WO2022123773A1

WO2022123773A1 - Suction nozzle and component mounter

Info

Publication number: WO2022123773A1
Application number: PCT/JP2020/046306
Authority: WO
Inventors: 仁哉井村; 陽介佐藤; 翔村山
Original assignee: 株式会社Fuji
Priority date: 2020-12-11
Filing date: 2020-12-11
Publication date: 2022-06-16
Also published as: CN116615965A; JPWO2022123773A1; DE112020007833T5

Abstract

This suction nozzle comprises: a nozzle tip part having a plurality of suction holes, which are arranged corresponding to the arrangement of a plurality of mount positions that are set on a board to mount a plurality of cylindrical components, and which are capable of suctioning the cylindrical components; and air paths which communicate with the plurality of respective suction holes and are capable of supplying negative pressure air at the same time.

Description

Suction nozzle and component mounting machine

This specification relates to a suction nozzle used when mounting a plurality of columnar parts on a substrate, and a component mounting machine including the suction nozzle.

The column alignment device disclosed in Patent Document 1 has an alignment plate having a long groove engraved with the same number of electrodes as the number of electrodes of the CGA substrate (ceramic grid array substrate) and the same width as the electrode width, and the column aligning device protrudes from the long groove. It includes a lid member that eliminates columns (columnar parts), a straight-moving feeder that vibrates the alignment plate to advance the column, and a column supply device that supplies the column onto the alignment plate. According to this, the columns can be accurately aligned and sent to the suction jig, and soldering without falling off can be performed.

Japanese Unexamined Patent Publication No. 2004-200280

By the way, the column aligning device and the suction jig of Patent Document 1 are techniques corresponding to a CGA substrate in which a plurality of electrodes are arranged in a row, and can correspond to a substrate in which a plurality of electrodes are arranged two-dimensionally. Can not.

Therefore, in the present specification, a suction nozzle capable of efficiently sucking and mounting a plurality of columnar components and mounting on the board without being restricted by the arrangement of a plurality of mounting positions set on the board, and a suction nozzle thereof. It is an issue to be solved to provide a component mounting machine including a suction nozzle.

In the present specification, the nozzle tip portion having a plurality of suction holes arranged corresponding to the arrangement of a plurality of mounting positions set on the substrate for mounting the plurality of columnar parts and capable of sucking the columnar parts, respectively. Disclosed is a suction nozzle provided with an air passage capable of simultaneously supplying negative pressure air to each of the plurality of suction holes.

Further, the present specification supplies a mounting head for holding the suction nozzle, a component transfer device having a head drive mechanism for moving the mounting head, a substrate transport device for transporting the substrate, and the columnar component. Discloses a parts supply device and a parts mounting machine provided with the parts supply device.

In the suction nozzles and component mounting machines disclosed in the present specification, the plurality of suction holes provided at the tip of the nozzle can be provided corresponding to the two-dimensional arrangement of the plurality of mounting positions set on the substrate. Not restricted by placement status. Moreover, since the negative pressure air is supplied to each of the plurality of suction holes all at once from the air passage, the columnar parts can be suctioned to each of them, and then the columnar parts can be mounted on the substrate. Therefore, the suction nozzle can suck and mount all the required columnar parts on the substrate at one time, and can efficiently suck and mount.

It is a top view which shows the whole structure of the component mounting machine of an embodiment. It is a perspective view which looked at the suction nozzle of an embodiment from the side of the nozzle tip portion. It is a perspective view which looked at the suction nozzle from the side of the nozzle base. It is a partially enlarged perspective view of the part A of FIG. 2, and is the figure which shows the arrangement of the suction hole of the suction nozzle. It is a side sectional view of a suction nozzle. It is a partially enlarged view of the part B of FIG. 5, and is the figure which shows the state which the columnar part was adsorbed by the suction hole. It is a side sectional view of a recovery nozzle. It is a side sectional view showing the vicinity of the tip of a recovery nozzle enlarged. It is a schematic plan view of a tray. It is a perspective view which shows the structural example of the adhesive recovery part. It is a block diagram which shows the control structure of the component mounting machine. It is a figure of the operation flow explaining the operation of a component mounting machine.

1. 1. Overall configuration of the component mounting machine 1 of the embodiment First, the overall configuration of the component mounting machine 1 of the embodiment including the suction nozzle 5 of the embodiment will be described with reference to FIG. The component mounting machine 1 carries out mounting work for mounting the columnar component P (see FIGS. 5 and 6) and other components on the substrate K.

In FIG. 1, the direction from the left side to the right side of the paper surface is the X-axis direction for transporting the substrate K, and the direction from the upper side (rear side) of the paper surface to the lower side (front side) of the paper surface is the Y-axis direction. The component mounting machine 1 is configured by assembling a board transfer device 2, a component supply device 3, a component transfer device 4, a component recognition camera 7, a control device 8, and the like to a base 10.

The board transfer device 2 is arranged so as to extend in the X-axis direction on the base 10. The substrate transfer device 2 is composed of a guide rail, a transfer belt, a clamp mechanism, and the like, which are abbreviated as codes. The transport belt rotates along the guide rail to carry the mounted substrate K to the mounting implementation position in the machine. The clamp mechanism positions the substrate K at the mounting implementation position. After the component mounting work by the component transfer device 4 is completed, the clamp mechanism releases the substrate K, and the transport belt carries the substrate K out of the machine.

The parts supply device 3 is arranged on the left side of the front side of the base 10. The component supply device 3 includes a plurality of tape feeders 31 arranged on the left side in the X-axis direction, and a tray device 33 arranged on the center side in the X-axis direction. Each tape feeder 31 sends out a carrier tape in which a large number of parts are stored in a row toward a supply position 32 on the rear end side. The carrier tape is supplied so that parts can be collected at the supply position 32. Various known forms of the tape feeder 31 can be applied.

The tray device 33 has a storage shelf 34 divided into a plurality of stages, a plurality of trays 35 stored in each stage of the storage shelf 34, and a mechanism (not shown) for selecting the tray 35 and pulling it backward from the storage shelf 34. It is composed. The tray device 33 supplies a plurality of columnar parts P using a substantially rectangular tray 35 (details will be described later).

The component transfer device 4 is arranged above the board transfer device 2 and the component supply device 3. The component transfer device 4 includes a Y-axis moving body 41, an X-axis moving body 42, a mounting head 43, three types of nozzles, a board recognition camera 45, and the like. The Y-axis moving body 41 is driven by the Y-axis linear motion mechanism and moves in the Y-axis direction. The X-axis moving body 42 is mounted on the Y-axis moving body 41 and is driven by the X-axis linear motion mechanism to move in the X-axis direction. The mounting head 43 is attached to a clamp mechanism (not shown) provided on the front surface of the X-axis moving body 42, and moves in two horizontal directions together with the X-axis moving body 42. The head drive mechanism is configured by the Y-axis moving body 41, the X-axis moving body 42, the Y-axis linear motion mechanism, and the X-axis linear motion mechanism.

A nozzle holding seat 44 is provided on the lower side of the mounting head 43 so as to be able to move up and down and rotate (see FIG. 5). Three types of nozzles are automatically and replaceably held under the nozzle holding seat 44. A nozzle station 47 is arranged between the substrate transfer device 2 and the component supply device 3 on the base 10 for the purpose of mounting the three types of nozzles. In FIG. 1, the suction nozzle 5 for sucking a plurality of columnar parts P is held under the nozzle holding seat 44. Further, a recovery nozzle 48 that adsorbs one columnar component P and a general nozzle 49 that adsorbs components other than the columnar component P are mounted on the nozzle station 47.

The suction nozzle 5 and the recovery nozzle 48 suck the columnar component P from the tray 35 of the tray device 33. The general nozzle 49 attracts parts other than the columnar part P from the supply position 32 of the tape feeder 31. Various known forms of the general nozzle 49 can be applied. The automatic nozzle replacement is performed by moving the mounting head 43 above the nozzle station 47.

The board recognition camera 45 is provided on the X-axis moving body 42 along with the mounting head 43. The substrate recognition camera 45 is arranged in a posture in which the optical axis faces downward. The substrate recognition camera 45 captures the position reference mark attached to the substrate K from above. The acquired image data is image-processed, and the mounting position of the substrate K is accurately obtained. As the substrate recognition camera 45, a digital image pickup device having an image pickup device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) can be exemplified.

The component recognition camera 7 is provided on the right side of the nozzle station 47 on the base 10. The component recognition camera 7 is arranged in a posture in which the optical axis faces upward. The component recognition camera 7 captures images of the components attracted to the general nozzle 49 from below while the mounting head 43 is moving from the component supply device 3 to the substrate K. Further, the component recognition camera 7 performs the same imaging on the suction nozzle 5 and the recovery nozzle 48. As the component recognition camera 7, a digital image pickup device having an image pickup element such as a CCD or CMOS can be exemplified.

Further, the waste box 37 and the adhesive collection unit 38 are arranged on the right side of the tray device 33. The disposal box 37 and the adhesive collection unit 38 constitute a disposal unit 39 that disposes of unnecessary columnar parts P. The waste box 37 is formed in a box shape that opens upward, and houses unnecessary columnar parts P inside. The adhesive recovery unit 38 collects unnecessary columnar parts P by adhesive force (details will be described later).

The control device 8 is assembled to the base 10, and its arrangement position is not particularly limited. The control device 8 is composed of a computer device having a CPU and operating by software. The control device 8 may be configured such that a plurality of CPUs are distributed in the machine and are connected by communication. The control device 8 controls the board transfer device 2, the component supply device 3, the component transfer device 4, and the component recognition camera 7 based on the job data for each type of the substrate K, and proceeds with the component mounting work. The job data is data that describes the detailed procedure and implementation method of the mounting work.

2. 2. Configuration of the suction nozzle 5 of the embodiment Next, the configuration of the suction nozzle 5 of the embodiment will be described with reference to FIGS. 2 to 6. As shown in FIGS. 2 and 3, the suction nozzle 5 has a nozzle base 51 and a nozzle tip 55 as main constituent members, and an air passage 6 is formed therein. The nozzle base 51 is formed by connecting a flange portion 52, a shaft portion 53, and a mounting portion 54 in this order from the upper side.

The flange portion 52 is formed in a disk shape that extends in the horizontal direction. The flange portion 52 has a notch portion 521 formed at one peripheral portion (see FIG. 3). As a result, the suction nozzle 5 can be easily visually confirmed to be in a rotational state in the circumferential direction in the posture held by the nozzle holding seat 44 and as a single item. As shown in FIG. 5, when the flange portion 52 is held by the nozzle holding seat 44 of the mounting head 43, the entire suction nozzle 5 is held.

More specifically, the nozzle holding seat 44 has a cylindrical lower portion. The nozzle holding seat 44 has a central air passage 441 on the central axis, and peripheral air passages 442 at a plurality of locations deviated from the central axis. The central air passage 441 and the peripheral air passage 442 are open downwards, and the air flow is controlled separately. The nozzle holding seat 44 reaches above the flange portion 52 by moving the mounting head 43, descends, and comes into contact with the upper surface 522 of the flange portion 52. Then, when negative pressure air is supplied to the peripheral air passage 442, the nozzle holding seat 44 attracts and holds the flange portion 52. Not limited to this, the nozzle holding seat 44 may have a chuck mechanism for sandwiching the suction nozzle 5.

The shaft portion 53 is located in the center of the lower side of the flange portion 52. The shaft portion 53 is formed in a cylindrical shape having a diameter smaller than that of the flange portion 52. The mounting portion 54 is located below the shaft portion 53. The planar shape of the upper portion 541 of the mounting portion 54 is a shape obtained by removing the four corners from the square. Mounting holes 542 are formed so as to penetrate vertically at four locations near the outer circumference of the upper portion 541. The mounting hole 542 has a small diameter on the upper side and a large diameter on the lower side. The planar shape of the lower portion 543 of the mounting portion 54 is one size smaller than that of the upper portion 541. A seal groove 544 is carved and formed so as to go around the outer circumference of the lower portion 543. The seal groove 544 is fitted with an O-ring 545 for ensuring airtightness.

The nozzle tip portion 55 is formed by connecting the upper fixed portion 56 and the lower suction structure portion 59. The fixed portion 56 is formed in a frame shape that surrounds the outer circumference of the lower portion 543 of the mounting portion 54. The O-ring 545 is pressed against the inner surface of the fixed portion 56. The fastened member 561 is erected and fixed at four points on the upper surface of the fixed portion 56 facing the mounting hole 542. The fastened member 561 is formed with a female screw and engages with a large diameter portion below the mounting hole 542. Therefore, by inserting the fastening screw 58 into the mounting hole 542 from above and rotating it, the fastening screw 58 can be screwed into the female screw of the member to be fastened 561. As a result, the nozzle base 51 holds the nozzle tip 55 in a detachable manner.

The suction structure portion 59 is formed in a plate shape that spreads in the horizontal direction. The suction structure portion 59 is arranged slightly separated from the lower surface of the lower portion 543 of the mounting portion 54. As a result, a planar air passage 65 extending in two horizontal directions with a separation distance D in the height direction is partitioned between the suction structure portion 59 and the lower portion 543 of the mounting portion 54 (see FIG. 6). The flat air passage 65 is airtight by the O-ring 545. The lower surface of the adsorption structure portion 59 is divided into an adsorption region 5A and a non-adsorption region 5C.

The suction region 5A is formed with a plurality of suction holes 5B that open downward. The suction hole 5B is a portion for sucking the columnar component P. The arrangement positions of the plurality of suction holes 5B correspond to the arrangement of the plurality of mounting positions set on the substrate K for mounting the plurality of columnar components P. The shape and size of the suction region 5A including all the suction holes 5B are appropriately set according to the arrangement situation regardless of how the plurality of mounting positions on the substrate K side are arranged two-dimensionally. be able to. Further, the adsorption regions 5A may be dispersedly arranged at two or more locations. In the example shown in FIG. 4, the adsorption region 5A is set to have a square frame shape. The number of suction holes 5B in the suction region 5A is 304, and the number is not limited to this.

The suction hole 5B is a vertical hole extending vertically in the axial direction, and is formed into a round hole according to the cylindrical shape of the columnar component P to be suctioned. The inner diameter of the suction hole 5B is set to be slightly larger than the maximum diameter based on the dimensional tolerance of the diameter of the columnar component P. The depth of the suction hole 5B is set to be slightly shorter than the length of the columnar component P. By these settings, the vertical posture of the columnar component P sucked in the suction hole 5B is stabilized. When the columnar component P has a prismatic shape, it is preferable that the suction hole 5B has the same prismatic shape. As shown in FIG. 6, the deepest portion (highest position) of the suction hole 5B communicates with the planar air passage 65.

The non-adsorption region 5C is an example shown in FIG. 4, which is an inner region of the adsorption region 5A and an outer region of the adsorption region 5A. The lower surface of the adsorption region 5A projects downward from the lower surface of the non-adsorption region 5C. Here, when the length of the columnar component P is larger than the height of the other component, the other component is mounted on the substrate K first, and the columnar component P is mounted later. When the suction nozzle 5 descends and the columnar component P is mounted on the substrate K, the non-suction region 5C is retracted above the suction region 5A, so that it does not interfere with the mounted component. If the columnar component P is mounted first, the mounted columnar component P tends to interfere with the general nozzle 49 when the other components are mounted later.

The nozzle position mark 5D is provided at a position close to the outer edge of the non-adsorption region 5C. The nozzle position mark 5D represents a reference of the position of the suction nozzle 5. The nozzle position mark 5D can be imaged by the component recognition camera 7. That is, the component recognition camera 7 functions as a nozzle image pickup camera that captures the nozzle position mark 5D and acquires image data. By using a plurality of nozzle position marks 5D (4 in the example of FIG. 2), the detection accuracy of the position of the suction nozzle 5 is improved. In addition, it is possible to detect the rotational state of the suction nozzle 5 in the circumferential direction.

Next, the air passage 6 capable of supplying negative pressure air to the plurality of suction holes 5B all at once will be described. The air passage 6 is composed of a central air passage 61, a branch air passage 62, a descending air passage 64, and the above-mentioned planar air passage 65. The central air passage 61 is formed so as to vertically penetrate the center of the nozzle base 51. In a state where the suction nozzle 5 is held by the nozzle holding seat 44, the central air passage 61 communicates with the central air passage 441 of the nozzle holding seat 44, and negative pressure and positive pressure air is selectively discharged from the mounting head 43. Be supplied. The lower end of the central air passage 61 communicates with the central position of the planar air passage 65.

Four branch air passages 62 are formed at a 90 ° pitch in a plan view. Each of the branch air passages 62 branches from the midway height of the central air passage 61 and extends horizontally outward in the radial direction. When forming through the two branch air passages 62, a lateral hole is formed in the mounting portion 54 of the nozzle base 51. The opening of this lateral hole is sealed by a stopcock 63. The descending air passage 64 extends downward from a position outside the radial direction of the branch air passage 62. The lower end of the descending air passage 64 communicates with a position outside the suction region 5A of the planar air passage 65.

According to the configuration of the air passage 6, when the negative pressure air is supplied to the upper end of the central air passage 61, the air passage 6 communicates with each of the plurality of suction holes 5B and supplies the negative pressure air all at once. be able to. Further, the planar air passage 65 communicates with the deepest portion of the suction hole 5B from the entire peripheral direction orthogonal to the axial direction of the suction hole 5B. Therefore, the upper end of the columnar component P sucked in the suction hole 5B is not sucked in a specific direction, and the vertical posture is maintained.

Assuming a configuration in which the branch air passage 62 and the descending air passage 64 are not provided, the upper end of the columnar component P is sucked toward the center. Therefore, the columnar component P is likely to be attracted in an inclined posture by the dimensional tolerance of the diameter. As a result, the vertical accuracy when the columnar component P is mounted on the substrate K is reduced.

In the suction nozzle 5 of the embodiment, the plurality of suction holes 5B included in the nozzle tip portion 55 can be provided corresponding to the two-dimensional arrangement of the plurality of mounting positions set on the substrate K, depending on the arrangement situation. Not restricted. Moreover, since negative pressure air is simultaneously supplied from each of the plurality of suction holes 5B from the air passage 6, the columnar component P can be sucked, and subsequently, the columnar component P can be mounted on the substrate K. Therefore, the suction nozzle 5 can suck all the required columnar parts P and attach them to the substrate K at one time, and can efficiently perform the suction and the attachment.

Further, the nozzle tip portion 55 is detachably held by the nozzle base portion 51. Therefore, for another type of substrate K in which the arrangement of the mounting positions of the plurality of columnar parts P is different, another nozzle tip portion 55 having a different arrangement of the suction holes 5B is manufactured and attached to the nozzle base 51 to cope with it. Can be done. That is, it is easy to deal with another type of substrate K, and the cost for dealing with it is low. In addition, since the nozzle tip portion 55 can be removed, maintenance such as cleaning of the suction hole 5B and the air passage 6 becomes easy.

3. 3. Recovery nozzle 48
Next, the recovery nozzle 48 will be described with reference to FIGS. 7 and 8. The recovery nozzle 48 is in charge of a recovery operation for mounting the shortage of columnar parts P when the columnar parts P mounted on the substrate K are insufficient. The recovery nozzle 48 is configured by connecting a flange portion 481 and a shaft portion 482, and an air passage 484 is formed therein. The flange portion 481 is formed to have the same diameter as the flange portion 52 of the suction nozzle 5. Similar to the suction nozzle 5, when the flange portion 481 is sucked and held by the nozzle holding seat 44, the entire recovery nozzle 48 is held.

The shaft portion 482 is located in the center of the lower side of the flange portion 481 and extends downward. The shaft portion 482 is formed in a hollow cylindrical shape, and the lower portion is reduced in diameter to form a suction hole 483. The inner diameter and the depth of the suction hole 483 are set to be about the same as the suction hole 5B of the suction nozzle 5. The outer diameter of the shaft portion 482 around the suction hole 483 is set small so as not to interfere with other mounted columnar parts P.

The air passage 484 is formed so as to vertically penetrate the flange portion 481 and the shaft portion 482. In the state where the recovery nozzle 48 is held by the nozzle holding seat 44, the air passage 484 communicates with the central air passage 441 of the nozzle holding seat 44, and negative pressure and positive pressure air is selectively supplied from the mounting head 43. Will be done. The lower end of the air passage 484 communicates with the suction hole 483. Therefore, when negative pressure air is supplied to the air passage 484, the columnar component P is sucked into the suction hole 483.

4. Supply of Columnar Parts P by Tray 35 Next, supply of a plurality of columnar parts P using the tray 35 will be described with reference to FIG. The tray 35 holds three groups of parts consisting of 304 columnar parts P that are sucked by one suction operation of the suction nozzle 5. The three group holding portions 351 that hold the parts group are arranged side by side in the longitudinal direction of the rectangular tray 35. Each of the group holding portions 351 is formed in a square frame shape having the same shape as the suction region 5A of the suction nozzle 5. The four sides of the group holding portion 351 are parallel to the four sides of the tray 35.

Each of the group holding portions 351 has 304 holding holes in the same arrangement as the suction holes 5B of the suction nozzle 5. However, the holding hole of the group holding portion 351 is formed shallower than the suction hole 5B of the suction nozzle 5, so that the columnar component P can be easily taken out. The tray 35 may hold a group of parts of one group or two groups, or may hold a large number of parts groups exceeding three groups.

Group position marks 352 are provided at positions near the two diagonal corners of the square frame-shaped group holding portion 351. The group position marks 352 are paired with each of the group holding portions 351. The group position mark 352 serves as a reference for the position of the component group held by the group holding portion 351. The group position mark 352 can be imaged by the substrate recognition camera 45. That is, the substrate recognition camera 45 functions as a tray image pickup camera that captures the group position mark 352 and acquires image data. If the imaging field of view is restricted, the substrate recognition camera 45 may separately capture the pair of group position marks 352 in two steps. By pairing the group position marks 352, the accuracy of detecting the position of the component group is improved. In addition, it is possible to detect an error in the rotation angle of the component group in the horizontal plane.

Further, the tray 35 has a single item holding unit 353 that can supply the columnar parts P one by one. The single item holding portion 353 is arranged in parallel with the long side at a position near one long side of the tray 35. The single item holding unit 353 holds the columnar parts P in a plurality of holding holes that are separated and arranged in a row. According to this, the component group of the columnar component P and the single item are supplied from one tray 35, which is convenient. Single item position marks 354 are provided at positions near both ends of the single item holding portion 353. The pair of single item position marks 354 serve as a reference for the position of the columnar component P held by the single item holding portion 353. Like the group position mark 352, the single item position mark 354 is imaged by the substrate recognition camera 45.

5. Adhesive recovery unit 38
Next, the configuration of the adhesive recovery unit 38 will be described with reference to FIG. As shown, the adhesive recovery unit 38 is configured by using a conveyor device. That is, the double-sided adhesive tape 382 is attached to the belt conveyor 381 of the conveyor device to form the adhesive recovery unit 38. The double-sided adhesive tape 382 is pressed against the columnar component P that is no longer needed. Therefore, the double-sided adhesive tape 382 can hold and recover the columnar component P by the adhesive force.

As shown in FIG. 1, the front portion of the adhesive recovery unit 38 is pulled out of the front side of the component mounting machine 1. Therefore, when the belt conveyor 381 rotates, the double-sided adhesive tape 382 is transferred to the outside of the machine. Therefore, without stopping the component mounting machine 1, the double-sided adhesive tape 382 can be peeled off outside the machine and discarded together with the columnar component P that is no longer needed. This disposal operation is performed after the number of columnar parts P corresponding to the area of the double-sided adhesive tape 382 is collected. After that, a new double-sided adhesive tape 382 is attached to the belt conveyor 381, and the belt conveyor 381 rotates again. As a result, the adhesive recovery unit 38 returns to a state in which the columnar component P can be recovered.

The adhesive recovery unit 38 may have a simple configuration in which the double-sided adhesive tape 382 is attached on the base 10. However, in this configuration, when the double-sided adhesive tape 382 is attached or peeled off, it is necessary to stop the component mounting machine 1 and open the safety cover (not shown). Similarly, when disposing of the columnar component P housed in the disposal box 37, it is necessary to stop the component mounting machine 1 and open the safety cover.

6. Configuration of control of component mounting machine 1 Next, a configuration of control of component mounting machine 1 will be described with reference to FIG. 11. As described above, the control device 8 controls the board transfer device 2, the component supply device 3, the component transfer device 4, and the component recognition camera 7 to proceed with the component mounting work. Further, the control device 8 has a calibration unit 81, a component detection unit 82, a disposal control unit 83, a position detection unit 84, and a cleaning control unit 85 as control function units that control the suction nozzle 5.

The calibration unit 81 functions when the suction nozzle 5 is held by the nozzle holding seat 44. Here, the suction nozzle 5 is repeatedly attached to and detached from the nozzle holding seat 44, and the relative position with respect to the mounting head 43 may change each time the suction nozzle 5 is held. The calibration unit 81 calibrates this change in relative position.

First, the calibration unit 81 moves the suction nozzle 5 held by the nozzle holding seat 44 above the component recognition camera 7. Next, the calibration unit 81 causes the component recognition camera 7 (nozzle image pickup camera) to image a plurality of nozzle position marks 5D and acquire image data. If the imaging field of view is restricted, the component recognition camera 7 may capture a plurality of nozzle position marks 5D in a plurality of times. Third, the calibration unit 81 receives the image data, performs image processing, and calibrates the relative position of the suction nozzle 5 with respect to the mounting head 43. In addition, the calibration unit 81 calibrates the rotational angle of the suction nozzle 5 in the circumferential direction.

Supplementally, by image processing, the position error of the actual mounting position of the suction nozzle 5 with respect to the reference mounting position set on the mounting head 43 can be obtained. In consideration of this position error, the subsequent position control of the mounting head 43 is executed. Alternatively, the reference mounting position is corrected based on the position error. Further, the image processing obtains an angle error of the actual mounting angle of the suction nozzle 5 with respect to the reference mounting angle set in the nozzle holding seat 44. In consideration of this angle error, the subsequent rotation control of the nozzle holding seat 44 is executed. Alternatively, the reference mounting angle is corrected based on the angle error. By performing the calibration, the subsequent control of the position of the suction nozzle 5 and the control of the rotation are accurately performed.

The component detection unit 82 detects whether or not there is a columnar component P in each of the plurality of suction holes 5B of the suction nozzle 5. First, the component detection unit 82 moves the suction nozzle 5 above the component recognition camera 7. Next, the component detection unit 82 causes the component recognition camera 7 (nozzle image pickup camera) to image the suction hole 5B and acquire image data. The image data at this time may be shared with the image data acquired by the calibration unit 81. Further, when the imaging field of view is restricted, the component recognition camera 7 may capture a plurality of suction holes 5B in a plurality of times. Thirdly, the component detection unit 82 receives the image data, performs image processing, and detects whether or not the columnar component P is present in the suction hole 5B. The presence or absence of the columnar component P is detected, for example, by the difference in brightness in the image data.

The component detection unit 82 functions before and after the suction operation in which the suction nozzle 5 sucks the columnar component P into the suction hole 5B. The component detection unit 82 can detect the first abnormality in which the columnar component P already exists in at least one suction hole 5B before the suction operation. Further, the component detection unit 82 can detect a second abnormality in which there is no columnar component P in at least one suction hole 5B at the time after the suction operation.

Further, the component detection unit 82 functions after the mounting operation in which the suction nozzle 5 mounts the columnar component P on the substrate K. The component detection unit 82 can detect a third abnormality in which the columnar component P remains in at least one suction hole 5B at the time after the mounting operation. The third abnormality means that the columnar component P mounted on the substrate K is insufficient. The first to third abnormalities are caused, for example, by the intrusion of minute dust into the suction hole 5B and clogging.

The disposal control unit 83 is a part of the disposal unit 39. The disposal control unit 83 functions when the component detection unit 82 detects an unnecessary columnar component P, in other words, when it detects a first abnormality and a third abnormality. The disposal control unit 83 moves the suction nozzle 5 above the waste box 37, supplies positive pressure air from the air passage 6 to the suction hole 5B to blow off the columnar component P, and drops it into the waste box 37 for disposal. The pressure of the positive pressure air at the time of disposal is set higher than the pressure of the positive pressure air at the time of mounting the component. The disposal control unit 83 determines whether or not the product has actually been disposed of by another image pickup and image processing by the component recognition camera 7.

If the waste cannot be disposed of, the disposal control unit 83 lowers the suction nozzle 5 from above the double-sided adhesive tape 382 of the adhesive collection unit 38, and presses the columnar component P against the double-sided adhesive tape 382. As a result, the columnar component P is recovered by the adhesive force of the double-sided adhesive tape 382 and discarded. The disposal control unit 83 determines whether or not the waste can actually be disposed of by the third image pickup and image processing by the component recognition camera 7.

The position detection unit 84 functions before the suction nozzle 5 sucks the columnar component P from the tray 35. The position detection unit 84 first moves the substrate recognition camera 45 above the tray 35. Next, the position detection unit 84 causes the substrate recognition camera 45 (tray image pickup camera) to image the group position mark 352 and acquire image data. Third, the position detection unit 84 receives the image data, performs image processing, and detects the position of the component group held by the group holding unit 351. Further, the position detection unit 84 can detect the position of the columnar component P held by the single item holding unit 353 by the same imaging and image processing.

The cleaning control unit 85 cleans the suction nozzle 5. Specifically, the cleaning control unit 85 supplies positive pressure air from the air passage 6 to the suction hole 5B to blow air in the suction hole 5B. The pressure of the positive pressure air at the time of cleaning is set higher than the pressure of the positive pressure air at the time of mounting the parts. The time when the cleaning control unit 85 functions is set before the mounting head 43 removes the suction nozzle 5 and mounts it on the nozzle station 47. Further, the cleaning control unit 85 may clean the suction nozzle 5 by utilizing the time between operations. According to this, the suction nozzle 5 is maintained in a good state by blowing dust in the suction hole 5B or the like. Further, the cleaning control unit 85 can clean the recovery nozzle 48 by the same method as the cleaning of the suction nozzle 5 each time the recovery nozzle 48 is used.

7. Operation of the component mounting machine 1 Next, the operation of the component mounting machine 1 will be described with reference to the operation flow of FIG. In the mounting work of the component mounting machine 1, first, the board transfer device 2 operates to carry the board K to the mounting implementation position and position it. Next, the mounting head 43 holds the general nozzle 49 and mounts a component that does not interfere with the mounting operation of the suction nozzle 5 on the substrate K. The subsequent operation flow is shown in FIG.

In step S1 of FIG. 12, the control device 8 moves the mounting head 43 to the nozzle station 47, removes the general nozzle 49 from the mounting head 43, and replaces it with the suction nozzle 5. Next, the calibration unit 81 functions to calibrate the relative position and mounting angle of the suction nozzle 5 with respect to the mounting head 43. In the next step S2, the component detection unit 82 detects whether or not the columnar component P is present in the suction hole 5B. When there is one or more unnecessary columnar parts P (first abnormality), the operation flow is branched to step S11.

In step S11, the disposal control unit 83 disposes the columnar component P in the disposal box 37. In the next step S12, the disposal control unit 83 determines whether or not the disposal is successful by image processing. If the disposal is successful, the state of the suction hole 5B has been restored to normal, so that the operation flow is returned to step S2. In step S13 when disposal fails, the disposal control unit 83 disposes of the columnar component P in the adhesive recovery unit 38. In the next step S14, the disposal control unit 83 determines whether or not the disposal is successful by image processing. If the disposal is successful, the operation flow is returned to step S2. If disposal fails, the columnar component P cannot be removed from the suction hole 5B, and the component mounting machine 1 stops with an error. The control device 8 notifies that the error has stopped.

If there is no columnar component P in the suction hole 5B in step S2 (normal state), the operation flow proceeds to step S3. In step S3, the position detection unit 84 detects the position of the component group held by the group holding unit 351 of the tray 35 by image processing. Next, the control device 8 controls the operation of the suction nozzle 5 to suck the columnar component P of the component group.

In the next step S4, the component detection unit 82 determines whether or not there is a columnar component P in all the suction holes 5B by image processing. When even one columnar component P is insufficient (second abnormality), the operation flow is branched to step S5. In step S5, the control device 8 stores the position of the columnar component P that the suction nozzle 5 could not suck. The stored position corresponds to a shortage position where the columnar component P is not mounted on the substrate K.

When all the suction holes 5B have columnar parts P in step S4 (normal state), and after the execution of step S5, the operation flow is merged with step S6. In step S6, the control device 8 controls the mounting operation of the columnar component P on the substrate K. In the next step S7, the component detection unit 82 determines whether or not the columnar component P is present in the suction hole 5B. When even one columnar component P remains (third abnormality), the operation flow is branched to step S8.

In step S8, the control device 8 stores the position (deficiency position) of the shortage columnar component P that was not mounted on the substrate K due to remaining in the suction hole 5B. After the execution of step S8, the operation flow proceeds to step S11. The subsequent operation flow is the same as described above, but if the columnar component P is successfully disposed of in steps S12 and S14, the operation flow proceeds to step S9 (see the broken line arrow).

If no columnar component P remains in the suction hole 5B in step S7 (normal state), the operation flow is merged with step S9. In step S9, the control device 8 determines whether or not all the columnar components P can be mounted on the substrate K. When neither step S5 nor step S8 is passed, the control device 8 adsorbs all the columnar parts P without omission, and determines that all the columnar parts P can be attached without omission. In this case, the operation flow ends. Otherwise, the operation flow proceeds to step S10.

In step S10, the control device 8 controls the recovery operation of the recovery nozzle 48. At this time, the control device 8 controls based on the deficient position stored in at least one of step S5 and step S8. The control method for the recovery nozzle 48 is the same as the control method for the suction nozzle 5 except that the columnar component P for suction and mounting is one. That is, the control device 8 controls the recovery nozzle 48 so as to attract the columnar component P from the single item holding portion 353 of the tray 35 and mount it at the insufficient position on the substrate K. At this time, similarly to the suction nozzle 5, the position of the columnar component P is detected by image processing, the presence or absence of the columnar component P is determined, and the like. The operation flow ends by executing step S10.

Note that the execution of step S10 means that at least one of the second abnormality and the third abnormality has occurred, which is not preferable. Therefore, the control device 8 may control the component mounting machine 1 to stop with an error when the number of executions or the execution frequency of the step S10 exceeds the specified value. According to this, the control device 8 can monitor the operating state of the suction nozzle 5 and detect performance deterioration such as clogging of the suction hole 5B.

The board K that has been mounted is carried out of the machine by the board transfer device 2. On the other hand, the cleaning control unit 85 cleans the suction nozzle 5 and the recovery nozzle 48. After that, the mounting head 43 mounts the suction nozzle 5 and the recovery nozzle 48 on the nozzle station 47, and holds the general nozzle 49 again. Further, the tray 35 in which all three sets of parts have been consumed is returned to the storage shelf 34, and a new tray 35 is pulled out. This prepares the mounting work for the next board K.

According to the component mounting machine 1 of the embodiment, it is possible to suction and mount all the required columnar components P to the substrate K at one time, similar to the effect described for the suction nozzle 5. It can be installed efficiently. Further, if the suction nozzle 5 is manufactured, the current product can be used for the other components of the component mounting machine 1, so that the introduction cost is low.

8. Application and Modification of the Embodiment In addition, the suction nozzle 5 can be fixedly provided on the mounting head 43 to be a dedicated component mounting machine 1 for mounting only the columnar component P. In this case, it is preferable that the cleaning control unit 85 cleans the suction nozzle 5 every predetermined number of operations or when an abnormality occurs. Further, one of the waste box 37 and the adhesive recovery unit 38 constituting the disposal unit 39 may be omitted. This embodiment can be applied and modified in various ways.

1: Parts mounting machine 2: Board transfer device 3: Parts supply device 33: Tray device 34: Storage shelf 35: Tray 351: Group holding part 352: Group position mark 353: Single item holding part 354: Single item position mark 37: Disposal box 38: Adhesive recovery part 39: Disposal part 4: Parts transfer device 43: Mounting head 44: Nozzle holding seat 45: Board recognition camera 47: Nozzle station 48: Recovery nozzle 483: Suction hole 484: Air passage 49: General use Nozzle 5: Nozzle nozzle 51: Nozzle base 55: Nozzle tip 59: Suction structure 5A: Suction area 5B: Suction hole 5C: Non-suction area 5D: Nozzle position mark 6: Air passage 61: Central air passage 62: Branch air Passage 64: Down air passage 65: Flat air passage 8: Control device 81: Calibration unit 82: Parts detection unit 83: Disposal control unit 84: Position detection unit 85: Cleaning control unit K: Board P: Columnar parts

Claims

A nozzle tip having a plurality of suction holes arranged corresponding to the arrangement of a plurality of mounting positions set on the substrate for mounting a plurality of columnar parts and capable of sucking the columnar parts, respectively.
An air passage that communicates with each of the plurality of suction holes and can supply negative pressure air all at once,
A suction nozzle equipped with.
The nozzle tip portion has an adsorption region in which the adsorption holes that open downward are arranged and a non-adsorption region in which the adsorption holes are not arranged, and the adsorption region projects downward from the non-adsorption region. The suction nozzle according to claim 1.
The suction nozzle according to claim 1 or 2, wherein the air passage communicates with the suction hole from a plurality of directions intersecting the axial direction in which the suction hole extends.
The suction nozzle according to claim 3, wherein the air passage communicates with the deepest part of the suction hole from the entire peripheral direction orthogonal to the axial direction.
The suction nozzle according to any one of claims 1 to 4, further comprising a nozzle base that holds the tip of the nozzle detachably.
A mounting head for holding the suction nozzle according to any one of claims 1 to 5, and a component transfer device having a head drive mechanism for moving the mounting head.
A substrate transfer device that conveys the substrate and
A component supply device that supplies the columnar components and
Parts mounting machine equipped with.
The suction nozzle has a nozzle position mark indicating a position reference and has a nozzle position mark.
The mounting head holds the suction nozzle detachably and detachably.
The parts mounting machine is
A nozzle imaging camera that captures the nozzle position mark and acquires image data,
A calibration unit that performs image processing on the image data to calibrate the relative position of the suction nozzle with respect to the mounting head.
The component mounting machine according to claim 6.
A nozzle imaging camera that acquires image data by imaging the suction holes of the suction nozzle, and
A component detection unit that performs image processing on the image data to detect whether or not the columnar component is present in the suction hole, and a component detection unit.
The component mounting machine according to claim 6 or 7.
The nozzle imaging camera is used before and after the suction operation in which the suction nozzle sucks the columnar component into the suction hole, and before and after the mounting operation in which the suction nozzle mounts the columnar component on the substrate. The component mounting machine according to claim 8, wherein the suction holes are imaged at one or more timings after the operation.
8. The parts mounting machine described.
The component mounting machine according to claim 10, wherein the disposal unit has at least one of a disposal box for accommodating unnecessary columnar parts and an adhesive collection unit for collecting unnecessary columnar parts by adhesive force.
The mounting head holds the suction nozzle detachably and detachably.
When the component detecting unit detects a shortage of the columnar component mounted on the substrate, the component mounting machine is detachably held by the mounting head and is held to the substrate by sucking the missing columnar component. Equipped with a recovery nozzle that performs the mounting operation of
The component mounting machine according to any one of claims 8 to 11.
The component mounting machine according to claim 12, wherein the recovery nozzle includes a suction hole capable of sucking the columnar component and an air passage communicating with the suction hole to supply negative pressure air.
The component mounting machine according to any one of claims 6 to 13, wherein the component supply device has a tray that holds one or more groups of components composed of the plurality of columnar components that are adsorbed by one suction operation.
The tray has a group position mark that serves as a reference for the position of the component group.
The parts mounting machine is
A tray imaging camera that captures the group position mark and acquires image data,
A position detecting unit for detecting the position of the component group by performing image processing on the image data is provided.
The component mounting machine according to claim 14.