarm is displayed on the touch panel 31 indicating that there is an abnormality. is displayed (step ST9), and the component mounting work is interrupted (step ST10).

As described above, the nozzle length determination method according to the present embodiment selects the longest nozzle 19 (in the above example, the second long nozzle 19Lb) is attached to the mounting head 14, the mounting head 14 is positioned at an initial height that is the height at which the lower end 19KT of the nozzle 19 is projected within the imaging field of view SY of the side imaging camera 22 as an imaging means. It is determined whether or not the lower end 19KT of the nozzle 19 is displayed within the imaging field of view SY with the mounting head 14 positioned at the initial height (step ST4). If the lower end 19KT of the nozzle 19 is not imaged within SY, the mounting head 14 is lowered, and a second step of determining whether or not the lower end 19KT of the nozzle 19 is imaged within the imaging field of view SY is performed. (Step ST6 → Step ST3 → Step ST4) and the length of the nozzle 19 attached to the mounting head 14 based on the height H of the mounting head 14 when the lower end 19KT of the nozzle 19 is projected in the imaging field of view SY. This includes a third step (step ST5) of determining.

Further, in the nozzle length determination method according to the present embodiment, the length of the nozzle 19 determined to be attached to the mounting head 14 in the third step and the length of the nozzle 19 determined to be attached to the mounting head 14 at the time of the determination. A fourth step (step ST7) of inspecting whether the length of the nozzle 19 according to the actual data (the length of the nozzle 19 specified in the mounting data JD) matches or not; The process includes a fifth step (step ST9) of issuing an alarm when it is determined that the length of the nozzle 19 attached to the head 14 is different from the length of the nozzle 19 according to the data.

Here, a specific processing example will be shown. In the processing example shown here, it is assumed that the types of nozzles 19 stored in the storage unit 42 are a standard nozzle 19H, a first long nozzle 19La, and a second long nozzle 19Lb, and the nozzles 19 to be attached to the mounting head 14 are Although the standard nozzle 19H is specified in the mounting data JD, due to a mistake made by the operator OP when setting the nozzle 19 on the nozzle exchange table 18, the first long nozzle 19La is attached to the mounting head 14. Assume that it is installed.

In this processing example, in step ST1, the nozzle length determination unit 43 first obtains the head height data HD of the standard nozzle 19H (height H of the mounting head 14 = H0) from the storage unit 42 and the head height data of the first long nozzle. 19La (height H of the mounting head 14 = H1) and head height data HD of the second long nozzle 19Lb (height H of the mounting head 14 = H2) are acquired. Then, in step ST2, the height H=H2 of the mounting head 14 corresponding to the second long nozzle 19Lb, which is the nozzle 19 with the longest length, among the head height data HD read from the storage unit 42 in step ST1. Set to the initial height.

After setting the initial height, the nozzle length determining unit 43 positions the mounting head 14 at the initial height, H=H2, of the mounting head 14 corresponding to the second long nozzle 19Lb in step ST3. Then, the process proceeds to step ST4, where the mounting head 14 is moved at the set initial height (moved so as to pass above the component camera 21 in the X-axis direction), and the nozzle 19 is moved within the imaging field of view SY of the side imaging camera 22. It is determined whether the lower end 19KT of is displayed. Here, since the first long nozzle 19La is attached to the mounting head 14, the lower end 19KT of the nozzle 19 is not imaged within the imaging field of view SY of the side imaging camera 22. Therefore, after step ST4, the process proceeds to step ST6.

In step ST6, the nozzle length determination unit 43 sets the height H of the mounting head 14 to the height H=H1 corresponding to the first long nozzle 19La, which is the next longest nozzle 19. Then, the process returns to step ST3, and the height H of the mounting head 14 is positioned at the height H1 corresponding to the first long nozzle 19La. After the nozzle length determination unit 43 positions the mounting head 14 at the height H1 facing the first long nozzle 19La, the nozzle length determination unit 43 proceeds to step ST4 again, and moves the mounting head 14 to the new height H1. It is determined whether the lower end 19KT of the nozzle 19 is displayed in the imaging field of view SY of the side imaging camera 22 by moving it in the axial direction.

In step ST4 again, the lower end 19KT of the nozzle 19 is displayed within the imaging field of view SY of the side imaging camera 22. Therefore, the process proceeds to step ST5, and it is determined that the first long nozzle 19La, which is the nozzle 19 corresponding to the set height H of the mounting head 14, is attached to the mounting head 14. As a result, it is detected that although the standard nozzle 19H is defined in the mounting data JD, the first long nozzle 19La is actually attached.

If the nozzle length determination unit 43 determines in step ST5 that the nozzle 19 attached to the mounting head 14 is the first long nozzle 19La, in step ST7 the nozzle length determination unit 43 determines the length and mounting data of the nozzle 19 determined in step ST5. The lengths of the nozzle 19 specified in the JD are compared and it is determined whether the two match. Here, although the standard nozzle 19H is defined in the mounting data JD, the first long nozzle 19La is actually attached, so the length of the nozzle 19 determined in step ST5 and the mounting data JD are It does not match the specified length of the nozzle 19. Therefore, the nozzle length determination section 43 proceeds from step ST7 to step ST9 and further to step ST10, and the component mounting work is interrupted.

In the above example, if nozzle length inspection work was not performed after the first long nozzle 19La was attached to the mounting head 14, the mounting head 14 would be at a height corresponding to the standard nozzle 19H. Since it moves in the set state, the lower end 19KT of the nozzle 19 comes into contact with a structure on the base 11, such as the component camera 21. In the present embodiment, after the nozzle 19 is attached to the mounting head 14, a nozzle length test is performed, thereby preventing the lower end of the nozzle 19 from coming into contact with a structure, and Since the alarm is issued, the operator OP can notice that there was an error in the work, and change the nozzle 19 (here, the first long nozzle 19La) attached to the mounting head 14 to the nozzle 19 (here, the first long nozzle 19La) of the correct length. Here, it is possible to quickly replace the nozzle with the standard nozzle 19H).

As explained above, in the component mounting apparatus 1 (and the nozzle length determination method in the component mounting apparatus 1) according to the present embodiment, the lower end 19KT of the nozzle 19 attached to the mounting head 14 is The length of the nozzle 19 attached to the mounting head 14 is determined based on the height H of the mounting head 14 when projected within the field of view SY. For this reason, even if a nozzle 19 that is longer than the nozzle 19 that should originally be attached to the mounting head 14 is mistakenly attached to the mounting head 14 due to a work error in the setup stage by the operator OP, the situation where the nozzle 19 is damaged can be prevented. It can be prevented.

Although the embodiments of the present invention have been described so far, the present invention is not limited to the above-described embodiments, and various design changes can be made. For example, in the above embodiment, there are two types of long nozzles 19L, but there may be three or more types of long nozzles 19L. Furthermore, in the embodiment described above, the determination as to whether or not the lower end 19KT of the nozzle 19 is projected within the imaging field of view SY of the side imaging camera 22 is made by moving the mounting head 14 in the X-axis direction. However, while the nozzle shaft 14S is lowered stepwise (or continuously) from the mounting head 14 located above the component imaging unit 17 (that is, the lower end 19KT of the nozzle 19 enters the imaging field of view SY from above). The above judgment may be made as the process progresses.

To provide a component mounting device and a nozzle length determination method capable of preventing damage to a nozzle even when a nozzle longer than the nozzle that should originally be attached to a mounting head is erroneously attached.

1 Component mounting device 14 Mounting head 15 Head moving mechanism 19 Nozzle 19KT Lower end 22 Side imaging camera (imaging means)
22J Imaging optical axis 31 Touch panel (alarm means)
42 Storage unit 43 Nozzle length determination unit 44 Inspection unit SY Imaging field of view BH Parts KB Board

Claims (6)

A mounting head capable of attaching a plurality of types of nozzles of different lengths in an exchangeable manner, and a head moving mechanism for moving the mounting head are provided, and the mounting head is moved by the head moving mechanism. A component mounting device that attaches components to a board by adsorbing components to the lower end of an attached nozzle,
an imaging means installed with the imaging optical axis directed in the horizontal direction and having an imaging field of view within a movable range of the lower end of the nozzle attached to the mounting head;
a nozzle length determination unit that determines the length of the nozzle attached to the mounting head based on the height of the mounting head when the lower end of the nozzle attached to the mounting head is projected within the imaging field of view; Component mounting equipment equipped with The nozzle length determination unit determines whether a lower end of the nozzle is within the imaging field of view when a nozzle with the longest length among a plurality of types of nozzles that may be attached to the mounting head is attached to the mounting head. It is determined whether the lower end of the nozzle is projected within the imaging field of view at the height projected in the imaging field of view, and if the lower end of the nozzle is not projected within the imaging field of view, the mounting head is lowered, and 2. The component mounting apparatus according to claim 1, wherein it is determined whether or not the lower end of the nozzle is displayed within the imaging field of view. For each of a plurality of types of nozzles that may be attached to the mounting head, the height of the mounting head when the lower end of the nozzle is projected within the imaging field of view when attached to the mounting head is head height data. The nozzle length determination unit lowers the mounting head based on the head height data stored in the storage unit, and the nozzle length determination unit lowers the mounting head so that the lower end of the nozzle attached to the mounting head is The component mounting apparatus according to claim 2, wherein the length of the nozzle attached to the mounting head is determined based on the height of the mounting head when projected within an imaging field of view. Whether or not the length of the nozzle determined to be attached to the mounting head by the nozzle length determination unit matches the length of the nozzle according to the data that should be attached to the mounting head at the time of the determination. and an alarm unit that issues an alarm when the inspection unit determines that the length of the nozzle attached to the mounting head is different from the length of the nozzle according to the data. The component mounting apparatus according to any one of claims 1 to 3. A mounting head to which multiple types of nozzles of different lengths can be attached interchangeably, a head moving mechanism for moving the mounting head, and a nozzle installed with an imaging optical axis directed in a horizontal direction and attached to the mounting head. and an imaging means having an imaging field of view within a movable range of the lower end of the mounting head, and by moving the mounting head by the head moving mechanism, the component is attracted to the lower end of the nozzle attached to the mounting head and attached to the substrate. A method for determining the length of a nozzle in a component mounting apparatus for mounting, the method comprising:
The mounting head when the lower end of the nozzle with the longest length among the plurality of types of nozzles that may be attached to the mounting head is displayed within the imaging field of view. a first step of positioning the mounting head at an initial height that is a height of
It is determined whether the lower end of the nozzle is reflected within the imaging field of view with the mounting head positioned at the initial height, and if the lower end of the nozzle is not projected within the imaging field of view, the mounting head is positioned at the initial height. a second step of lowering the head and determining whether or not the lower end of the nozzle is displayed within the imaging field of view;
a third step of determining the length of the nozzle attached to the mounting head based on the height of the mounting head when the lower end of the nozzle is projected within the imaging field of view. Whether or not the length of the nozzle determined to be attached to the mounting head in the third step matches the length of the nozzle according to the data that should be attached to the mounting head at the time of the determination. and a fifth step of issuing an alarm when it is determined in the fourth step that the length of the nozzle attached to the mounting head is different from the length of the nozzle according to the data. The nozzle length determination method according to claim 5, comprising the steps of:

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