JP7444571B2 - Adsorption position correction method for component mounting equipment and component mounting equipment - Google Patents

Description

The present invention provides a suction position correction method for a component mounting apparatus that corrects the suction position of the suction nozzle in a component mounting apparatus that mounts a component suctioned by a suction nozzle on a mounting target board at a predetermined position, and the component mounting apparatus. Regarding.

In recent years, component mounting apparatuses have been known that mount components, such as integrated circuits (ICs), transistors, capacitors, and resistive elements, which are attracted by a suction nozzle, onto a mounting board such as a printed circuit board at a predetermined position. . In such a component mounting apparatus, it is desirable to align the suction nozzle to a predetermined position on the component, such as the center position of the component, in order to avoid, for example, poor suction or poor mounting position. Therefore, in a component mounting apparatus, when there is a deviation between a predetermined position on the component and the position of the suction nozzle, a technique is desired that corrects the suction position so as to eliminate the deviation. As such a technique, for example, a suction position correction method for a component mounting apparatus disclosed in Patent Document 1 has been proposed.

The suction position correction method in a component mounting apparatus disclosed in Patent Document 1 has a suction nozzle that can be moved up and down and rotated, and the suction nozzle transports the components suctioned from a component supply section onto a substrate to be mounted. , a mounting head is provided for mounting at a predetermined position on a substrate to be mounted, and after the suction nozzle suctions the component, the suction nozzle is set at a predetermined height for recognition, and the component suctioned by the suction nozzle is recognized. A suction position correction method in a component mounting apparatus equipped with a recognition means, the amount of horizontal position change of the tip of the suction nozzle between when the suction nozzle is at the recognition height and when the suction nozzle is lowered to the component suction height. a nozzle tip position change detection step for detecting the nozzle tip position change amount, and a correction control step for correcting the component suction position by a suction position correction amount including a correction amount according to the nozzle tip position change amount when picking up the component. has. As described in paragraph [0051] of Patent Document 1, for example, when the nozzle shaft to which the suction nozzle is attached is tilted with respect to the Z-axis direction, the position of the suction nozzle is shifted due to the descent of the suction nozzle, Further, the position of the suction nozzle is shifted due to the rotation of the suction nozzle. The suction position correction method for a component mounting apparatus disclosed in Patent Document 1 corrects these deviations using the above configuration.

Japanese Patent Application Publication No. 2009-164276

In a component mounting apparatus equipped with a plurality of component supply devices that supply components, when placing the component supply devices in the component mounting device, it is sufficient if the component supply devices are ideally arranged as designed, but in reality, During arrangement, errors occur in the parallel direction (X direction) of the plurality of component supply devices. For this reason, component mounting equipment usually has a correction value in the parallel direction (offset amount in the The parts are picked up by shifting the parts. By the way, when picking up multiple parts almost simultaneously with each of the multiple suction nozzles, if the multiple suction nozzles are shifted by one correction value and the multiple parts are picked up almost simultaneously, usually each of the multiple component feeding devices Because of the different errors, it is difficult for each of the plurality of suction nozzles to pick up each of the plurality of parts at appropriate suction positions.

On the other hand, even if the component supply device is arranged according to the design value, due to errors in the nozzle shaft (head shaft) that occur when attaching the suction nozzle to the component mounting device, multiple suction nozzles may be When picking up several parts substantially simultaneously, it is difficult for each of the plurality of suction nozzles to pick up each of the plurality of parts at appropriate suction positions, as described above.

The suction position correction method in the component mounting apparatus disclosed in Patent Document 1 is a technique for correcting the positional deviation of the suction nozzle caused by the descent of the suction nozzle and the amount of positional deviation of the suction nozzle caused by the rotation of the suction nozzle. It is difficult to correct the above-mentioned positional deviation amount that occurs when a plurality of parts are simultaneously picked up by a plurality of suction nozzles.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to provide a system for each suction nozzle so that when a plurality of parts are suctioned at approximately the same time using each suction nozzle, each suction nozzle can be suctioned at an appropriate suction position. It is an object of the present invention to provide a suction position correction method for a component mounting apparatus and a component mounting apparatus capable of correcting the position.

As a result of various studies, the present inventors have found that the above object can be achieved by the following present invention. That is, in the suction position correction method of a component mounting apparatus according to one aspect of the present invention, a plurality of component supply sections that are arranged in parallel along one direction and supply components, and a plurality of component supply sections that suck the component from each of the plurality of component supply sections. a plurality of suction nozzles for mounting a plurality of components simultaneously suctioned by each of the plurality of suction nozzles at a predetermined mounting position on a mounting board, the component mounting apparatus comprising: a plurality of suction nozzles; The component mounting apparatus further includes a storage unit that stores an amount of change in the position of the suction opening described later as correction data, and each of the plurality of suction nozzles is rotatable about a predetermined rotation axis, and each of the plurality of suction nozzles is configured to perform suction generating a negative pressure. When the plurality of suction nozzles each have an opening at an opening position away from the position of the rotation axis and each of the plurality of suction nozzles suctions the component from each of the plurality of component supply units, for each of the plurality of suction nozzles, a positional deviation amount determining step for determining the amount of positional deviation that has occurred between the actual position and the normal position of the component supply unit corresponding to the suction nozzle; a correction step of rotating the suction nozzle so that the component mounting apparatus is as designed by correcting the positional deviation amount determined in the deviation amount determination step using the correction data stored in the storage unit. , the normal position is a design position that is preset according to specifications.

In such a suction position correction method for a component mounting apparatus, each of the plurality of suction nozzles has a suction opening at an opening position away from the position of the rotation axis. For this reason, in the method for correcting the suction position of the component mounting apparatus, by rotating each of the plurality of suction nozzles, the positional deviation amount corresponding to the suction nozzle can be corrected, so that each suction position can be corrected. Each suction position can be corrected so that it can be suctioned.

In another aspect, in the above-described suction position correction method for a component mounting apparatus, the positional deviation amount includes a positional deviation amount that occurs when the plurality of component supply units are arranged side by side.

Such a suction position correction method for a component mounting apparatus can correct the amount of positional deviation that occurs when a plurality of component supply units are arranged side by side.

In another aspect, in the above-described suction position correction method for a component mounting apparatus, the positional deviation amount includes a positional deviation amount that occurs when attaching the plurality of suction nozzles.

Such a suction position correction method for a component mounting apparatus can correct the amount of positional deviation that occurs when attaching a plurality of suction nozzles.

In another aspect, in the above-described suction position correction method for a component mounting apparatus, the component mounting apparatus further includes a cart on which the plurality of component supply units are mounted side by side, and the positional deviation amount is equal to Includes the amount of misalignment that occurs when installing the trolley.

Such a method for correcting the suction position of a component mounting apparatus can correct the amount of positional deviation that occurs when attaching the cart.

In another aspect, in the suction position correction method for a component mounting apparatus described above, each of the plurality of component supply units supplies the component by transporting the component in a transport direction perpendicular to the one direction; The plurality of suction nozzles are arranged so as to be juxtaposed along the one direction when suctioning the component, and the positional deviation amount is a length along the one direction, and the positional deviation amount is a length along the one direction. In the determining step, for each of the plurality of suction nozzles, by rotating the suction nozzle so as to correct the determined positional deviation amount in the suction nozzle, the suction nozzle corresponds to the suction nozzle. A second positional deviation amount from the normal position that occurs along the conveyance direction between the component supply unit and the component supply unit is further determined, and the correction step includes the step of determining the positional deviation amount determined for each of the plurality of suction nozzles. The transportation of the component in the component supply section corresponding to the suction nozzle is further controlled so that the second positional shift amount is corrected so that the component mounting apparatus is as designed .

Since the suction nozzle has the suction opening at an opening position that is away from the position of the rotation axis, when the suction nozzle is rotated to correct the amount of positional deviation along one direction, the suction opening will be moved from the normal position along the conveyance direction. A shift occurs at the second positional shift amount. If this second positional deviation amount is a length that can be ignored, for example from the viewpoint of poor suction or poor mounting position, there is no need to correct it, but the suction position correction method of the component mounting apparatus described above can be corrected, so that, for example, poor suction, poor mounting position, etc. can be more appropriately avoided.

A component mounting apparatus according to another aspect of the present invention includes a plurality of component supply sections that are arranged in parallel along one direction and supply components, and a plurality of suction nozzles that suck the components from each of the plurality of component supply sections. A component mounting device for mounting a plurality of components simultaneously picked up by each of the plurality of suction nozzles onto a predetermined mounting position on a mounting target board, wherein each of the plurality of suction nozzles rotates at a predetermined rotation rate. A case in which a suction opening that is rotatable with respect to a shaft and generates negative pressure is located at an opening position away from the position of the rotating shaft, and the components are suctioned from each of the plurality of component supply sections by each of the plurality of suction nozzles. a positional deviation amount determination unit that calculates, for each of the plurality of suction nozzles, an amount of positional deviation that has occurred between the actual position of the suction nozzle and the normal position of the component supply unit corresponding to the suction nozzle; a storage unit that stores an amount of change in the position of the suction opening as correction data; and a storage unit that stores, for each of the plurality of suction nozzles, the amount of positional deviation determined by the positional deviation amount determining unit for each of the plurality of suction nozzles. The device further includes a correction unit that rotates the suction nozzle so that the component mounting apparatus corrects it using the correction data as designed , and the normal position is a design position preset according to specifications. be.

In such a component mounting apparatus, each of the plurality of suction nozzles has a suction opening at an opening position away from the position of the rotation axis. For this reason, the component mounting apparatus can correct the amount of positional deviation depending on the suction nozzle by rotating each of the plurality of suction nozzles, so that suction can be performed at each appropriate suction position. Each suction position can be corrected.

A method for correcting a suction position of a component mounting apparatus and a component mounting apparatus according to the present invention correct each suction position so that each suction position can be suctioned at an appropriate suction position when a plurality of components are suctioned substantially simultaneously by each of a plurality of suction nozzles. can.

FIG. 1 is a plan view showing a schematic configuration of a component mounting apparatus in an embodiment. FIG. 3 is a partial front view of the component mounting apparatus. FIG. 3 is a diagram for explaining a suction nozzle used in the component mounting apparatus. FIG. 2 is an overall perspective view showing a schematic configuration of a component supply unit used in the component mounting apparatus. FIG. 3 is a perspective view of the component supply unit in which the mounting state of the tape feeder is visible. FIG. 2 is a perspective view showing a schematic configuration of a tape feeder used in the component mounting apparatus. FIG. 3 is a block diagram showing the electrical configuration of the component mounting apparatus. FIG. 6 is a diagram for explaining the amount of change in the suction opening position due to rotation of the suction nozzle, which is stored in the component mounting apparatus. 5 is a flowchart showing the operation of the component mounting apparatus regarding suction position correction. FIG. 7 is a diagram for explaining suction position correction according to the first aspect. FIG. 7 is a diagram for explaining suction position correction according to a second aspect.

Hereinafter, one or more embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the disclosed embodiments. It should be noted that structures with the same reference numerals in each figure indicate the same structure, and the description thereof will be omitted as appropriate. In this specification, when referring to a general term, a reference numeral without a subscript is used, and when referring to an individual configuration, a reference numeral with a suffix is used.

A component mounting apparatus according to an embodiment includes a plurality of component supply units that are arranged in parallel along one direction and supply components, and a plurality of suction nozzles that suck the component from each of the plurality of component supply units, and the plurality of suction nozzles This device mounts the plurality of components simultaneously picked up by each of the suction nozzles at a predetermined mounting position on a mounting target board. In this embodiment, each of the plurality of suction nozzles is rotatable about a predetermined rotation axis, and has a suction opening where negative pressure is generated at an opening position away from the rotation axis. When the component mounting device picks up the component from each of the plurality of component supply units with each of the plurality of suction nozzles, the component mounting apparatus includes a suction nozzle corresponding to the suction nozzle for each of the plurality of suction nozzles. a positional deviation amount determination unit that determines the amount of positional deviation from the normal position that has occurred between the component supply unit and the plurality of suction nozzles; The apparatus further includes a correction section that rotates the suction nozzle so as to correct the amount. Such a component mounting apparatus will be described in more detail below. By explaining the operation of the component mounting apparatus, a method for correcting the suction position of the component mounting apparatus will be explained.

FIG. 1 is a plan view showing a schematic configuration of a component mounting apparatus in an embodiment. FIG. 2 is a partial front view of the component mounting apparatus. FIG. 3 is a diagram for explaining a suction nozzle used in the component mounting apparatus. 3A and 3B show the mounting head 15 used in the component mounting apparatus according to the embodiment, FIG. 3A is a side view thereof, and FIG. 3B shows the mounting head 15 shown in FIG. 3A on the suction opening side. FIG. 3C and 3D show a mounting head 115 of a comparative example, FIG. 3C is a side view thereof, and FIG. 3D is a plan view of the mounting head 115 shown in FIG. 3C, viewed from the suction opening side. be. FIG. 4 is an overall perspective view showing a schematic configuration of a component supply unit used in the component mounting apparatus. FIG. 5 is a perspective view of the component supply unit in which the mounting state of the tape feeder is visible. FIG. 6 is a perspective view showing a schematic configuration of a tape feeder used in the component mounting apparatus. FIG. 7 is a block diagram showing the electrical configuration of the component mounting apparatus.

In FIG. 1 and the other drawings, XYZ rectangular coordinate axes are shown for clarity of directional relationships. Note that the X direction is, for example, a direction parallel to the horizontal plane, the Y direction is a direction perpendicular to the X direction on the horizontal plane, and the Z direction is a direction perpendicular to the X direction and the Y direction (vertical direction, (the normal direction of the horizontal plane).

The component mounting apparatus D according to the embodiment mainly mounts components PZ, such as integrated circuits (ICs), transistors, capacitors, and resistive elements, into predetermined positions by the operation of various parts, for example, as shown in FIGS. 1 to 7. At the mounting position MP, the main body mechanism section 1 is mounted on a mounting board K such as a printed circuit board, for example, as shown in FIG. 7, a control processing section 61 that controls its operation, and a display section 71 that displays a For example, it includes a storage section 81 that stores predetermined information such as programs and data. Note that the mounting position MP shown in FIG. 1 is an example, and is not limited to this, and is appropriately set according to the mounted board K and the component PZ.

The main body mechanism section 1 includes a mounting machine main body including a base 2 and the like, and a head unit 3 that is movable with respect to the mounting machine main body. A conveyor 4 for transporting the board is arranged on the base 2, and the conveyor 4 transports the mounted board K placed on the top to a predetermined mounting work position (the position shown in FIG. 1). It is designed to stop. Two component supply units 5 are mounted and arranged on both sides of the conveyor 4, which are arranged side by side along the X direction. Therefore, in the example shown in FIG. 1, the main body mechanism section 1 includes a total of four component supply units 5. Each of these component supply units 5 is provided with a plurality of tape feeders 5a that are arranged in parallel along the X direction and supply components. Note that the X direction corresponds to an example of one direction, and the tape feeder 5a corresponds to an example of a component supply section that supplies components. These component supply unit 5 and tape feeder 5a will be further explained below.

The head unit 3 is arranged above the base 2 and is movable between the component supply unit 5 and the mounting work position where the mounted board K is arranged. More specifically, the head unit 3 is movable along an X axis (X direction) and a Y axis (Y direction) that are orthogonal to each other on a plane substantially parallel to the surface of the mounted substrate K.

That is, a fixed rail 7 extending along the Y direction and a ball screw shaft 9 driven by a Y-axis servo motor 8 are disposed on the base 2. A support member 10 that supports the head unit 3 is arranged on the fixed rail 7, and a nut portion 10a provided on the support member 10 is screwed onto the ball screw shaft 9. A guide member 11 extending along the X direction and a ball screw shaft 13 driven by an X-axis servo motor 12 are disposed on the support member 10, and the head unit 3 is movably held on the guide member 11. A nut portion (not shown) provided on the head unit 3 is screwed onto the ball screw shaft 13. With this configuration, the support member 10 is moved in the Y direction by driving the Y-axis servo motor 8, and the head unit 3 is moved in the X direction with respect to the support member 10 by driving the X-axis servo motor 12. Thereby, movement of the head unit 3 along the X-axis and the Y-axis is realized.

The head unit 3 is provided with a mounting head 15, and in the example shown in FIGS. 1 and 2, six mounting heads 15 are provided in a line along the X direction. Note that the number of mounting heads 15 is not limited to six, but may be any number as long as it is plural, and is appropriately determined, for example, according to the specifications of the component mounting apparatus. Each mounting head 15 includes a hollow head shaft 15a extending in the vertical direction (Z direction) and a suction nozzle 15b removably attached to the tip (lower end) of the head shaft 15a. The negative pressure supplied from the supply means to the suction nozzle 15b through the head shaft 15a generates negative pressure at the suction opening NP formed at the tip (lower end) of the suction nozzle 15b, so that the parts can be suctioned. . Note that a plurality of types of suction nozzles 15b having different sizes and shapes are prepared, and the suction nozzle 15b selected according to the type of parts to be suctioned is attached to the tip of the head shaft 15a.

The head unit 3 is provided with an elevating mechanism that moves the mounting head 15 in the vertical direction (Z direction) and a rotation mechanism that rotates the mounting head 15 around an axis (around the R axis). The elevating mechanism has a Z-axis servo motor 16 (see FIG. 7), and the Z-axis servo motor 16 moves the mounting head 15 in the vertical direction via a ball screw or the like. The rotation mechanism has an R-axis servo motor 17 (see FIG. 7) for each mounting head 15 (therefore, for each suction nozzle 15b), and according to each rotational drive of each of these R-axis servo motors 17. Each mounting head 15 is rotated around the R axis. Therefore, the R axis is the rotation axis of the mounting head 15 (head shaft 15a and suction nozzle 15b). In the example shown in FIGS. 1 and 2, the rotation mechanism includes six R-axis servo motors 17 corresponding to the six mounting heads 15.

Here, as shown in FIGS. 3C and 3D, for example, the suction nozzle 115b of the mounting head 115 of the comparative example has the suction opening NPa where negative pressure is generated at the opening position RP of the R axis, which is a predetermined rotation axis. Hold it at CPa. That is, in the suction nozzle 115b of the comparative example, the position RP of the R axis and the center position (center position) CPa of the suction opening NPa are made to coincide with each other in the plane normal to the R axis, so that the suction opening NPa is aligned with the suction nozzle 115b. An opening is formed at the tip. Therefore, the opening position CPa of the suction opening NPa is the center position CPa of the suction opening NPa.

On the other hand, the suction nozzle 15b of the mounting head 15 in this embodiment moves the suction opening NP where negative pressure occurs from the position RP of the R axis, which is a predetermined rotation axis, as shown in FIGS. 3A and 3B, for example. Hold it at the open position CP. That is, in the suction nozzle 15b in the embodiment, the position RP of the R axis and the center position (center position) CP of the suction opening NP are shifted by a deviation amount δ on the plane normal to the R axis, and the suction opening is eccentrically formed. An opening is formed at the tip of the suction nozzle 15b for NP. Therefore, the opening position CP of the suction opening NP is the center position CP of the suction opening NP.

The head unit 3 is further provided with a first imaging section 18 for board recognition that recognizes the mounted board K by, for example, capturing an image of a fiducial mark attached to the mounted board K. In this embodiment, the first imaging unit 18 images the tape feeder 5a etc. from above in order to determine the amount of positional deviation of the component supply unit from the normal position that occurs when the plurality of tape feeders 5a are arranged side by side. do.

A second imaging section 19 is provided at a predetermined position on the base 2 within the movement range of the head unit as a recognition means for recognizing the component sucked by the suction nozzle 15b. The second imaging unit 19 captures an image of the component (or the tip of the suction nozzle) sucked at the tip of the suction nozzle 15b from below under reflected illumination conditions by an illumination device (not shown) attached thereto. It is possible to obtain a reflected image of the bottom surface of the suction nozzle (or the tip of the suction nozzle). In this embodiment, since the component supply units 5 are arranged on each side of the conveyor 4, the second imaging units 19 are arranged on each side of the conveyor 4. In the present embodiment, the second imaging unit 19 is configured to calculate the amount of positional deviation of the suction nozzles from their normal positions, which occurs when attaching the plurality of suction nozzles 15b to the head unit 3 via the head shaft 15a. , the mounting head 15 (head shaft 15a and suction nozzle 15b) is imaged from below.

These first and second imaging units 18 and 19 each include, for example, an imaging optical system that forms an optical image of an imaging target on a predetermined imaging plane, and a light-receiving surface arranged to match the imaging plane. an image sensor that converts an optical image of the imaging target into an electrical signal, and an image processing unit that generates image data that is data representing the image of the imaging target by performing image processing on the output of the image sensor, etc. It is a digital camera equipped with

Next, the component supply unit 5 and tape feeder 5a will be explained.

The component supply unit 5 includes a plurality of tape feeders 5a arranged side by side along the X direction, and is removably attached to the main body mechanism section 1. Thereby, a plurality of tape feeders 5a can be replaced at once in the main body mechanism section 1. For the attachment and detachment, the component supply unit 5 is provided with an engagement pin (not shown), and the main body mechanism section 1 is provided with an engagement hole into which the engagement pin engages, for example, by fitting. ing. Each tape feeder 5a is configured such that a tape storing and holding parts PZ at predetermined intervals leads out the parts PZ from a reel, and the tape feeders 5a are configured to feed out the parts PZ from a reel so that the parts PZ can be taken out by the head unit 3. The part PZ is intermittently delivered to the suction position AD. The suction position AD is a position where the suction nozzle 15b suctions the component PZ stored and held on the tape. In this embodiment, as will be understood from the description below, a suction nozzle 15b and a tape feeder 5a corresponding to the suction nozzle 15b (a tape feeder 5a that transports the tape that accommodates and holds the part PZ picked up by the suction nozzle 15b) are used. The suction position AD that has shifted due to the positional deviation from the normal position NL that occurred during this period is corrected, and the suction position AD is optimized.

More specifically, in this embodiment, the component supply unit 5 is, for example, as shown in FIGS. 4 and 5, a hand-operated trolley with casters that removably supports a plurality of tape feeders 5a. In this embodiment, the component supply unit 5 can also accommodate the reel. Such a component supply unit 5 includes a truck body 20 and a feeder support stand 21 supported on the upper part of the truck body 20.

The trolley body 20 includes a base 22 with casters 23 on the lower surface, and a box-shaped tape holder (reel holder) 24 provided on the upper part. The tape holder 24 has a U-shaped frame 25 in plan view that is open to the rear (-Y direction) and upward (+Z direction), and includes a pair of side plates 25a, 25b in the X direction (a pair of left and right sides) and a front plate 25c. have. Inside the frame 25, a plurality of tape accommodating sections 26 are arranged in parallel in the X direction and partitioned by a plurality of partition plates 26a, which are arranged upright at equal intervals in the X direction at intervals corresponding to the width of the reel, etc. There is. Although not shown, the reels on which the tape is wound are each rotatably accommodated in these tape accommodating portions 26. A plurality of tape guides 27 are arranged in parallel in the X direction on the upper part of the frame 25, and the tape drawn out from the reel accommodated in the tape storage section 26 to the tape feeder 5a is guided by these tape guides 27. .

The feeder support stand 21 is provided above the front part of the tape holder 24 so as to project forward (in the +Y direction) from the tape holder 24 . The feeder support stand 21 includes a table 28 that is rectangular in plan view, a pair of guide blocks 29A and 29B in the X direction (a pair of left and right) provided at both ends of the table 28 in the X direction, and an erected structure at the front of the table 28. A positioning plate 31 is provided. The upper surface of the table 28 is provided with a plurality of parallel slots 30 extending in the Y direction and arranged in the X direction by a plurality of protrusions 30a extending in the Y direction and provided at regular intervals in the X direction. is provided. These slots 30 are slit-like grooves formed on the upper surface of the table 28 for mounting a tape feeder. The tape feeder 5a is supported on the table 28 with the bottom of the supporting blanket 54 (see FIG. 6) inserted into the slot 30. Note that in FIG. 4, one tape feeder 5a among the plurality of tape feeders 5a is shown for convenience, but when producing the mounted board K, the tape feeder 5a is installed (set) in each slot 30. By doing so, a plurality of tape feeders 5a are arranged in parallel and close to each other in the X direction. The positioning plate 31 has a pair of pin holes 31a, 31a formed in the Z direction in correspondence with each slot 30. A pair of pins 51, 51 (see FIG. 5) are inserted. Thereby, the tape feeder 5a is positioned with respect to the feeder support base 21 in each of the XYZ directions (left/right, front/back, and up/down directions). The feeder support stand 21 is provided with a cover that is U-shaped in front view and has a pair of side plates 32a, 32b in the X direction and a top plate 32c disposed between these side plates 32a, 32b. At the upper front end of the cover, an opening (not shown) for taking out parts is provided which is opened and closed by the operation of the shutter 33. This shutter 33 slides in the +Y direction (forward) (see arrow in FIG. 4), and the opening is opened. This allows the head unit 3 to take out the component PZ from the tape feeder 5a at the suction position AD.

More specifically, in this embodiment, the tape feeder 5a includes a main body member 50 that is elongated in the Y direction, as shown in FIG. , 51, and a rotating body 52 for driving the tape. These pair of pins 51, 51 each protrude in the +Y direction (forward). The rotating body 52 is a member for feeding the tape, and is driven by a drive motor (not shown) to rotate by a predetermined angle. A connector 53 is provided at an approximately central portion of the main body member 50 in the Y direction and at a lower end thereof. The connector 53 electrically connects the tape feeder 5a and the control processing section 61 via the component supply unit 5. A support blanket 54 is provided at the rear end of the main body member 50. The blanket 54 is provided so as to protrude in the −Z direction (downward).

In the component supply unit 5 and the tape feeder 5a having such a configuration, the tape is pulled out from the reel housed in the tape storage section 26, and the pulled out tape is transferred to the tape feeder via the tape guide 27. It is set to 5a. The set tape is conveyed along the Y direction and is intermittently fed out by the intermittent rotation of the rotating body 52 by the drive motor, which rotates by a predetermined angle. As a result, the parts PZ stored and held on the tape are intermittently and sequentially supplied to the suction position AD. In this embodiment, the Y direction is an example of the transport direction, and the transport direction is orthogonal to one direction (the X direction in this example). The supplied component PZ is sucked by the suction nozzle 15b of the mounting head 15 in the head unit 3 through the opening opened by the operation of the shutter 33, and is taken out from the tape. The tape after the component PZ has been taken out is guided from the tip of the tape feeder 5a to the cutter unit 34, and is shredded by the cutter unit 34 and stored in a dust box (not shown).

Next, the electrical configuration of the component mounting apparatus will be explained.

The component mounting apparatus in the embodiment electrically includes, for example, as shown in FIG. 7, an X-axis servo motor 12, a Y-axis servo motor 8, a Z-axis servo motor 16, and an R-axis servo motor 17. It includes a first imaging section 18, a second imaging section 19, a tape feeder 5a, a control processing section 61, a display section 71, and a storage section 81. These X-axis servo motor 12, Y-axis servo motor 8, Z-axis servo motor 16, R-axis servo motor 17, first imaging section 18, second imaging section 19, tape feeder 5a, display section 71, and storage section 81, Each of them is electrically connected to the control processing section 61 and operates according to the function of each device 12, 8, 16, 17, 18, 19, 5a, 71, 81 under the control of the control processing section 61.

The display section 71 is a device that displays, for example, images captured by the first and second imaging sections 18 and 19 and predetermined information such as the operating status of the component mounting apparatus D under the control of the control processing section 61. The display unit 71 is, for example, a display device such as a CRT display, an LCD (liquid crystal display), or an organic EL display.

The storage unit 81 is a circuit that stores various predetermined programs and various predetermined data under the control of the control processing unit 61. The various predetermined programs include each device 12, 8, 16, 17, 18, 19, 5a, It includes implementation programs and the like that operate the 71 and 81 according to the functions. The mounting program includes a control program that controls the transportation of the board K to be mounted and controls the entire component mounting apparatus, and a control program that controls the X-axis servo motor 12, the Y-axis servo motor 8, the Z-axis servo motor 16, and the R-axis. When a motor control program that controls each of the servo motors 17 or a plurality of suction nozzles 15b picks up a component PZ from each of a plurality of tape feeders 5a, the suction nozzle 15b and the A positional deviation amount determination program for determining the positional deviation amount Δ from the normal position NL that has occurred between the suction nozzle 15b and the corresponding tape feeder 5a (an example of a component supply unit), and a program for determining the positional deviation amount Δ for each of the plurality of suction nozzles 15b. In the suction nozzle 15b, the suction nozzle 15b is rotated by controlling the R-axis servo motor 17 corresponding to the suction nozzle 15b so as to correct the positional deviation amount Δ determined by the positional deviation amount determining program. It includes a correction program, a supply control program for controlling the tape feeder 5a so as to supply the component PZ stored and held on the tape to the suction position AD, and the like. The various kinds of predetermined data include, for example, predetermined transport system data regarding the transport system that transports the mounted substrate K, equipment-specific data unique to each equipment of the component mounting apparatus D, and information on the suction nozzle 15b and the suction system concerned. It includes data necessary for executing each program, such as correction data for correcting the positional deviation amount Δ from the normal position NL that occurs between the nozzle 15b and the corresponding tape feeder 5a. In order to store these mounting programs, transport system data, equipment-specific data, and correction data, the storage unit 81 includes a mounting program storage unit 811, a transport system data storage unit 812, an equipment-specific data storage unit 813, and a correction data storage unit. 814 is functionally provided. The storage unit 81 includes, for example, a ROM (Read Only Memory) that is a nonvolatile storage element, an EEPROM (Electrically Erasable Programmable Read Only Memory) that is a rewritable nonvolatile storage element, and the like. The storage unit 81 includes a RAM (Random Access Memory), which serves as a so-called working memory of the control processing unit 61 that stores data generated during execution of the predetermined program.

The correction data will be further explained. FIG. 8 is a diagram for explaining the amount of change in the suction opening position due to rotation of the suction nozzle, which is stored in the component mounting apparatus.

In this embodiment, as described above using FIG. 3, the suction opening NP of the suction nozzle 15b is offset by shifting the R-axis position RP and the center position (center position) CP of the suction opening NP by a deviation amount δ. I'm thinking about it. Therefore, by rotating the suction nozzle 15b around the R-axis, the position of the suction opening NP can be changed with respect to the R-axis position RP (that is, the attachment position of the head shaft 15a). This change in the position of the suction opening NP cancels out and corrects the positional deviation amount Δ. Therefore, the amount of change in the position of the suction opening NP is stored in the correction data storage section 814 as the correction data.

For example, the rotation reference of the suction nozzle 15b is set in the -Y direction (rotation angle θ = 0°), and the rotation angle θ counterclockwise from the -Y direction is set as a positive value (clockwise rotation from the -Y direction). angle θ is a negative value), rotation angle θ = 0°, and the center position (center position) CP of the suction opening NP is located on the -Y axis (point (0, -δ)), The amount of change in the position of the suction opening NP at the rotation angle θ is (-δsinθ, -δcosθ) (X component VMx(θ) of the amount of change VM at the rotation angle θ = -δsinθ, the amount of change VM at the rotation angle θ Y component VMy(θ) = -δcosθ. As an example, the amount of change VM when the deviation amount δ = 100 μm is shown in Fig. 8. In Fig. 8, the amount of change VM when the deviation amount δ = 100 μm is shown. , -30°, 0°, +45°, and +90°, the amount of change VM is shown as a specific value. For example, when the rotation angle θ = -90°, the center of the suction opening NP If the position CP is located at the point CP1, the amount of change VM is (+100, 0) [μm], and the rotation angle θ = -60°, the center position CP of the suction opening NP is located at the point CP2. , and the amount of change VM is (+86.6, -50) [μm]. For example, when the rotation angle θ = +45°, the center position CP of the suction opening NP is located at the point CP5. , the amount of change VM is (-70.7, -70.7) [μm].

Note that the deviation amount δ is not limited to 100 [μm], and is appropriately set depending on, for example, the size of the component PZ and the size of the suction nozzle 15b. Further, the rotation reference of the suction nozzle 15b is not limited to the -Y direction, and may be arbitrarily and appropriately defined, for example, the +X direction or the -X direction. Further, although the rotation angle θ counterclockwise from the -Y direction is set as a positive value, it is not limited to this. For example, the rotation angle θ clockwise from the rotation reference may be set as a positive value, and any may be defined as appropriate.

The amount of change VM in the rotation angle θ is, for example, VMx(θ)=-δsinθ, VMy(θ)=-δcosθ (or θ=sin ^-1 (-VMx/δ), VMy(θ)=- δ cos θ) may be stored in the correction data storage unit 814 as a mathematical formula. Further, for example, the amount of change VM in the rotation angle θ may be stored in the data storage unit 814 in the form of a table representing the correspondence between the rotation angle θ and the above-mentioned specific numerical values corresponding to the rotation angle θ. .

The control processing unit 61 controls each of the devices 12, 8, 16, 17, 18, 19, 5a, 71, and 81 of the component mounting apparatus D according to the function, and controls the component PZ to a predetermined position on the mounting board K. This is a circuit for mounting at the mounting position MP. The control processing unit 61 includes, for example, a CPU (Central Processing Unit) and its peripheral circuits. The control processing section 61 functionally includes a control section 611, a motor control section 612, a correction section 613, a positional deviation amount determination section 614, and a supply control section 615 by executing each of the programs.

The control unit 611 controls the transportation of the substrate K to be mounted, etc., and controls the entire component mounting apparatus.

The motor control unit 612 sucks each component PZ from each of the plurality of tape feeders 5a with each suction nozzle 15b, and transfers the plurality of components PZ simultaneously sucked by each of the plurality of suction nozzles 15b to the mounting board K. It controls each of the X-axis servo motor 12, Y-axis servo motor 8, Z-axis servo motor 16, and R-axis servo motor 17 so as to mount the mounting at a predetermined mounting position NL.

When the component PZ is sucked from each of the plurality of tape feeders 5a by each of the plurality of suction nozzles 15b, the positional deviation amount determination unit 614 determines the positional deviation amount corresponding to the suction nozzle 15b and the suction nozzle 15b for each of the plurality of suction nozzles 15b. The amount of positional deviation Δ from the normal position NL that occurs between the tape feeder 5a and the tape feeder 5a is determined. In this embodiment, the positional deviation amount determination unit 614 calculates the positional deviation amount Δ based on an image generated by at least one of the first and second imaging units 18 and 19.

For each of the plurality of suction nozzles 15b, the correction unit 613 controls the R-axis servo corresponding to the suction nozzle 15b so as to correct the positional deviation amount Δ determined by the positional deviation amount determination unit 614 in the suction nozzle 15b. By controlling the motor 17, the suction nozzle 15b is rotated.

In this embodiment, the positional deviation amount determining section 614 functionally includes a first deviation amount determining section 6141 and a second deviation amount determining section 6142.

When the component PZ is sucked from each of the plurality of tape feeders 5a by each of the plurality of suction nozzles 15b, the first deviation amount determination unit 6141 determines that in the X direction (an example of one direction) for each of the plurality of suction nozzles 15b, A first positional deviation amount from the normal position NL that occurs between the suction nozzle 15b and the tape feeder 5a corresponding to the suction nozzle 15b is determined. The first positional deviation amount is a length along one direction (in this example, the X direction).

The second deviation amount determining unit 6142 corrects the first positional deviation amount determined by the first deviation amount determining unit 6141 for each of the plurality of suction nozzles 15b in the suction nozzle 15b. A second positional deviation amount from the normal position that occurs along the Y direction (an example of the tape conveyance direction) between the suction nozzle 15b and the tape feeder 5a corresponding to the suction nozzle 15b by rotating the suction nozzle 15b. This is what we seek.

Then, the correction unit 613 corrects the second positional deviation amount obtained by the second deviation amount determination unit 6142 for each of the plurality of suction nozzles 15b, so that the More control over part transport.

The supply control unit 615 controls the tape feeder 5a so as to supply the components stored and held on the tape to the suction position AD.

These control processing unit 61, display unit 71, and storage unit 81 are, for example, a desktop type or node type equipped with an interface circuit for transmitting and receiving data to and from each device 12, 8, 16, 17, 18, 19, and 5a. It can be configured by a computer such as

Next, the operation of this embodiment will be explained mainly regarding suction position correction. FIG. 9 is a flowchart showing the operation of the component mounting apparatus regarding suction position correction. FIG. 10 is a diagram for explaining the suction position correction according to the first aspect. FIG. 11 is a diagram for explaining the suction position correction according to the second aspect.

In the component mounting apparatus D having such a configuration, an operator (user) attaches (sets) a plurality of tape feeders 5a to the component supply unit 5, and loads the plurality of reels wound with the tape into the component supply unit 5. Each tape is pulled out from each of the plurality of reels, and each of the drawn tapes is set in each of the plurality of tape feeders 5a. The operator attaches the component supply unit 5 to the main body mechanism section 1.

Then, in FIG. 9, a power switch (not shown) is turned on (S1), and the component mounting apparatus D starts operating. When the component mounting apparatus D starts operating, the component mounting apparatus D is initialized by, for example, returning the head unit 3, conveyor 4, etc. to the origin (S2). The control processing section 61 is functionally configured with a control section 611, a motor control section 612, a correction section 613, a positional deviation amount determination section 614, and a supply control section 615 by executing the implementation program and the like. The positional deviation amount determination unit 614 is functionally configured with a first deviation amount determination unit 6141 and a second deviation amount determination unit 6142.

Next, regarding the suction position correction, the component mounting apparatus D detects that the tape feeder 5a is set in the component supply unit 5 by a sensor (not shown) such as a mechanical switch, and that the component supply unit 5 is set in the main body mechanism section 1. Confirm that it is set (S3).

Subsequently, the component mounting apparatus D identifies the positions (feeder positions) of all the tape feeders 5a by capturing images of the plurality of tape feeders 5a and the like with the first imaging unit 18 (S4).

More specifically, the motor control section 612 controls the X-axis servo motor 12 and the Y-axis servo motor 8 so that the first imaging section 18 of the head unit 3 can image a plurality of tape feeders 5a, etc. , move the head unit 3. When the head unit 3 moves, the positional deviation amount determining section 614 causes the first imaging section 18 to take an image, generates an image showing the plurality of tape feeders 5a, etc., and acquires (receives) this image from the first imaging section 18. )do. The positional deviation amount determining unit 614 performs image processing on the image to obtain and specify the respective feeder positions of the plurality of tape feeders 5a. For example, the positional deviation amount determining unit 614 extracts edges by processing the image using a so-called edge filter, and from the extracted edges, determines pockets (areas in which each component C is accommodated) on the tape. The contour is extracted, and the center position (center position) of the pocket is determined from the extracted contour of the pocket as the feeder position of the tape feeder 5a. For example, the positional deviation amount determination unit 6141 extracts both ends of the tape feeder 5a from the extracted edges, and determines the center position of these extracted both ends as the feeder position of the tape feeder 5a.

Next, the component mounting apparatus identifies the positions of all the mounting heads 15 (nozzle position, shaft position, R-axis position RP) by capturing images of the plurality of mounting heads 15 with the second imaging unit 19. (S5).

More specifically, the motor control unit 612 controls the X-axis servo motor 12 and the Y-axis servo motor 8 so that the second imaging unit 19 can image the plurality of mounting heads 15 of the head unit 3. , move the head unit 3. When the head unit 3 moves, the positional deviation amount determining section 614 causes the second imaging section 19 to take an image, generates an image showing the plurality of mounting heads 15, and acquires (receives) this image from the second imaging section 19. )do. The positional deviation amount determination unit 614 performs image processing on the image to determine and specify each nozzle position (each shaft position) of each of the plurality of mounting heads 15. For example, the positional deviation amount determining unit 614 extracts an edge by processing the image using a so-called edge filter, extracts the contour of the mounting head 15 from the extracted edge, and extracts the outline of the mounting head 15 from the extracted edge. From the contour, the center position (center position) of the mounting head 15 is determined as the nozzle position (shaft position).

Note that image processing such as Hough transform for straight lines or curves may be used when extracting the contour or the like.

Subsequently, the component mounting apparatus determines the amount of positional deviation Δ from the normal position NL that occurs between the suction nozzle 15b and the tape feeder 5a corresponding to this suction nozzle 15b (S6).

More specifically, firstly, when the component PZ is sucked from each of the plurality of tape feeders 5a by each of the plurality of suction nozzles 15b, the first deviation amount determination unit 6141 determines whether each of the plurality of suction nozzles 15b is , the first positional deviation amount from the normal position NL that occurs between the suction nozzle 15b and the tape feeder 5a corresponding to the suction nozzle 15b in the X direction (one direction) is determined.

For example, as shown in FIG. 10, when each of the plurality of mounting heads 15 is attached to the head unit 3 at regular intervals NL of the suction nozzle, or as a premise, each of the plurality of mounting heads 15 When it is assumed that the components are attached to the head unit 3 at regular intervals at regular positions NL, the amount of positional deviation Δ of the component supply section from the normal position NL is determined as the first amount of positional deviation. In this case, the amount of positional deviation Δ from the normal position NL includes the amount of positional deviation that occurs when the plurality of component supply units (tape feeder 5a in this embodiment) are arranged side by side. In addition, in FIG. 10, each suction nozzle 15b is illustrated in a state after rotation due to correction as described below. The normal position of the suction nozzle is the designed position (ideal position) where the mounting head 15 is attached to the head unit 3. As an example, in the example shown in FIG. 10, the normal positions of the suction nozzles in each of the six mounting heads 15 (head shaft 1 to head shaft 6) are set at intervals of 12 [mm]. Note that the spacing between the mounting heads 15 and the spacing between tape feeders 5a, which will be described later, is not limited to 12 [mm], and may be appropriately set, for example, according to the specifications of the component mounting apparatus D. The normal position of the component supply section is the designed position (ideal position) of the tape feeder 5a installed in the component supply unit. As an example, in the example shown in FIG. 10, the regular positions NL1 to NL6 of the component supply sections in each of the six tape feeders 5a (FDR1 to FDR6) are spaced at intervals of 12 [mm].

More specifically, the first deviation amount determination unit 6141 determines each first positional deviation amount of each tape feeder 5a based on the tape feeder 5a corresponding to any one of the mounting heads 15 among the plurality of mounting heads 15. is determined from each feeder position of each tape feeder 5a determined in step S4. In the example shown in FIG. 10, the first deviation amount is based on the tape feeder 5a (FDR1) corresponding to the mounting head 15 located at the end of the six mounting heads 15 (right end in this example). The determining unit 6141 determines, for each of the remaining tape feeders 5a (FDR2 to FDR6), each deviation amount from the interval of 12 [mm] between the tape feeders 5a as each first positional deviation amount of each remaining tape feeder 5a. Δ1 to Δ5 are determined from each feeder position of each tape feeder 5a determined in step S4. In the example shown in FIG. 10, for example, the distance between the reference tape feeder 5a (FDR1) and the adjacent tape feeder 5a (FDR2) is 12.05 [mm], and the distance between the reference tape feeder 5a (FDR2) and the tape feeder 5a (FDR2) The first positional deviation amount Δ1 is +0.05 [mm] (=+50 [μm]). For example, the distance between this tape feeder 5a (FDR2) and the adjacent tape feeder 5a (FDR3) is 11.93 [mm], and the first positional deviation amount Δ2 of the tape feeder 5a (FDR3) is , -0.07 [mm] (=-70 [μm]). For example, the distance between the tape feeder 5a (FDR4) and the adjacent tape feeder 5a (FDR5) is 12.086 [mm], and the first positional deviation amount Δ4 of the tape feeder 5a (FDR5) is +0.086 [mm] (=-86 [μm]). Here, by calculating the actual length reflected in one pixel in advance, the first positional deviation amount can be calculated using the actual length, but by generating the correction data in units of the size of one pixel, The first positional shift amount may be determined by the number of pixels.

In addition, when each of the plurality of mounting heads 15 is attached to the head unit 3 at regular intervals of the suction nozzle as shown in FIG. In the case where the head unit 3 is attached to the head unit 3 at regular intervals, the first positional deviation amount can be determined as described above only from the processing result of step S4, so step S5 can be omitted.

For example, as shown in FIG. 11, if each of the plurality of tape feeders 5a is installed in the component supply unit 5 at regular intervals in the component supply section, or as a premise, each of the plurality of tape feeders 5a When it is assumed that the suction nozzles are installed in the component supply unit 5 at regular positions at regular intervals, the amount of positional deviation of the suction nozzle from the normal position is determined as the first amount of positional deviation. In this case, the amount of positional deviation from the normal position includes the amount of positional deviation that occurs when attaching the plurality of suction nozzles 5b. As an example, in the example shown in FIG. 11, the normal positions NL11, NL12, NL13, . In addition, in FIG. 11, for convenience, three sets of mounting heads 15 and tape feeder 5a are illustrated, and other illustrations are omitted. FIG. 11A shows the status of each mounting head 15 and tape feeder 5a before correction, and FIG. 11B shows each mounting head 15 after rotation due to correction.

More specifically, the first deviation amount determination unit 6141 determines each first positional deviation amount of each mounting head 15 using one of the mounting heads 15 among the plurality of mounting heads 15 as a reference. It is determined from each nozzle position (each shaft position) of each determined mounting head 15. In the example shown in FIG. 11, the first deviation amount determination unit 6141 uses the mounting head 15 (head shaft 1) located at the end of the plurality of mounting heads 15 (in this example, the right end in the paper) as a reference. For each of the remaining mounting heads 15 (head shaft 2, head shaft 3, . . . ), the amount of deviation from the interval of 12 [mm] between the mounting heads 15 is determined by Each first positional deviation amount Δ11, Δ12, . . . is determined from each nozzle position of each mounting head 15 determined in process S5. In the example shown in FIG. 11, for example, the distance between the standard mounting head 15 (head shaft 1) and the adjacent mounting head 15 (head shaft 2) is 12.05 [mm], The first positional deviation amount Δ11 of the mounting head 15 (head shaft 2) is -0.05 [mm] (=-50 [μm]). For example, the distance between this mounting head 15 (head shaft 2) and the adjacent mounting head 15 (head shaft 3) is 11.93 [mm], ) is +0.07 [mm] (=+70 [μm]).

In addition, when each of the plurality of tape feeders 5a is installed in the component supply unit 5 at regular intervals in the component supply section as shown in FIG. 11, or as a premise, each of the plurality of tape feeders 5a In the case where the parts are mounted on the component supply unit 5 at regular positions and at equal intervals, the first positional deviation amount can be determined as described above only from the processing result of processing S5, so processing S4 can be omitted. .

For example, although not shown, in the case shown in FIG. 10 or in the case other than the case shown in FIG. (for each tape feeder 5a), each first positional deviation amount is determined from each feeder position of each tape feeder 5a determined in process S4 and each nozzle position of each mounting head 15 determined in process S5. More specifically, the first deviation amount determining unit 6141 determines, for each mounting head 15, the feeder position of the tape feeder 5a obtained in step S4 and the mounting head corresponding to this tape feeder 5a obtained in step S5. The difference from the nozzle position No. 15 is determined as the first positional deviation amount. Note that in the above case, each of the plurality of mounting heads 15 may be used as a reference, and in this case, as can be seen from the above description in the case shown in FIG. 10 and the above description in the case shown in FIG. The sign of the first positional deviation amount is reversed.

For example, although not shown, when the component supply unit 5 is attached to the main body mechanism section 1, the amount of positional deviation of the component supply unit 5 from the normal position with respect to the main body mechanism section 1 is set as the first positional deviation amount. Also good. In this case, the amount of positional deviation from the normal position includes the amount of positional deviation that occurs when attaching the cart (in this embodiment, one example is the component supply unit 5). Since the tape feeder 5a is attached to the component supply unit 5, the amount of displacement from the normal position in the component supply unit is superimposed on the amount of displacement from the normal position of the component supply section. Therefore, the amount of positional deviation from the normal position in the component supply unit can be determined by calculating the first positional deviation amount in the case shown in FIG. 10, or by calculating the first positional deviation amount in the case shown in FIG. It is obtained by calculating the amount of positional deviation.

Next, secondly, the second deviation amount determination unit 6142 corrects the first positional deviation amount determined by the first deviation amount determination unit 6141 in each of the plurality of suction nozzles 15b. Then, by rotating the suction nozzle 15b, the first position from the normal position that occurs along the Y direction (the tape conveyance direction) between the suction nozzle 15b and the tape feeder 5a corresponding to the suction nozzle 15b. 2. Find the amount of positional deviation. More specifically, for each of the plurality of suction nozzles 15b, the second displacement amount determination unit 6142 corrects the second positional displacement amount corresponding to the first positional displacement amount of the suction nozzle 15b determined as described above. It is determined from the correction data stored in the data storage unit 814. For example, in the cases shown in FIGS. 10 and 8, the mounting head 15 (head shaft 1) shifts by -100 [μm] (=-δcosθ=-100×cos0°=-100) with a rotation of 0°. Therefore, this amount of deviation -100 [μm] is determined as the second amount of positional deviation. For example, the mounting head 15 (head shaft 2) shifts by -86.6 [μm] (=-δcosθ=-100×cos330°=-86.6) when rotated by -30°, so this shift The amount -86.6 [μm] is determined as the second positional deviation amount. Further, for example, the mounting head 15 (head shaft 3) deviates by -70.7 [μm] (=-δcosθ=-100×cos45°=-70.7) when rotated by +45°, so this deviation amount -70.7 [μm] is determined as the second positional deviation amount.

Returning to FIG. 9, next, the component mounting apparatus D performs suction for each of the plurality of suction nozzles 15b so as to correct the positional deviation amount Δ determined by the positional deviation amount determination unit 614 in the suction nozzle 15b. The position AD is corrected (S7).

More specifically, first, the correction unit 613 first calculates the first position, which is the positional deviation amount in the By controlling the R-axis servo motor 17, the suction nozzle 15b is rotated around the R-axis so as to offset the amount of deviation. More specifically, the correction unit 613 calculates the rotation angle θ corresponding to the first positional deviation amount of the suction nozzle 15b from the correction data stored in the correction data storage unit 814. Then, the correction unit 613 controls the R-axis servo motor 17 corresponding to the suction nozzle 15b to rotate the suction nozzle 15b around the R-axis by the obtained rotation angle θ. Such processing is performed for each of the plurality of suction nozzles 15b. As a result, the first positional deviation amount in the X direction at the suction position AD is corrected, and the suction position AD is optimized in the X direction.

Second, since the rotation of the suction nozzle 15b causes a displacement in the Y direction by a second positional displacement amount, this second positional displacement amount is corrected. That is, for each of the plurality of suction nozzles 15b, the correction unit 613 adjusts the amount corresponding to the suction nozzle 15b so as to cancel out the second positional deviation amount in the Y direction obtained by the second deviation amount determination unit 6142 in process S6. Controls the conveyance of parts in the tape feeder 5a. More specifically, for each of the plurality of suction nozzles 15b, the correction unit 613 adjusts and sets the amount of offset in the Y direction in the tape feeder 5a corresponding to the suction nozzle 15b by the second positional deviation amount of the suction nozzle 15b. do.

For example, in the examples shown in FIGS. 10 and 8, the mounting head 15 (head shaft 1) is rotated at a rotation angle of 0° (i.e., non-rotating), and the corresponding tape feeder 5a (FDR1) is The offset amount in the direction is adjusted and set by -100 [μm]. For example, the mounting head 15 (head shaft 2) is rotated at a rotation angle of -30°, and the corresponding tape feeder 5a (FDR2) adjusts the offset amount in the Y direction by -86.6 [μm]. and set. Further, for example, the mounting head 15 (head shaft 3) is rotated at a rotation angle of +45°, and the corresponding tape feeder 5a (FDR3) has its offset amount in the Y direction adjusted by -70.7 [μm]. , is set.

Subsequently, the component mounting apparatus D sucks the components PZ from each tape feeder 5a with each suction nozzle 15b, and places the plurality of components PZ simultaneously sucked with each of the suction nozzles 15b on the mounting board K. A mounting process for mounting at a predetermined mounting position MP is performed (S8), and this process ends.

As described above, in the component mounting apparatus D of this embodiment and the suction position correction method implemented therein, each of the plurality of suction nozzles 15b has the suction opening NP at the opening position CP away from the position of the rotation axis. Therefore, in the component mounting apparatus D and its suction position correction method, by rotating each suction nozzle 15b, the positional deviation amount Δ corresponding to the suction nozzle 15b can be corrected. , each suction position can be corrected so that suction can be performed at each appropriate suction position.

When the positional deviation amount Δ from the normal position NL includes the positional deviation amount that occurs when a plurality of component supply units (tape feeder 5a in the above example) are arranged side by side, the above component mounting apparatus D and its suction position correction method. It is possible to correct the amount of positional deviation that occurs when such a plurality of component supply units are arranged side by side.

If the positional deviation amount Δ from the normal position NL includes the positional deviation amount that occurred when attaching the plurality of suction nozzles 15b, the component mounting apparatus D and its suction position correction method can It is possible to correct the amount of positional deviation that occurs when attaching the 15b.

When the positional deviation amount Δ from the normal position NL includes the positional deviation amount that occurred when attaching the trolley (in the above example, the component supply unit 5), the component mounting apparatus D and its suction position correction method are as follows. It is possible to correct the amount of positional deviation that occurs when attaching such a trolley.

Since the suction nozzle 15b has the suction opening NP at the opening position CP which is off the position of the rotation axis, the suction nozzle 15b has the suction opening NP so as to correct the first positional deviation along one direction (the X direction in the above example). When rotated, a shift occurs along the conveyance direction (Y direction in the above example) by a second positional shift amount from the normal position. If this second positional deviation amount is a length that can be ignored from the viewpoint of poor suction or poor mounting position, there is no need for correction, but the component mounting apparatus D and its suction position correction method Since the amount of deviation can be corrected, problems such as poor suction and poor mounting position can be more appropriately avoided.

In order to express the present invention, the present invention has been adequately and fully described through embodiments with reference to the drawings in the above description, but those skilled in the art will easily be able to modify and/or improve the embodiments described above. It should be recognized that this is possible. Therefore, unless the modification or improvement made by a person skilled in the art does not depart from the scope of the claims stated in the claims, such modifications or improvements do not fall outside the scope of the claims. It is interpreted as encompassing.

D Component mounting device K Mounted board PZ Component MP Mounting position CP, Cpa Opening position (center position of suction opening)
NL Normal position Δ Positional deviation amount from normal position X X direction (an example of one direction)
Y Y direction (an example of conveyance direction)
3 Head unit 5 Parts supply unit (an example of a trolley)
5a Tape feeder (an example of parts supply section)
15 Mounting head 15a Head shaft 15b Suction nozzle 17 R-axis servo motor 18 First imaging section 19 Second imaging section 61 Control processing section 81 Storage section 613 Correction section 614 Positional deviation amount determination section 814 Correction data storage section 6141 First deviation Amount determining unit 6142 Second deviation amount determining unit

Claims (6)

A plurality of component supply sections arranged in parallel along one direction to supply components, and a plurality of suction nozzles that suck the components from each of the plurality of component supply sections, and the components are simultaneously sucked by each of the plurality of suction nozzles. A suction position correction method of a component mounting apparatus for mounting a plurality of the components at predetermined mounting positions on a mounting board, the method comprising:
The component mounting apparatus further includes a storage unit that stores an amount of change in the position of the suction opening described later as correction data,
Each of the plurality of suction nozzles is rotatable about a predetermined rotation axis, and has a suction opening where negative pressure is generated at an opening position away from the rotation axis,
When picking up the component from each of the plurality of component supply units with each of the plurality of suction nozzles, for each of the plurality of suction nozzles, the actual position of the suction nozzle and the normal position of the component supply unit corresponding to the suction nozzle are determined. a positional deviation amount determination step of determining the amount of positional deviation that has occurred between the positions ;
For each of the plurality of suction nozzles, the component mounting apparatus corrects the positional deviation amount determined in the positional deviation amount determination step using the correction data stored in the storage unit in the suction nozzle , so that the component mounting apparatus operates as designed. a correction step of rotating the suction nozzle so that
The normal position is a design position that is set in advance according to specifications,
A suction position correction method for a component mounting device. The amount of positional deviation includes the amount of positional deviation that occurs when the plurality of component supply units are arranged side by side.
A suction position correction method for a component mounting apparatus according to claim 1. The amount of positional deviation includes the amount of positional deviation that occurs when attaching the plurality of suction nozzles.
A suction position correction method for a component mounting apparatus according to claim 1 or 2. The component mounting apparatus further includes a cart on which the plurality of component supply units are mounted side by side,
The amount of positional deviation includes the amount of positional deviation that occurred when attaching the trolley.
A suction position correction method for a component mounting apparatus according to any one of claims 1 to 3. Each of the plurality of component supply units supplies the component by transporting the component in a transport direction perpendicular to the one direction,
The plurality of suction nozzles are arranged so as to be juxtaposed along the one direction when suctioning the component,
The positional deviation amount is a length along the one direction,
The positional deviation amount determination step includes rotating the suction nozzle so as to correct the determined positional deviation amount for each of the plurality of suction nozzles. further determining a second positional deviation amount from the normal position that occurs along the conveyance direction between the nozzle and the corresponding component supply unit;
The correction step corrects, for each of the plurality of suction nozzles, the second positional deviation amount determined in the positional deviation amount determination step, so that the component mounting apparatus corresponds to the corresponding suction nozzle. further controlling the conveyance of the parts in the parts supply unit;
A suction position correction method for a component mounting apparatus according to any one of claims 1 to 4. A plurality of component supply sections arranged in parallel along one direction to supply components, and a plurality of suction nozzles that suck the components from each of the plurality of component supply sections, and the components are simultaneously sucked by each of the plurality of suction nozzles. A component mounting apparatus that mounts a plurality of the components at predetermined mounting positions on a mounting board,
Each of the plurality of suction nozzles is rotatable about a predetermined rotation axis, and has a suction opening where negative pressure is generated at an opening position away from the rotation axis,
When picking up the component from each of the plurality of component supply units with each of the plurality of suction nozzles, for each of the plurality of suction nozzles, the actual position of the suction nozzle and the normal position of the component supply unit corresponding to the suction nozzle are determined. a positional deviation amount determination unit that determines the amount of positional deviation that has occurred between the positions ;
a storage unit that stores the amount of change in the position of the suction opening as correction data;
For each of the plurality of suction nozzles, the positional deviation amount determined by the positional deviation amount determination unit is corrected using the correction data stored in the storage unit, so that the component mounting apparatus operates as designed. further comprising a correction unit that rotates the suction nozzle so that
The normal position is a design position that is set in advance according to specifications,
Component mounting equipment.

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