JP2003094371A - Electrical part supply method and electrical part installation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce defective installation of electrical parts in an electrical part installation system. SOLUTION: A suction pipe is attached to the suction nozzle as decentered from the nozzle rotation axis. Suction surface rotation caused by suction nozzle rotation dissolves the positional difference in the Y-axis direction between the suction surface center and the suction position inherent in the electronic part 38, and positional difference in the X-axis direction is dissolved by controlling the part supply table stop position. At the part holding attitude detection position, the image pickup device takes pictures of the suction nozzle suction surface for acquisition of nozzle rotation axis positional error ΔXA, ΔYA and suction surface eccentricity ΔXN, ΔYN. By using these, and ΔXB, ΔYB which is the preset positional difference of the opening 26 at the inherent suction position relative to the center, the angle and direction for the suction surface to cover for the dissolution of positional difference in the Y-axis direction are determined, and table movement data are set and adjusted. After the commencement of installation, based on the result of detection of the hold position error by the suction nozzle of the electronic part 38, positional errors of the feeder 36 in the X-axis and Y-axis directions are measured, and adjusted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for receiving an electric component (including an electronic component) in a suction nozzle and an electric component mounting system, and more particularly to reduction of suction failure.

[0002]

2. Description of the Related Art A suction nozzle sucks and holds an electric component by negative pressure, and is used, for example, in an electric component mounting system. In this case, the electric component is supplied by the component supply device and held by the suction nozzle,
It is mounted on the circuit board. The suction nozzle receives an electric component from the component supply unit of the component supply device at a preset component receiving position, but a suction defect such as failure to suck the electric component may occur. The relative position between the center of the suction surface of the suction nozzle and the suction target point of the electric component is displaced in at least one of two directions orthogonal to each other in a plane perpendicular to the axis of the holding head, and therefore the suction surface is separated from the electric component. It will stick out and the negative pressure will not be enough to pick up electrical parts, or even if it does, an unexpected posture (for example,
In some cases, the electric components may be adsorbed in the thickness direction or the standing posture in the lateral direction).

There are various types of electrical component mounting systems, one of which is one in which a plurality of holding heads are swiveled around an axis and in a component receiving position, which is one of a plurality of stop positions. There is one that receives an electric component from a component supply unit of a component supply device and mounts it on a circuit board at a component mounting position which is another stop position. In this electric component mounting system, the component supply device is provided with a plurality of feeders, and the feeders are arranged in a state in which the respective component supply parts of the feeders are aligned in a straight line parallel to the tangent to the turning loci of the plurality of holding heads. At the same time, it is moved in a direction parallel to the straight line and the component supply unit is selectively stopped at the component supply position. Among the positional deviations of the component from the target suction point, it is possible to eliminate the positional deviation in the direction parallel to the tangent to the turning trajectory. Further, as another type of electrical component mounting system, the holding head is moved by the moving device to an arbitrary position in a plane perpendicular to the axis of the holding head to receive the electrical component from the component supply unit of the component supply device, Some are mounted on a circuit board. In this electrical component mounting system, the positional deviation between the center of the suction surface of the suction nozzle and the target suction point of the electrical component is controlled by controlling the moving position of the holding head in any of two directions orthogonal to each other in the plane. It is possible to eliminate it.

[0004]

However, in an electric component mounting system in which a plurality of holding heads are rotated to mount electric components, the center of the suction surface and the suction target point of the electric components. It is not possible to eliminate the positional deviation of the tangential line of the holding head with respect to the turning locus and the direction perpendicular to the axis of the holding head, and there is a fear that suction failure may occur. Further, in an electric component mounting system in which the holding head is moved to an arbitrary position to mount an electric component, it may be better not to control the stop position of the holding head.

In view of the above circumstances, the present invention has an object to reduce the occurrence of defective suction of an electric component in an electric component supplying method and an electric component mounting system for receiving an electric component from a component supplying device by a suction nozzle. According to the present invention, the electrical component supply method and the electrical component mounting system of the following respective aspects can be obtained.
Similar to the claims, each aspect is divided into paragraphs, each paragraph is numbered, and the numbers of other paragraphs are referred to as necessary. This is merely for facilitating the understanding of the present invention, and the technical features and combinations thereof described in the present specification should not be construed as being limited to those described in the following items. . Moreover, when a plurality of items are described in one section, it is not always necessary to adopt the plurality of items together. It is also possible to select and use only some of the items.

In the following items, (1) corresponds to claim 1, (2) to claim 2, and (6) to claim 3.
(8) corresponds to claim 4, and (11) corresponds to claim 5.

(1) A suction head for sucking and holding an electric component on a suction surface at a lower end is held by a holding head rotating around a rotation axis in a posture extending in parallel with the rotation axis, and the suction nozzle is An electric component supply method for receiving an electric component from a component supply device in which a feeder for sequentially supplying one electric component at a component supply unit is arranged with the component supply units aligned in a straight line. The suction surface is eccentric with respect to the rotation axis of the holding head, and is parallel to the straight line between the center of the suction surface and the suction target point of the electric component positioned in the component supply unit. And a relative positional deviation of at least one of the straight line and a direction perpendicular to the rotation axis with respect to the suction surface as the holding head rotates about the rotation axis. In a state of being eliminated as much as possible by turning around the rotation axis, the EC supplying method to perform the reception of electric components. The suction surface may be intentionally eccentric with respect to the rotation axis of the holding head, or an eccentricity error due to a manufacturing error or a bending of a suction pipe forming the suction portion of the suction nozzle may be used. When the suction surface is intentionally decentered, the suction surface may be decentered with respect to the nozzle body, or the nozzle holding portion of the holding head may be decentered with respect to the rotation axis. If the suction surface of the suction nozzle is eccentric with respect to the rotation axis of the holding head, when the holding head is rotated about its rotation axis, the suction surface is swung around the rotation axis, and Since the positions in two directions that are orthogonal to each other change in one plane at a right angle,
By utilizing this change in position, the relative displacement between the center of the suction surface and the suction target point can be minimized. For example, if the displacement of the relative position between the center of the suction surface and the suction target point in one of the two directions is eliminated by means other than the turning of the suction surface, the suction surface is swung to determine the relative position of the other. By moving to a position where the displacement can be eliminated or reduced, relative positional displacement in the two directions can be eliminated or reduced. Further, even if there is no means for eliminating the relative displacement other than the rotation of the suction surface, the relative displacement in the two directions can be eliminated as much as possible by the rotation of the suction surface. In this case, there is a case where the relative displacement in the two directions can be eliminated at the same time by turning the suction surface. In that case, for example, the relative positional deviation may be reduced based on a preset rule. For example, the suction surface is swung so that the elimination rate or the elimination amount of one of the relative positional deviations in the two directions becomes larger than the other. For example, when the dimensions of the electric component are significantly different in the two directions, the suction surface is swung so that the elimination rate or the elimination amount is increased in the smaller dimension, or the preset direction of the two directions is moved relative to each other. The relative positional deviation can be eliminated or reduced in various modes such as turning the suction surface so that the positional deviation is eliminated by a set amount. As described above, according to this aspect, the relative displacement between the center of the suction surface and the suction target point is eliminated as much as possible by rotating the suction surface eccentric to the rotation axis of the head about the rotation axis. Even if the electric component received from the component supply unit is small, it can be favorably adsorbed by the adsorption nozzle, and the occurrence of adsorption failure can be reduced. If the electrical component mounting system is a system in which a plurality of holding heads are swung around a swivel axis to mount electric components on a circuit board, the tangent to the swirl locus of the holding head and the swivel axis of the holding head are set. By eliminating the relative displacement in the perpendicular direction by turning the suction surface as much as possible, and eliminating the relative displacement in the direction parallel to the tangent line by moving the component supply device, the suction surface and the suction target point It is possible to eliminate the relative positional deviation between the two directions as much as possible. When the eccentricity of the center of the suction surface from the axis of rotation of the head is sufficiently large, the relative displacement of the tangent to the swivel trajectory of the holding head and the direction perpendicular to the swivel axis of the holding head is eliminated by swiveling the suction surface. If the amount of eccentricity from the rotation axis of the head at the center of the suction surface is not sufficient,
It is possible to reduce the relative positional deviation in the above directions. If the eccentricity of the suction surface is due to an eccentricity error such as a manufacturing error, the eccentricity is not always sufficiently large, and the suction surface is swung to make the suction surface and the suction target point relative to each other in the perpendicular direction. Although all the misalignment may not be resolved,
In principle, when the suction surface is eccentrically made eccentric, the amount of eccentricity is made sufficiently large and all the relative positions are eliminated. However, if this relative positional deviation is excessively large, it is not necessary to completely eliminate it. Further, in the electric component mounting system in which the holding head is moved to an arbitrary position to mount the electric component, the center of the suction surface and the suction target point can be relatively moved without controlling the stop position of the holding head. The positional deviation can be eliminated as much as possible.

(2) A relative position acquisition step of acquiring the relative position of the suction surface with respect to the rotation axis of the holding head,
Based on the relative position acquired in the relative position acquisition step, the holding head and the component supply device are arranged so that the relative positional deviation between the center of the suction surface and the suction target point becomes as small as possible. A relative movement process of relative movement,
The electrical component according to item (1), including a supply step of bringing the holding head and the component supply device that have been relatively moved by the relative movement process closer to each other, and causing the suction nozzle to receive the electrical component from the component supply unit. Supply method. The relative position of the suction surface with respect to the rotation axis of the holding head may be acquired, for example, by imaging the suction surface with an imaging device, or the rotation position of the suction nozzle or the holding head is acquired and stored in advance as the rotation position. You may make it acquire based on the eccentricity data currently hold | maintained. If the eccentricity of the suction surface with respect to the rotation axis of the holding head is intentionally made, the eccentricity data may be stored in advance and the position of the suction surface may be obtained based on the rotation position of the suction nozzle or the holding head. it can. If the eccentricity of the suction surface with respect to the rotation axis of the holding head is caused by the eccentricity error, the amount of eccentricity is unknown, and the position of the center of the suction surface with respect to the head rotation axis can be acquired by imaging the suction surface.
The same applies when the suction surface is intentionally decentered and includes an eccentricity error. Once the relative position of the center of the suction surface with respect to the axis of rotation of the holding head is acquired, set the swivel direction and angle of the suction surface to eliminate or reduce the relative displacement between the center of the suction surface and the target suction point. However, the suction surface can be swung so that the relative displacement is as small as possible. (3) The electrical part supply method according to item (2), wherein the relative position acquisition step is performed in a state in which the holding head is in a predetermined set rotation position. According to this section, for example, the positional deviation which is the rotational position of the holding head when setting the rotation angle and direction of the holding head for eliminating or reducing the relative positional deviation between the center of the suction surface and the suction target point is eliminated. The post-rotation position can be easily determined as the pre-displacement elimination rotation position with reference to the set rotation position.

(4) In the relative position obtaining step, a first image pickup is performed by the image pickup device for picking up the suction surface from a direction parallel to the rotation axis of the holding head and facing the suction surface. Process, a rotation process of rotating the holding head by a predetermined angle, a second imaging process of re-imaging the suction surface by the imaging device after the rotation process, and at least the first and second imaging processes. Based on the position of the plurality of images of the suction surface obtained in, while acquiring the position of the rotation axis, the relative position of the suction surface with respect to the rotation axis in the state where the holding head is in the set rotation position. The electric component supply method according to (2) or (3), including a position acquisition step of acquiring. The first imaging position, which is the rotational position when the first imaging process of the holding head is performed, and the second imaging position, which is the rotational position when the second imaging process is performed, are both different from the set rotational position. Alternatively, as in the method described in the item (5), one may be the same as the set rotational position. Further, in addition to the first and second imaging steps, an imaging step at another rotation position may be included. The centers of the two suction surfaces obtained by the respective imagings at the first and second imaging positions are on one circle around the head rotation axis, and the centers of the two suction surfaces are The head rotation axis is calculated based on the rotation position (rotation angle from the rotation origin) of the holding position of the holding head with respect to the imaging position. If one of the two image pickup positions is the set rotation position, and if the relative position is acquired in the set rotation position, the image pickup and the relative position acquisition are performed at the same rotation position. The positional deviation of the center of the suction surface obtained by imaging at the imaging position with respect to the acquired head rotation axis is irreversible, and the center of the suction surface with respect to the head rotation axis when the holding head is positioned at the set rotation position This is a positional shift and eccentricity, which simplifies the calculation. Even if the set rotation position is different from either of the two image pickup positions, the center of the suction surface when the holding head is located at the set rotation position is the center of the two suction surfaces obtained by two image pickups. If the positions of the first and second imaging positions and the set rotational position with respect to the rotation origin position of the holding head are known, the position data and the center position of the suction surface obtained by imaging are determined. Based on the calculation, the center of the suction surface in the state where the holding head is located at the set rotation position is obtained,
The relative position with respect to the head rotation axis can be acquired. However, in this case, the amount of calculation is slightly increased. Further, if one of the two image pickup positions is set as the set rotation position and the rotation position after the positional deviation of the holding head is eliminated is determined with reference to the set rotation position, the image pickup, the acquisition of the relative position, and the holding head The setting of the rotation angle and the direction is performed at the same rotation position (rotation position before position shift elimination), which can be easily set.

(5) The electrical component supply method according to item (4), wherein one of the first and second imaging steps is performed in a state where the holding head is at the set rotation position.

(6) In the relative movement step, the holding head is swung in a circular swirl locus and stopped at a predetermined point on the swirl locus, and at the same time, the component supply device is rotated. The component supply unit is moved in the direction of the tangent to the turning trajectory (1) or
The electrical component supply method according to any one of (5). According to this section, the relative displacement between the center of the suction surface and the suction target point in the direction of the tangent to the turning trajectory of the holding head, that is, in the moving direction of the component supply device can be eliminated by moving the component supply device. The relative displacement in the moving direction of the component supply device and the direction perpendicular to the rotation axis of the holding head can be eliminated as much as possible by turning the suction surface. (7) In the state where the rotational position of the holding head is set such that the eccentricity of the suction surface with respect to the rotation axis of the holding head occurs in a direction parallel to the tangent to the turning trajectory from the rotation axis, Transfer process is carried out
The method for supplying electric components according to item (6). For example, if the relative displacement between the center of the suction surface and the suction target point is caused only by the eccentricity of the suction surface, the displacement of the suction surface with respect to the head rotation axis occurs in a direction parallel to the tangent to the swirl trajectory from the head rotation axis. By doing so, the relative displacement between the center of the suction surface and the suction target point in the direction parallel to the tangent line can be eliminated by controlling the stop position of the component supply device. Even if the displacement between the center of the suction surface and the suction target point in the direction perpendicular to the tangent to the holding head rotation trajectory and the axis of rotation of the holding head is negligible, the center of the suction surface and suction Relative displacement with respect to the target point can be substantially eliminated.

(8) The suction target point of the electric component positioned in the component supply section of the component supply device causes a positional error in a direction perpendicular to the tangent to the turning trajectory of the holding head and the rotation axis of the holding head. When having, the holding head is rotated to a rotational position where the eccentricity of the suction surface will eliminate the position error of the suction target point as much as possible, and the center of the suction surface and the suction target point, The electrical component supply method according to (6), wherein the deviation of the holding head in the direction parallel to the tangential line to the turning trajectory is eliminated by controlling the stop position of the component supply device. According to this section, even if there is a position error in the suction target point in the direction perpendicular to the tangent to the turning trajectory of the holding head and the rotation axis of the holding head, the center of the suction surface and the suction target point due to the position error The positional deviation can be eliminated, and the center of the suction surface can suck the electric component at the suction target point.

(9) When a plurality of holding heads are used and there is a relative position error between the rotational axes of the plurality of holding heads, the relative movement step is performed in consideration of the relative position error. The method for supplying electric components according to any one of (2) to (8). According to this aspect, the positions of the center of the suction surface and the suction target point are more accurately aligned, and the electric component is less likely to be displaced and is reliably sucked. The same applies to item (10). (10) When there is a positional difference between the suction target point of the electric component supplied from the component supply device and the center point of the component supply unit, the relative movement step is performed in consideration of the positional difference as well. The method for supplying electric components according to any one of (2) to (9).

(11) A component supply device in which feeders for sequentially supplying the electric components one by one in the component supply unit are arranged with the component supply units aligned in a straight line, and a circuit to which the electric component is to be mounted. A substrate holding device that holds a substrate, a holding head that is rotatable about a rotation axis, holds a suction nozzle in a posture that is detachable and extends parallel to the rotation axis, and a state held by the holding head.
The suction nozzle having a suction surface eccentric to the rotation axis of the holding head by a set distance, a head rotating device for rotating the holding head, the holding head, the component supply device, and the substrate holding device A relative moving device that relatively moves in a direction intersecting a rotation axis, an approaching / separating device that causes the holding head and the component supply device to approach each other in a direction parallel to the rotation axis, and separates the head, and the head rotating device, The relative movement device and the approaching
And a control device for controlling the separating device, and the control device, the center of the suction surface and the suction target point of the electrical component positioned in the component supply unit, the direction parallel to the straight line, and Receiving an electric component in a state where relative displacement of at least one of a straight line and a direction perpendicular to the rotation axis is eliminated as much as possible by the rotation of the suction surface accompanying the rotation of the holding head about the rotation axis. An electric component mounting system including a component reception control unit for performing the operation. (2)
The features described in items (10) to (10) can also be applied to the electrical component mounting system of this item.

A plurality of holding heads are provided, for example, on a rotating body that is rotatably provided around one axis, and are provided at equal angular intervals on a circle around the rotation axis of the rotating body. The rotary body may be an intermittent rotary disk that intermittently rotates around the rotation axis, or a rotary body that can be rotated at any angle in both forward and reverse directions. The intermittent rotary disc is intermittently rotated by an intermittent rotary device that is a rotary body rotating device, whereby a plurality of holding heads are swiveled around a swivel axis formed by the rotational axis of the intermittent rotary disc, and a circular swirl locus. The positioning is sequentially performed at a plurality of predetermined stop positions above. Then, the component supply device is provided at one of the stop positions, and the substrate holding device is provided at another stop position. The rotating body having an arbitrary rotation angle and direction is rotated by the rotating body rotating device, the plurality of holding heads are swung, and stopped at a predetermined stop position. In these cases,
The rotating body and the rotating body rotating device constitute a head turning device that is a holding head moving device. The holding head may be provided on each of a plurality of rotating members that are independently rotatable about a common pivot axis. Each of the plurality of rotating members makes one turn around the above-mentioned turning axis and one
Rotational movements including stoppages more than once and having a certain time difference from each other are imparted by the rotational movement imparting device, and the retaining head is retained on each of the rotational members at a position equidistant from the pivot axis. In this case, the turning member and the turning motion imparting device form a head turning device that is a holding head moving device. The holding heads are also orthogonal to each other in one plane.
At least one moving member that linearly moves in at least one of the directions may be held. The moving member is
When the holding head is moved by the moving member moving device and moved in two directions orthogonal to each other in the one plane, the holding head is moved to an arbitrary position in the one plane. In this case, the moving member and the moving member moving device form a holding head moving device. In these cases, the relative movement device is configured to include the holding head movement device. JP-A-10-1
As described in Japanese Patent No. 63677, a moving member holds the rotating body and the rotating body rotating device or a plurality of rotating members and a rotating motion imparting device and moves in two directions orthogonal to each other in one plane. It may be one. The rotation axis of the rotating body or the rotation axis of the plurality of rotating members is a straight line perpendicular to the surface of the circuit board held by the board holding device,
For example, it may be a vertical line, and may be inclined with respect to a plane perpendicular to the surface of the circuit board, for example, a vertical plane. In this case, the relative moving device is configured to include the rotating body, the rotating body rotating device, the moving member, and the moving member moving device, or the rotating member, the rotating motion imparting device, the moving member, and the moving member moving device. To be done. The substrate holding device is provided in a fixed position, or is moved by the circuit board moving device or the substrate holding device moving device. In the latter case, the relative moving device includes a circuit board moving device or a substrate holding device moving device. The component supply device is provided, for example, at a fixed position or is moved by the component supply device moving device. In the latter case, the relative movement device includes the component supply device movement device. In any of the aspects, the component supply device accommodates, for example, one type of electric component, and a plurality of feeders that sequentially supply the electric components one by one in the component supply unit, and those feeders supply each component. It is configured to include a feeder support table or a table mounted in a state where the parts are aligned.
The feeder may feed the electric components one by one to the component supply unit by holding the electric components on the carrier tape and feeding the component holding tape including the electric components and the carrier tape by the tape feeding device, or may vibrate. , The inclination, the air flow, the conveyor belt, or a combination thereof, the electric components may be arranged in a line and sent to the component supply unit to supply the electric components one by one. In any case, the feeder includes a component feeding device that feeds the electric component to the component supply unit, and a component accommodating device that accommodates the electric component. When the component supply device is moved, the feeder support is moved by the component supply device moving device in a direction parallel to the straight line where the component supply units are arranged, and the component supply units of the plurality of feeders are set in advance. The feed position is selectively stopped. According to this section, for example,
The action and effect described in section (1) can be obtained. The features described in the above items (2) to (5) and (7) to (10) can also be applied to this electrical component mounting system.

(12) The relative moving device rotates the holding head about a turning center line and sequentially stops at a plurality of predetermined stop positions on the turning locus, and the component supply device. The component supply device moving device for moving the device in a direction parallel to a tangent to the turning trajectory to stop the component supply unit at a position corresponding to one of the plurality of stop positions. Electrical component mounting system. According to this item, for example, the action and effect described in item (6) can be obtained.

(13) The control device causes the head rotating device to rotate the holding head to a rotational position where the eccentricity of the suction surface eliminates the positional deviation of the suction target point as much as possible. , The component supply device moving device, to eliminate the deviation in the moving direction of the component supply device between the center of the suction surface and the suction target point by controlling the stop position of the component supply device (12) Parts mounting system.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below in detail with reference to the drawings. In FIG. 1, reference numeral 10 denotes an electronic component mounting system 12 which is a kind of electrical component mounting system.
Is the base of. On the base 10, the component supply device 1
4, an electronic component mounting device 16 which is an electric component mounting device and a printed wiring board holding device 18 which is a substrate holding device are provided to constitute an electronic component mounting system 12.

At least one, and in the present embodiment, two component supply tables 30, 32 are provided for the component supply device 14.
Is included. Each of these component supply tables 30 and 32 has a feeder support base 34 and a plurality of feeders 36 mounted on the feeder support base 34. Although detailed illustration is omitted, in the present embodiment, the feeder 36 holds an electronic component 38 (see FIG. 6), which is a type of electrical component, on a component holding tape to form a taped electronic component 22 (see FIG. 2). It is supposed to be supplied in the state of being.

One electronic component 38 is accommodated in each of a number of component accommodating recesses formed in the component holding tape.
The opening of each component accommodating recess is covered with a cover tape attached to the component holding tape. The taped electronic component 22 is placed on the feeder main body of the feeder 36, and the front portion, which is a portion on the electronic component mounting device 16 side, is
As shown in FIG. 2, it is covered with a cover 24.
The cover 24 is attached to the feeder main body so as to be movable in the tape feeding direction, and as shown in FIG. 3, an opening 26 for taking out the electronic component 38 from the component holding tape is provided.

The taped electronic component 22 is fed by a tape feeding device (not shown), the cover tape is peeled off and pulled out from the cover 24, and the electronic components 38 are sequentially fed to the component feeding section 37 (see FIG. 3). It is sent to a preset position. The component supply part 37 is a part including the opening 26, and the feeder 36 is a suction nozzle described later.
Electronic components 38 are sequentially supplied from the component supply unit 37 one by one. The plurality of feeders 36 are removably attached to the feeder support base 34 in a state where the component supply portions 37 are aligned on a straight line, for example, a horizontal straight line.

In this embodiment, an XY coordinate plane is set for the entire electronic component mounting system 12, and this XY coordinate plane is set.
Movement data of various moving members such as the component supply tables 30 and 32, the printed wiring board holding device 18, and the like are set on the coordinate plane. In the present embodiment, as shown in FIG. 4, the XY coordinate plane has the electronic component mounting system 12 from above, the component receiving position at which the component supply device 14 is provided at the upper side, and the printed wiring board holding device 18 at the component receiving position. The left-right direction in a plan view with the mounted component mounting position located on the lower side is the X-axis direction, which is a direction perpendicular to the X-axis direction.
In the plan view, the vertical direction is the Y-axis direction, and the right side and the upper side are the positive directions, respectively. This reception of the electronic component 38 from the component supply device 14 and the mounting of the electronic component 38 on the printed wiring board are both performed from above the electronic component 38 and the printed wiring board, and this coordinate plane is convenient. In the present embodiment, the component supply units 37 of the plurality of feeders 36 are arranged in parallel in the X-axis direction (the left-right direction in FIG. 1).

As shown in FIG. 1, each of the feeder support bases 34 of the component supply tables 30 and 32 has a nut 3 as shown in FIG.
9 is fixed, and the ball screws 40, which are feed screws, are each rotated by the support base driving motor 42, so that the component supply tables 30 and 32 are guided by the guide device including the guide rails 44 and the X-axis. The component supply units 37 of the plurality of feeders 36 are selectively stopped at the component supply positions. The ball screw 40, the support driving motor 42, and the like constitute a support moving device or a table moving device 46. The two component supply tables 30 and 32 are independently moved by the dedicated table moving device 46, and the two table moving devices 46 constitute the component supplying device moving device 48. The guide rail 44 is shared by the component supply tables 30 and 32. Two
The supply of electronic parts by the parts supply tables 30 and 32 of the table is already known as described in, for example, Japanese Patent Publication No. 8-21791, and a description thereof will be omitted. In addition,
In FIG. 1, for the component supply table 30, the nut 39 is shown and the feeder 36 is omitted.
Regarding the component supply table 32, the feeder 36 is shown and the nut 39 is not shown.

The printed wiring board holding device 18 holds a printed wiring board 60 which is a kind of circuit board, and a printed wiring board holding device moving device 6 which is a circuit board holding device moving device.
4, the movable body is moved to an arbitrary position on the XY coordinate plane defined by the X axis and the Y axis which are orthogonal to each other.
The printed wiring board holding device moving device 64 includes an X-axis slide drive motor 68 and a ball screw 7 as a feed screw.
0, an X-axis slide 74 guided by a guide rail 72 to be moved in the X-axis direction, a Y-axis slide drive motor 76 and a ball screw 78 as a feed screw on the X-axis slide 74. And a Y-axis slide 82 which is guided by and is moved in the Y-axis direction. The printed wiring board holding device moving device 64 is an XY moving device in this embodiment.

The Y-axis slide 82 supports the printed wiring board holding device 18 from below and supports the printed wiring board holding device 18.
Holds the printed wiring board 60 in a horizontal posture from below. A plurality of mounting positions or mounting surfaces on which the electronic components 38 are mounted are preset on the front surface or the top surface of the printed wiring board 60, and the mounting positions are sequentially changed by the movement of the printed wiring board holding device 18. The electronic component mounting device 16 described later is positioned at a position corresponding to the mounting position.

A plurality of, in the present embodiment, two reference marks 88 are provided on the surface of the printed wiring board 60. The reference mark 88 of the printed wiring board 60 held by the printed wiring board holding device 18 is imaged by the reference mark camera 90 (see FIG. 1) which is an imaging device. The fiducial mark camera 90 is held by a holding member (not shown) provided on a frame of the electronic component mounting apparatus 16 described later, is stationary and is provided downward, and images the fiducial mark 88 from above.

The fiducial mark camera 90 includes a CCD (charge coupled device), which is a type of solid-state image sensor, and a lens system including an image forming lens, and is a type of image pickup device that acquires a two-dimensional image of a subject at once. It is a certain surface imaging device. The CCD has a large number of minute light receiving elements arranged on one plane, and generates an electric signal according to the light receiving state of each light receiving element. An imaging area or an imaging screen is formed by a large number of light receiving elements. An illumination device (not shown) is provided corresponding to the fiducial mark camera 90, and illuminates the subject and its surroundings during imaging.

The electronic component mounting device 16 will be described with reference to FIG. Part of the electronic component mounting apparatus 16 of the present embodiment is
A part of the electronic component mounting apparatus described in Japanese Patent Laid-Open No. 6-342998 and a configuration similar to that of the electronic component mounting apparatus described in the application of Japanese Patent Application No. 2000-164958 by the present applicant, which has not been published yet. Yes, and a brief description.

In FIG. 2, reference numeral 110 denotes a frame, which is provided on the base 10. A rotation shaft 112 is supported by the frame 110 so as to be rotatable about one axis, which is a vertical axis in this embodiment. The rotary shaft 112 is rotated by the rotary shaft drive device 114. Rotating shaft drive device 1
Reference numeral 14 is configured to include a roller gear and a roller gear cam (not shown), and the roller gear cam is an intermittent rotation motor 1
When it is rotated at a constant speed in one direction by 16 (see FIG. 8), a plurality of rollers of the roller gear sequentially engage with the cam ribs of the roller gear cam, and the rotating shaft 112 is intermittently rotated around the vertical axis by a constant angle.

At the lower end of the rotary shaft 112 extending downward from the frame 110, an intermittent rotary disk 120, which is an intermittent rotary body as a rotary body which is a kind of moving member, is fixed. In the intermittent turntable 120, a plurality of sets, in the present embodiment, 16 sets of holding heads 130 are arranged at an equal angular interval on the circumference of the rotation axis of the rotary shaft 112. It is movable in parallel directions, that is, it can be moved up and down, and is held rotatably around the head rotation axis. The holding head 130 receives the electronic component 38 from the component supplying device 14 and receives the electronic component 38.
It is a mounting head to be mounted on 0.

By rotating the rotary shaft 112, the intermittent rotary disk 120 is intermittently rotated by an angle equal to the mounting angle interval of the 16 sets of holding heads 130.
As a result, the 16 sets of holding heads 130 are swung in a circular swirl locus around the common swivel axis, that is, the rotary axis of the intermittent turntable 120, and the vertical axis, which is schematically shown in FIG. As described above, the preset component holding position or component suction position or component receiving position, component posture change position, component holding posture detection position,
The components are sequentially stopped at 16 stop positions such as a component posture correction position, a component mounting position, a holding head posture return position, a holding portion detection / selection position, and a Y-axis direction position shift elimination execution position. In the present embodiment, the rotary shaft 112, the rotary shaft drive device 114, etc. constitute an intermittent rotary device, and the intermittent rotary disk 120.
A head moving device 132, which is a head moving device, is formed together, and the head rotating device 132 forms a relative moving device 134 together with the component supply device moving device 48 and the printed wiring board holding device moving device 64. The head turning device 132 is a head intermittent turning device. The X-axis direction is a tangential direction with respect to the turning locus of the holding head 130 at the component receiving position, and the component feeding device moving device 48 moves the component feeding device 14 in a direction parallel to the tangential direction with respect to the turning locus. The component supply unit 37 is moved in the direction and stopped at the position corresponding to the component receiving position. Further, the Y-axis direction is a direction perpendicular to the tangent to the turning trajectory of the holding head 130 and the rotation axis of the holding head 130.

The intermittent head 1 supports the holding head 130.
The support member 146 held by 20 to be able to move up and down is engaged with a cam groove (not shown) of a cylindrical cam 140 fixed to the frame 110 by a roller 148 which is a cam follower. The height of this cam groove is gradually changed in the circumferential direction, and the intermittent turntable 120 is rotated,
When the holding head 130 is swung, the rollers 148
By moving in the cam groove while contacting the groove side surface,
The holding head 130 is moved up and down. In the present embodiment, the cam groove is arranged such that the holding head 130 is located at the rising end at the component receiving position and is located at the descending end at the component mounting position, and moves horizontally before and after the component receiving position and the component mounting position. Has been formed.

A cylindrical sleeve 160, which is a support member, is fixed to the outer surface of the support member 146, and a shaft member 162 having a circular cross-sectional shape is vertical, that is, in a posture parallel to the head turning axis line, and its own axis line. It is fitted so as to be rotatable around and not relatively movable in the axial direction. An engaged member 174 is attached to the shaft member 162 via a rotation transmission shaft 164 such that the engaged member 174 is relatively non-rotatable and relatively movable in the axial direction. The intermittent turntable 120 is rotated and the holding head 13
When 0 is swung up and down by the cylindrical cam 140, the engaged member 174 does not move up and down, and the position of the holding head 130 in the direction parallel to the swivel axis is kept constant.

The engaged member 174 is swung around the rotation axis of the intermittent rotary disc 120 at a rotational angular velocity different from that of the intermittent rotary disc 120 by the engaged member turning device including the external tooth ring gear 176. The stop position is reached before the holding head 130. Relative movement between the engaged member 174 and the holding head 130 is allowed by the two universal joints forming the rotation transmission shaft 164.
The operation based on this relative movement is described in the above-mentioned JP-A-6-3429.
The description is omitted because it is described in Japanese Patent Publication No. 98 and has no direct relation to the present invention.

As shown in FIG. 2, the lower end portion of the shaft member 162 is made to project downward from the sleeve 160, and the mounting member 184 is fixed.
4, a rotary holder 186 is supported by a support shaft 188 (see FIG. 6) so as to be orthogonal to the axis of the shaft member 162 and rotatable about a horizontal axis.

A plurality of, in the illustrated example, six nozzle holding portions 192 are provided on the rotary holder 186 at equal angular intervals around the rotation axis of the rotary holder 186, and hold the suction nozzles 190, respectively. The six suction nozzles 190 are radially held by the rotary holder 186 at equal angular intervals, and the rotary holder 18 is held by the holder selection device (not shown) provided at the holder detection / selection position.
By rotating 6 around the support shaft 188, one of the plurality of nozzle holding portions 192 is selectively moved to the operating position or the using position and is positioned. The operation position or the use position is the nozzle holding portion 19
The suction nozzle 190 held by 2 is directed downward, the axis is parallel to the axis of the shaft member 162, and the rotation axis of the suction nozzle 190 is planned to coincide with the axis of the shaft member 162. When the nozzle holding portion 192 is positioned at the working position, the suction nozzle 190 is also positioned at the working position to hold and release the electronic component 38. A holding unit detection device (not shown) is also provided at the holding unit detection / selection position,
The nozzle holding portion 192 positioned at the working position is detected.

In the present embodiment, the shaft member 162, the mounting member 184 and the rotary holder 186 are the holding heads 13.
0, and holds six suction nozzles 190.
The holding head 130 is rotatable about a vertical axis which is an axis of the shaft member 162 and is an axis parallel to the rotation axis of the intermittent turntable 120, and the suction nozzle 190 positioned at the working position is set on the rotation axis. Hold in a posture that extends in parallel. It may be considered that the nozzle holding portion 192 that holds the suction nozzle 190 positioned at the operating position, the mounting member 184, and the shaft member 162 form the holding head 130.

Each of the 16 sets of holding heads 130 has
A code that is a kind of name that identifies the holding head 130 is attached, and each of the six nozzle holding portions 192 is also attached with a code that identifies each nozzle holding portion 192. Further, the nozzle holding unit 192 and the types of the suction nozzles 190 held by the nozzle holding unit 192 are stored in association with each other, and are held in the holding head 130 based on the above two types of code data and suction nozzle data. Then, the type of the suction nozzle 190 positioned at the operating position is specified.

Further, the holding head 130 and the suction nozzle 190 held by the holding head 130 form a component mounting unit 194. The electronic component mounting device 16 includes a plurality of sets, in the illustrated example, 16 sets of the component mounting units 1.
94 are provided at equal angular intervals. Note that, in FIG. 2, only two suction nozzles 190 are shown for one holding head 130 for ease of illustration. The opening 26 of the feeder 36 of the component supply device 14 has the suction nozzle 190 positioned at the working position of the holding head 130 positioned at the component receiving position.
The component supply position is a position where the component supply unit 37 supplies the electronic component 38 to the suction nozzle 190 positioned at the component reception position.

Each of the plurality of suction nozzles 190 sucks and holds the electronic component 38 by negative pressure, and has a nozzle body 198 and a suction pipe 200 as shown in FIG. . The suction pipe 200 is the suction nozzle 19.
The lower end surface, which is the front end surface of the suction tube 200, constitutes the suction surface 201, and suctions the electronic component 38.
In the nozzle body 198, the suction nozzle 190 is relatively non-rotatable and axially movable relative to the nozzle holder 192, and is concentric with the nozzle holder 192, that is, when the nozzle holder 192 is positioned at the working position. , Is held detachably in a state of being concentric with the axis of the holding head 130. The suction pipe 200 is attached to the nozzle body 198.
It is provided in a state of being eccentric with respect to the axis of the nozzle body 198, and the suction surface 201 is eccentric with respect to the rotation axis of the holding head 130 by a preset distance.

When the electronic component 38 is sucked and mounted, the spring 202, which is an urging device disposed between the suction nozzle 190 and the rotary holder 186, is compressed to allow the suction nozzle 190 to move with respect to the rotary holder 186. The impact of the contact of 190 with the electronic component 38 or the contact of the electronic component 38 with the printed wiring board 60 is mitigated. In the illustrated example, the plurality of suction nozzles 190 are of different types, but the suction tubes 200 have the same length, and each suction surface 201 is centered on the rotation axis of the rotary holder 186. Located on the circumference.

The suction nozzle 19 positioned at the working position
A negative pressure is supplied to 0 by a vacuum pump (not shown) which is a kind of negative pressure source, and the electronic component 38 is adsorbed.
The suction nozzle 190 is also supplied with positive pressure by an air pump (not shown), which is a kind of positive pressure source, and the electronic component 38 is
Is released and communicated with the atmosphere. The switching is mechanically performed by a directional control valve 220 (see FIG. 2) which is a control valve fixed to the sleeve 160.

As shown in FIG. 2, the holding head 130 is lifted up and down to the portions corresponding to the portion including the component receiving position and the component mounting position of the frame 110 and the cylindrical cam 140 fixed to the frame 110, respectively. Nozzle 1
A nozzle moving device for moving the 90 in the axial direction to move it up and down is a nozzle axial moving device, and head lifting devices 230 and 232 that are holding head moving devices are provided. The head elevating / lowering device 230 constitutes an approaching / separating device that moves the component supply device 14 and the holding head 130 closer to each other in a direction parallel to the rotation axis of the holding head 130 and separates them from each other.

The head lifting device 230 provided at the component receiving position will be briefly described with reference to FIG. The head lifting device 230 includes a lifting member 238 that is a moving member and a lifting member moving device 240 that is a moving member moving device. The elevating member 238 attaches to the cylindrical cam 140 to the intermittent turntable 120.
Is movably fitted in a guide groove 244 provided in parallel with the rotation axis of the intermittent rotary disk 120 in a direction parallel to the rotation axis of the intermittent turntable 120, and a cam groove provided in the cylindrical cam 140 at the lower end thereof. The engagement groove 252 is formed to be in a state following the above. The engaging groove 252 is continuous with the cam groove when the elevating member 238 is located at the rising end position, the roller 148 is transferred, and the holding head 130 is supported by the elevating member 238.

The elevating member moving device 240 uses the intermittent rotation motor 116 as a drive source, and the rotation thereof is a rotary cam 254 which is a kind of cam, and a roller 256 which is a cam follower.
And a vertical movement is converted by a motion converting device including the levers 258 and 260, and is transmitted to the elevating member 238 by a motion transmitting device including the connecting rod 262 and the spherical joint 264. As a result, the elevating member 238 is moved up and down, the holding head 130 is moved up and down, and the suction nozzle 19 is moved.
0 is raised and lowered. The raising and lowering and turning of the suction nozzle 190 refer to the cam of the rotary shaft drive device 114 and the rotary cam 2.
Depending on the shape of 54, it is performed at a predetermined timing. The lifting stroke of the lifting member 238 is adjusted and the lower end position of the holding head 130 is adjusted, but the description is omitted because it is not directly related to the present invention.

The head lifting device 232 includes a lifting member 238.
The lifting stroke of is not adjusted and is constant. At the component mounting position, the lower end position and the upper end position of the holding head 130 are constant. The other configurations are the same as those of the head elevating / lowering device 230, and the portions having the same functions are designated by the same reference numerals to show the corresponding relationship, and the description thereof will be omitted.

The component attitude changing position, the component attitude correcting position, the holding head attitude restoring position, and the Y-axis direction position deviation eliminating execution position are respectively in the component attitude changing device, the component attitude correcting device, and the holding head attitude restoring device 300 (FIG. 5). (Refer to FIG. 4) and the Y-axis direction positional deviation canceller. The component attitude changing device rotates the holding head 130 holding the electronic component around the rotation axis when the rotational position (orientation or azimuth) of the electronic component differs between when the electronic component is received and when the electronic component is mounted, and the rotational position of the electronic component is changed. Change to the rotation position when attached. The component attitude correction device rotates the holding head 130 around the rotation axis and rotates the suction nozzle 190 positioned at the operating position to determine the holding position error of the electronic component 38 by the suction nozzle 190. Suction nozzle 190
The error in the rotational position, which is the position around the axis perpendicular to the surface to be attracted to the object, is corrected. Holding head posture restoration device 3
00 rotates the holding head 130, and returns the rotation position of the holding head 130 rotated for posture change and posture correction to the original rotation position. The Y-axis direction misalignment eliminating device rotates the holding head 130 and swivels the suction surface 201 around the head rotation axis to set the center of the suction surface 201 of the suction nozzle 190 and the unique suction position of the electronic component 38 to Y. The positions are matched in the axial direction so that the positional deviation of the two in the Y-axis direction is eliminated. The Y-axis direction displacement eliminating device constitutes the head rotation axis. The unique suction position of the electronic component 38 will be described later.

The component posture changing device, the component posture correcting device, the holding head posture restoring device 300 and the Y-axis direction positional deviation eliminating device are configured in the same manner in this embodiment, and the holding head posture restoring device 300 is shown in FIG. Based on this, a typical description will be given. The component attitude changing device and the like are also head rotating devices in the sense that the holding head 130 is rotated around the rotation axis. The holding head posture restoring device 300 is configured similarly to the component mounting unit posture correcting device of the electronic component mounting device described in the above-mentioned Japanese Patent Laid-Open No. 6-342998, and will be briefly described. Holding Head Posture Return Device 300
Is an engaging member 304 and an engaging member 30 supported by the frame 110 so as to be relatively movable and relatively rotatable in the axial direction.
4 is moved in the vertical direction, which is the direction of the axis thereof and is parallel to the rotation axis of the intermittent turntable 120, to engage and disengage the engaging and disengaging device 306 and the engaging member 304. And a rotating device 308 for rotating.

The engagement / disengagement device 306 uses the intermittent rotation motor 116 as a drive source, and converts the rotation of the intermittent rotation motor 116 into an up-and-down motion by a cam, a cam follower and a motion transmission mechanism, and transmits the engagement member 304. It is moved up and down, engaged with the engaged member 174, and released. Rotating device 30
8 is a dedicated holding head posture returning motor 310 (see FIG. 8).
Drive). The rotation of the motor 310 is transmitted to the engagement member 304 by a rotation transmission device including a timing pulley 312 and the like, and the engagement member 304 is rotated around its axis by an arbitrary angle in both forward and reverse directions about a vertical axis. To be The engaging member 304 includes an engaging portion, the engaged member 174 provided for the holding head 130 includes an engaged portion, and the engaging portion 304 is engaged with the engaged portion when the engaging member 304 descends. Then, the engagement member 304 is engaged with the engaged member 174 so as not to rotate relative to each other. By rotating the engaging member 304 by the rotating device 308 in this state, the rotation of the engaging member 304 causes the engaged member 17 to rotate.
4. The rotation transmission shaft 164 transmits the rotation to the holding head 130, and the holding head 130, and thus the suction nozzle 190, is rotated about the rotation axis in both forward and reverse directions by an arbitrary angle.

The holding head posture returning device 300 is provided with an engaging member rotation original position detecting device 320 for detecting the original rotation position of the engaging member 304. This detection device 320
Are attached to the frame 110. In the present embodiment, the engaging member original position detection device 320 is configured by an optical fiber type sensor, irradiates the reflecting member 324 provided on the timing pulley 312 with light, and determines the original position depending on the presence or absence of reflection. It is supposed to detect. The engaging member rotation original position detecting device 320 is also provided in the component posture changing device, the component posture correcting device, and the Y-axis direction positional deviation eliminating device.

The holding head posture returning device 300 also includes
A holding head rotation original position detection device 330 for detecting the rotation original position of the holding head 130 is provided. In the present embodiment, the detection device 330 is composed of an optical fiber type sensor, and has an outer peripheral surface on the engaged member 174 of the rotation transmission shaft 164 that is connected to the holding head 130 so as not to rotate relative to it. A reflecting surface 332 is provided on the holding head 1 depending on whether or not the light applied to the reflecting surface 332 is reflected.
The rotation original position of 30 is detected. The holding head 130 moves to the holding portion detection / selection position in the original rotation position, the nozzle holding portion 192 located in the working position is detected, and the suction nozzle 190 used for receiving the electronic component 38 is held. Nozzle holding part 1 held
92 is positioned in the working position. Holding head 130
Moves to the Y-axis direction misregistration elimination execution position while being located at the original rotation position, is rotated from the original rotation position by the Y-axis direction misregistration elimination device, and is set to the center of the suction surface 201 and the electronic component 38. The positional deviation in the Y-axis direction from the created unique suction position is eliminated. Holding head 130
The original rotation position is the holding portion detection / selection position, which is the rotation position before the Y-axis direction positional deviation is eliminated, and the holding head 130 is the original rotation position or the Y-axis direction positional deviation elimination rotational position at the holding head attitude return position. And so on. By detecting the rotation original position by the holding head rotation original position detection device 330, the holding head 130 is always the rotation original position when the positional deviation in the Y axis direction is eliminated, and the rotation position before the Y axis direction positional deviation is eliminated. Guaranteed to be located in. When the holding head 130 is not in the original rotation position, an appropriate process such as issuing an alarm is performed.

In this embodiment, the engaging member 304 is used.
The engaged member 174 and the engaged member 174 are configured to be engaged with each other at two rotational positions 180 degrees apart from one positioned at an arbitrary rotational position, and the engaging member rotation original position detection device 320. Is configured to detect the reflecting member 324 in a state in which the engaging member 304 is located at one of two rotational positions at which the engaging member 174 of the holding head 130 located at the original rotation position can be engaged. This position is the original rotation position of the engaging member 304. Parts attitude change device,
Engagement member rotation original position detection device 320 provided in each of the component attitude correction device and the Y-axis direction position deviation elimination device
Is rotated while the holding head 130 located in the original position of rotation is located in the original position of rotation, and the position change position of the component is changed to
Assuming that the component attitude correction position and the Y-axis direction position shift eliminating position have been reached, the reflecting member 324 of the engaging member 304 positioned at the rotation position where the engaged member 174 provided for the holding head 130 can be engaged. Are provided to detect the.

As shown in FIG. 7, a plurality of sets, in the present embodiment, two sets of the component cameras 3 are provided at the component holding posture detection positions.
50, 352, the light guide device 354, and the illumination device 356 are provided, and the component cameras 350, 352 and the light guide device 3 are provided.
Reference numeral 54 constitutes an image pickup device 358. In the present embodiment, these component cameras 350, 352 and the like are configured similarly to the component cameras and the like described in Japanese Patent Laid-Open No. 5-196441, and will be briefly described.

Similar to the reference mark camera 90, the component cameras 350 and 352 are CCD cameras having a CCD and a lens system, and are surface image pickup devices which are a type of image pickup device. Parts camera 350,
The image pickup screens of 352 are respectively the component cameras 350, 3
It is provided so as to be centered on the central axis of 52 and perpendicular to the central axis. The component cameras 350 and 352 have different magnifications, the component camera 350 has a small magnification but a wide field of view, and the component camera 352 has a large magnification but a narrow field of view, depending on the size of the electronic component 38. Can be used properly.

Each of the component cameras 350 and 352 is stopped at a part of the intermittent turntable 120 of the frame 110 in the radial direction, at the rotation axis of the intermittent turntable 120, and at the component holding posture detection position. The central axes are parallel to each other at a position on a straight line passing through the rotation axis of the holding head 130, and are provided downward in a state of being aligned in parallel with the rotation axis of the intermittent turntable 102, that is, the vertical axis.
Each imaging screen is horizontal. Parts camera 350,3
52 is a position adjusting device (not shown),
A position in a direction parallel to a direction in which the central axes of the two component cameras 350 and 352 are arranged, a position in a direction parallel to a direction orthogonal to the arranged directions in a horizontal plane that is a plane orthogonal to the central axis, and the central axis The rotational position, which is the surrounding position, is adjusted. This adjustment will be described later.

The light guide device 354 is provided at the component holding posture detection position so as to extend from below the holding head 130 stopped at the component holding posture detection position to below the component cameras 350 and 352. . The light guide device 354 is
The image forming light that forms an image of the electronic component 38 or the like held by the suction nozzle 190 is reflected by the reflecting mirror and enters the component cameras 350 and 352. Therefore, the component cameras 350 and 352 will image the electronic component 38 from below.

The illumination device 356 is, in this embodiment,
The suction nozzle 190 is selectively irradiated with visible rays and ultraviolet rays so that a projected image or a front image of a subject is captured. When the visible light is emitted toward the suction nozzle 190, it is reflected by the imaging target such as the electronic component 38 held by the suction nozzle 190, a front image of the imaging target is formed, and ultraviolet rays are irradiated. In this case, the ultraviolet rays are absorbed by the light emitting body 362 (see FIG. 6) provided on the suction nozzle 190 and having the light emitting surface 360 coated with the fluorescent paint, converted into visible light, and irradiated on the electronic component 38, That projected image is formed. The component cameras 350 and 352, the light guide device 354, and the lighting device 356 form an imaging system.

In the present embodiment, as described above, in the entire electronic component mounting system 12, the electronic component mounting system 12 is located from above, the component supply device 14 is located on the upper side, and the printed wiring board holding device 18 is located on the lower side. XY in which the left-right direction is the X-axis direction, the up-down direction is the Y-axis direction, and the right direction and the upper direction are the positive directions in a plan view in the state
The coordinate plane is set. This XY coordinate plane is a horizontal plane. On the other hand, in each of the image pickup screens of the component cameras 350 and 352, the Y axis is positioned on a straight line passing through the rotation axis of the intermittent turntable 120 and the rotation axis of the holding head 130 moved to the component holding attitude detection position. Then, the component camera 350,
An XY coordinate plane in which a direction orthogonal to the Y axis is an X axis direction in a horizontal plane orthogonal to the central axis line of 352,
The upper side of the Y axis, that is, the center side of the intermittent turntable 120 is defined by the positive direction, and the right side of the X axis is defined by the positive direction of the XY coordinate plane.

Therefore, as will be described later, by taking an image of the electronic component 38 or the like by the component cameras 350 and 352, a holding position error of the electronic component 38 by the suction nozzle 190, etc.
Various positional errors are detected, and printed wiring board holding device 1
Although the movement distance of 8 etc. is corrected, these position errors are caused by the difference in the position between the component holding posture detection position and the component receiving position around the rotation axis of the intermittent turntable 120, and the component holding posture detection position and the component receiving position. In consideration of the difference between the mounting position and the mounting position, the positional error at the component receiving position and the component mounting position is converted and corrected.

Also, what is required when the electronic component 38 is mounted is an image of the electronic component 38 viewed from above, whereas the component cameras 350 and 352 are used for the electronic component 38.
This also needs to be taken into consideration because the imaging target such as is imaged from below. In the present embodiment, the component camera 3
The image pickup screens of 50 and 352 are component cameras 350 and 352.
Is set to be rotated by 180 degrees around the X axis from the downward state, and the position of the image of the target object in the X axis direction is the same as when the target object is imaged from above.
The position in the axial direction is opposite to that when the object is viewed from above with respect to the X axis. Therefore, the correction of the movement distances of the various moving members based on the various position errors acquired by imaging the electronic component 38 and the like is performed in consideration of the position reversal in the Y-axis direction.

The electronic component mounting system 12 is controlled by the control device 400 shown in FIG. Control device 400
Mainly includes a computer 410 having a PU 402, a ROM 404, a RAM 406, and a bus connecting them. I / O interface 41 on the bus
2 are connected to each other, and the engaging member rotation original position detection device 320, the holding head rotation original position detection device 330, and the encoder 420 are connected.
Etc., various sensors and the like are connected.

The input / output interface 412 is also connected to various actuators such as the support base driving motor 42 via a drive circuit 416. Each of these motors 42 and the like constitutes a drive source and is an electric rotary motor which is a kind of electric motor, and is constituted by a servo motor capable of controlling the rotation angle with high accuracy. A step motor may be used instead of the servo motor. Further, the rotation angles of the motors such as the support base driving motor 42 are
Detected by the encoder as a rotation angle detector,
The motor 42 and the like are controlled based on the detection result. In FIG. 8, an encoder 420 provided for the support base drive motor 42 is representatively shown.

The input / output interface 412 further includes
The reference mark camera 90 and the component cameras 350 and 352 are connected via a control circuit 418. These drive circuit 416, control circuit 418 and computer 410
Constitutes the control device 400. Furthermore, RAM40
6, a program for mounting the electronic component 38 on the printed wiring board 60, a program for detecting the rotation axis of the holding head 130, a program for detecting the eccentricity of the suction surface 201 of the suction tube 200, the suction surface 201 and the electronic components. Various programs, data, and the like, such as a program for canceling the relative positional deviation with 38, are stored.

The basic operation of mounting the electronic component 38 on the printed wiring board 60 in the electronic component mounting system 12 configured as described above is described, for example, in Japanese Patent Publication No. 8-2179.
It is well known as described in Japanese Patent Publication No. 1) and will be briefly described.

When the electronic component 38 is mounted on the printed wiring board 60, the 16 sets of holding heads 130 are mounted on the intermittent turntable 1.
The intermittent rotation of 20 causes the motor to be sequentially moved to and stopped at 16 stop positions. The 16 sets of holding heads 130 operate in parallel, but one of the holding heads 13
The mounting of the electronic component 38 will be described by focusing on 0. The holding head 130, which has been moved to the component receiving position, is lowered to be brought closer to the component supply device 14, and the suction nozzle 190 positioned at the working position of the holding head 130.
Is moved up and down by the head lifting device 230, and the suction surface 2
At 01, the electronic component 38 is adsorbed and held. The suction nozzle 190 receives the electronic component 38 from the component supply unit 37. After the reception, the component standing posture is detected, and if the posture of the electronic component 38 is changed thereafter, the holding head 130 is rotated at the component posture changing position. At this time, the engaging member 304 is previously positioned by the rotating device 308 at a rotation position where it can be engaged with the engaged member 174 of the holding head 130, and engages with the engaged member 174 to hold the holding head. Rotate 130.

Next, the electronic component 38 is imaged by the component cameras 350 and 352 at the component holding posture detection position. Then, the acquired image of the electronic component 38 is compared with the reference image, and horizontal position errors ΔXE and ΔYE (in the present embodiment, the reference rotation of the holding head 130 at the suction position peculiar to the electronic component 38). A position error in the horizontal plane with respect to the axis (see FIG. 17) and a rotational position error (error of rotation angle around a vertical axis that is an axis perpendicular to the surface to be sucked by the suction nozzle 190 of the electronic component 38) Δθ are calculated. It After the calculation, the holding head 130 is rotated around the vertical head rotation axis by the component attitude correction device at the component attitude correction position, and the suction nozzle 190 is rotated to correct the rotational position error Δθ. At this time, the engagement member 304 of the component attitude correction device is previously positioned at a rotation position where the rotation device 308 can engage the engaged member 174 of the holding head 130. The rotational position error Δθ is corrected by the difference in the position between the component holding posture detection position and the component posture correction position and the component camera 350,
352 is performed in consideration of the reversal of the position of the image in the Y-axis direction when the electronic component 38 is imaged from below.

The horizontal position errors ΔXE and ΔYE are corrected by correcting the moving distances of the printed wiring board holding device 18 in the X-axis direction and the Y-axis direction. The printed wiring board holding device 18 is moved by the printed wiring board holding device moving device 64, the printed wiring board 60 is moved, and the mounting position is moved to a position corresponding to the component mounting position. The distance is modified. At this time, the horizontal position error Δ of the mounting position of the printed wiring board 60
XP, .DELTA.YP and the positional deviation of the inherent suction position of the electronic component 38 caused by the correction of the rotational position error .DELTA..theta. Are corrected together. Horizontal position error of mounted position ΔXP, ΔYP
Before the mounting of the electronic component 38 is started, the reference mark 88 provided on the printed wiring board 60 is imaged by the reference mark camera 90, and the holding position error of the printed wiring board 60 is calculated. To be done.
Further, the deviation of the suction position peculiar to the electronic component 38 is caused by the positions of the rotation axes of the plurality of suction nozzles 190, the rotation position error Δθ, and the horizontal position errors ΔXE and ΔY of the electronic component 38.
Required from E. The acquisition of the position of the rotation axis of the suction nozzle 190 will be described later. Printed wiring board holding device 18
The correction of the movement distance of the parts is performed by the difference between the positions of the component holding posture detection position and the component mounting position, and the component cameras 350 and 352.
Is performed in consideration of the reversal of the position of the image in the Y-axis direction when the electronic component 38 is imaged from below.

The suction nozzle 190 is moved up and down by the head lifting device 232 at the component mounting position to mount the electronic component 38 on the printed wiring board 60. After the mounting, the holding head 130 is rotated by the holding head posture returning device 300 at the holding head posture returning position, and the rotation position is returned to the original rotation position and the rotation position before the misregistration in the Y-axis direction. The engaging member 304 of the holding head posture returning device 300 can be engaged with the engaged member 174 of the holding head 130 in advance by the rotating device 308 based on the rotational position error Δθ of the electronic component 38, the posture change angle, and the like. Positioned to rotate the holding head 130. After that, the holding head 130 is moved to a component discharge position or the like, and a predetermined operation is performed if necessary.

When the suction nozzle 190 receives the electronic component 38 from the component supply device 14 and mounts it on the printed wiring board 60 as described above, the component supply tables 30 and 32 of the component supply device 14 are moved by the table moving device 46. Then, each component supply part 37 of the plurality of feeders 36 is selectively positioned at the component supply position. Multiple feeders 3
6, the supply order of the electronic components 38 is preset, and in principle, the component supply table 30 or 32 is generated based on the table movement data created according to the supply order data.
Is moved, and the component supply unit 37 of the feeder 36 to which the electronic component 38 is to be supplied next is stopped at the component supply position. The table movement data is stored in the electronic component mounting system 12
Is created on the XY coordinate plane set for.

In the present embodiment, the stop position of the feeder 36 is a unique suction position which is a suction target point of the electronic component 38, a position error of the feeder 36, a rotation axis of the holding head 130 (hereinafter referred to as a head rotation axis). ) And the eccentricity of the suction surface 201 of the suction nozzle 190 with respect to the head rotation axis, the positional deviation in the X-axis direction between the center of the suction surface 201 and the unique suction position of the electronic component 38 is eliminated. Adhesion surface 2 of the adsorption tube 200 that has been set and modified
In the table movement direction 01, which is parallel to the X-axis direction, which is a direction parallel to the swirl trajectory of the mounting head 130, the electronic component 38 is securely sucked at a unique suction position with a minimum misalignment. To be able to. In addition, the holding head 130 is based on the position error and the like.
Is rotated about its rotation axis, and the suction surface 201 is rotated about the head rotation axis accordingly, so that there is a positional deviation in the Y-axis direction between the center of the suction surface 201 and the unique suction position of the electronic component 38. Even if the center of the suction surface 201 is eliminated and the center of the suction surface 201 is in the Y axis direction, that is, in the direction perpendicular to the tangential line to the turning trajectory of the holding head 130 and the head rotation axis line, the electronic component 38 can be mounted in a state where there is as little displacement as possible at the unique suction position. It is made to adsorb. The suction surface 201 is eccentric with respect to the axis of rotation of the head, and the position of the suction surface 201 in the X-axis direction and the Y-axis direction changes due to the swiveling, which is used to eliminate the displacement in the Y-axis direction. Of.

The unique suction position of the electronic component 38 is set by design as described later, and the table movement data is created based on it. The position error of the head rotation axis, the relative position of the center of the suction surface 201 to the head rotation axis, that is, the amount of eccentricity and the position error of the feeder 36 are obtained by detection, and the table movement data is corrected based on them. As will be described later, the correction of the table movement data is performed by the suction surface 20 caused by the rotation of the suction surface 201.
The change in position of No. 1 in the X-axis direction is also taken into consideration.
Further, based on the unique suction position of the electronic component 38, the position error of the head rotation axis, the eccentricity of the suction surface 201, and the position error of the feeder 36, the rotation angle of the holding head 130 for eliminating the positional deviation in the Y-axis direction and Direction is required.
The position error of the head rotation axis and the eccentricity of the suction surface 201 are detected at the time of non-mounting work of the electronic component 38, for example, at the time of manufacturing the electronic component mounting system 12, maintenance inspection, start-up inspection, replacement of the suction nozzle, etc. However, the electronic component mounting system 12 may interrupt the mounting work while the electronic component mounting system 12 is continuously mounting the electronic component 38. When the detection is performed during the mounting work, for example, the position error is detected after the electronic component mounting system 12 is continuously operated until the preset condition is satisfied. The setting condition in that case is, for example, the electronic component mounting system 12
Adopt at least one of the setting conditions such that the continuous operation time exceeds the set time, the number of electronic components continuously mounted exceeds the set number, and the number of electronic circuits assembled exceeds the set number. can do. It is not essential to detect the relative position error or the like when the setting condition is satisfied, and the relative position error or the like may be detected when another additional condition is satisfied. For example, if the electronic components 38 are being mounted on one printed wiring board 60 when the set conditions are satisfied, detection can be performed after the mounting of all the electronic components 38 scheduled for the printed wiring board 60 is completed. desirable. Even in this case, the detection of the position error or the like is performed during the mounting work of the electronic components 38 that is continuously performed on the plurality of printed wiring boards 60. Alternatively, the mounting operation may be interrupted and the detection may be performed based on the input of the detection command of the position error or the like by the position error or the like detection command input means. The position error detection command input means may be composed of, for example, an input device operated by an operator, or may be composed of means for receiving a command from a host computer. If a position error is detected during the continuous mounting work, a new position error may occur due to thermal expansion due to the temperature rise of the components due to the start of the mounting work of the electric component on the circuit board, or the position error may occur. Even if the error changes, the actual relative position error or the like can be obtained. In the present embodiment, the position error of the feeder 36 is detected based on the image pickup of the electronic component 38 held by the suction nozzle 190, and the correction of the table movement data and the holding head based on the position error of the feeder 36 will be described later. The acquisition of the rotation angle and the direction of 130 is performed in parallel with the mounting work of the electronic component 38 during the mounting work. Below, detection of position error such as nozzle rotation axis at the time of start-up inspection,
Detection of position error of the feeder 36 during setting work, setting and correction of table movement data, and holding head 130
The setting of the rotation angle and direction and the elimination of misalignment will be described.

The peculiar suction position of the electronic component 38 is preset for each type of the electronic component 38 according to the shape, size, etc. of the electronic component 38, and the table movement data is set by the peculiar suction position. Is taken into consideration. Electronic component 38
The basic table movement data may be created without considering the unique suction position of the electronic component 38, and the basic data may be corrected based on the unique suction position of the electronic component 38.

The unique suction position set for the electronic component 38 is, for example, the position where the suction nozzle 190 can hold the electronic component 38 most stably, for example, the position of the center of gravity of the electronic component 38. When positioned by the supply unit 37 and taken out by the suction nozzle 190, the center of the component supply unit 37, the feeder 36 in the present embodiment.
The position is not necessarily located at the center of the opening 26 provided in the cover 24, but may be set at a position deviated from the center of the opening 26 as shown in FIG.
Although a detailed description is omitted, the cover 24 is advanced together with the taped electronic component 22 while covering the half of the component accommodating concave portion where the cover tape is peeled off when the taped electronic component 22 is fed by the tape feeding device. , Suction nozzle 19
When the electronic component 38 is taken out by 0, only the cover 24 is retracted to release the upper space of the electronic component 38, and the electronic component 38 with the cover tape peeled off is located in the opening 26 and is taken out by the suction nozzle. To be done. The center of the component supply unit 37 is the center of the opening 26 when the cover 24 is retracted. Note that FIG. 9 and the like are views for explaining setting of a unique suction position of the electronic component 38,
The cover 24 and the like are schematically illustrated, and in reality, there is a distance between the opening end of the opening 26 and the electronic component 38 than illustrated. The unique suction position is the electronic component 3
Based on the shape and size of 8, the apex of the contour line of the electronic component 38, the distance to the side, the angle, and the like are defined. Further, the position of the unique suction position with respect to the center of the opening 26 is the positional difference ΔXB and ΔYB in the X-axis and Y-axis directions.
Is set by. In the present embodiment, the feeder 36 is the cover 24 that is retracted when receiving the component.
The opening 26 is provided so that the center of the opening 26 coincides with the reference nozzle rotation axis of the reference suction nozzle 190 stopped at the component receiving position.
Is the opening 2 at the center of the component accommodating recess of the component holding tape.
This is because the tape is held by the feeder 36 so as to coincide with the center of the tape 6 and fed by the tape feeding device. The reference suction nozzle 190 and the reference nozzle rotation axis will be described next. As described above, the positional differences ΔXB and ΔYB are set on the XY coordinate plane set for the electronic component mounting system 12, are set with positive and negative signs, and are set in association with the type of the electronic component 38 in the RAM 406.
Remembered in. The types of electronic components 38 supplied by the plurality of feeders 36 supported by the feeder support base 34 are known, and the positional differences ΔXB and ΔYB can be obtained for each feeder 36. The positive and negative signs of the position differences ΔXB and ΔYB are set by regarding the center of the component supply unit 37 as the origin in the X-axis and Y-axis directions. The positive and negative directions are the same as those on the XY coordinate plane. The unique suction position is set by ΔXB and ΔYB, and the table movement data is created using ΔXB among them, and the rotation angle and direction of the holding head 130 for eliminating the positional deviation are obtained using ΔYB.

The detection of the position error of the head rotation axis will be described. The positional error of the head rotation axis is caused by the plurality of holding heads 1.
One of the plurality of suction nozzles 190 held by one of the reference suction nozzles 30 is set as a reference suction nozzle 190, and the reference suction nozzle 1 is set with reference to the nozzle rotation axis that is the rotation axis thereof.
All the suction nozzles 190 other than 90 are detected. The component supply tables 30 and 32 and the printed wiring board holding device moving device 64 with reference to the reference nozzle rotation axis.
This is because the origins of various moving members of the electronic component mounting system 12 are set. In addition, the same holding head 13
The six suction nozzles 190 belonging to 0 should have the same rotation axis, but the rotation axis differs depending on the suction nozzle 190 positioned at the working position due to some reason such as manufacturing error or holding position error. Therefore, all suction nozzles 19 except the reference suction nozzle 190
The nozzle rotation axis is detected for 0, and the position error with respect to the reference nozzle rotation axis is detected. Therefore, there are a plurality of rotation axes for one holding head 130, and the nozzle rotation axis of the suction nozzle 190 that is positioned at the operating position and mounts the electronic component 38 is the head rotation axis.

First, the position of the reference nozzle rotation axis is detected. At the time of detection, when the reference suction nozzle 190 is located at the working position and the holding head 130 is located at two different rotational positions, the reference suction nozzle 190 is detected.
The suction surfaces 201 of are picked up by the component cameras 350 and 352, respectively, and two front images of the suction surfaces 201 are acquired. The component cameras 350 and 352 are attached to the suction nozzle 190.
An image of the electronic component 38 held by the
01 is also imaged from below, that is, from the direction parallel to the rotation axis of the holding head 130 and facing the suction surface 201. The component cameras 350 and 352 are provided downward at positions outside the holding head 130 on the outer peripheral side of the intermittent turntable 120, but due to the reflection of the image forming light by the light guide device 354, the attraction surface 201 and the like. Light that forms an image of the imaging target viewed from below is incident, and the adsorption surface 201 is imaged from below and in a direction facing the adsorption surface 201. In the present embodiment, the holding head 130
The original rotation position is set, and the positional deviation in the Y-axis direction between the center of the suction surface 201 and the unique suction position is eliminated in the state of being located at the original rotation position. In the present embodiment, The original rotation position or the rotation position before elimination of misalignment in the Y-axis direction is one of the two image pickup positions and is set as a set rotation position. The other of the two imaging positions is set at a position 180 degrees away from the original rotation position.

In the state where the holding head 130 is located at the original position of rotation, the reference suction nozzle 190 has the component cameras 350, 3
After the image is picked up by 52, it is moved to the holding head posture returning position by the rotation of the intermittent turntable 120, and is rotated 180 degrees by the holding head posture returning device 300. In this state, images are taken again by the component cameras 350 and 352 at the component holding posture detection position. After the first imaging, the holding head 130 is located at a position rotated by 180 degrees from the original rotation position and is not located at the original rotation position. However, when the nozzle rotation axis is detected, the holding head 130 returns to the holding head posture returning position. Even if the holding head rotation original position detection device 330 detects that the holding head 130 is not in the original position, the processing based on that is not performed.

By the first image pickup by the component camera 350, as shown in FIG. 10A, an image of the outer shape of the suction surface 201 of the reference suction nozzle 190 is obtained, and by the second image pickup, FIG. Assuming that an image of the outer shape of the suction surface 201 is obtained as shown in FIG. 2, these two images are formed at positions separated by 180 degrees, and the coordinates of the center point of each image are M1 (x
1, 1, y1) and M2 (x2, y2), the central position of these two points is the position of the nozzle rotation axis A, and their coordinates are {(x1 + x2) / 2, (y1 + y2) / 2}. is there. Then, the errors ΔXA and ΔYA between the position of the nozzle rotation axis A and the image pickup center (center of the image pickup screen) are obtained and displayed on a display device (not shown), and the operator moves the parts camera 350 while looking at this display. Then, the nozzle rotation axis A and the imaging center are made to coincide with each other. Note that, in the present embodiment, for easy understanding, the image obtained by imaging the object such as the suction surface 201 is also denoted by the same reference numeral as the object. After the second imaging, the holding head 1
At the holding head posture returning position 30, the holding head posture returning device 300 is further rotated 180 degrees and returned to the original rotation position. Similarly, for the component camera 352, a positional error between the nozzle rotation axis of the reference suction nozzle 190 and the imaging center is detected, and the horizontal positional error of the component camera 352 is eliminated.

After the positions of the component cameras 350 and 352 in the horizontal plane, which is a plane perpendicular to the central axis, are corrected, the rotational position, that is, the position around the central axis is further adjusted. For adjusting the rotational position, for example, a reference member is used. Although not shown, the reference member has a circular cross-sectional shape, and has a fitting portion or a held portion held by the nozzle holding portion 192 and a quadrangle, for example, a rectangle, provided at the tip of the held portion. And a square reference part,
The positions in the X-axis direction and the Y-axis direction are matched.

The reference member is held rotatably around the axis by the nozzle holding portion 192 of the rotary holder 186, the nozzle holding portion 192 holding the reference member is placed in the working position, and the reference member is an intermittent turntable. It is moved to the component mounting position by the rotation of 120. And, for example, Y
A dial gauge is provided on the shaft slide 82, moved in the Y-axis direction while being in contact with the side surface of the reference portion, and the reference member is rotated with respect to the rotary holding body 186 while observing the dial gauge. X-axis direction and Y
It should be parallel to the axial direction.

After the reference member is aligned in the X-axis and Y-axis directions, the holding head 130 is moved to the component holding posture detection position while the reference member is held by the rotary holder 186, and the component camera 350, 352 is made to image. At this time, a front image of the reference portion of the reference member is captured. And
The image of the reference member is image-processed, the rotational position error with respect to the reference portion of the image pickup screen is calculated, and the component camera 35
0 and 352 are displayed on the display device, respectively, and the operator observes the displayed shifts and finds that the rotational position error is 0.
The component cameras 350 and 352 are rotated so that

The position adjustment of the component cameras 350 and 352 is performed during non-mounting work such as during system manufacturing, maintenance and inspection, and start-up inspection.
It is not done in the middle of the mounting work of 2. In this embodiment,
The position error of the head rotation axis and the like are detected and the position adjustment of the component cameras 350 and 352 is performed at the time of start-up inspection. It is supposed to match.

The component cameras 350 and 352 whose positions are adjusted as described above capture front images of the suction surfaces 201 of the suction nozzles 190 (hereinafter referred to as general suction nozzles 190) other than the reference suction nozzle 190, respectively. As with the reference suction nozzle 190, the position of the nozzle rotation axis is detected, and the position error with respect to the reference nozzle rotation axis is detected.

The general suction nozzle 190 is positioned at the working position, and when the holding head 130 is positioned at two different rotational positions, the component cameras 350 and 35 are respectively placed.
2 is imaged. One of the two imaging positions is a rotation original position and is a set rotation position, and the other is a position separated by 180 degrees from the rotation original position. The center position of each center point of the two front images of the suction surface 201 obtained by each image pickup is the position of the nozzle rotation axis, and the position error of the detected position of the nozzle rotation axis with respect to the image pickup center is detected. . This is because the positions of the component cameras 350 and 352 are adjusted so that the image pickup center coincides with the position of the reference nozzle rotation axis, and the position error of the general nozzle rotation axis with respect to the reference nozzle rotation axis is detected. Becomes

In this embodiment, 16 holding heads 13 are provided.
General suction nozzles 190 located at respective working positions of 0
After the image pickup is performed at two image pickup positions for all of the above, the general suction nozzles 190 located at the working positions are replaced, and the image pickup is performed twice for all the general suction nozzles 190.

Therefore, first, the plurality of holding heads 130 are
No. 1 nozzle holding section 192 (reference suction nozzle 190
The general suction nozzles 190 held by the nozzle holding section 192 (which holds the nozzle holding unit 192) are sequentially moved to the component holding posture detection position, and the suction surface 201 is moved to the component camera 35.
An image is taken from below by 0,352. During the first imaging of the general suction nozzle 190, the holding head 130 is positioned at the set rotational position, which is the first imaging position, that is, the original rotation position. When the holding head 130 holding the general suction nozzle 190 that has been imaged reaches the holding head posture returning position, the holding head posture returning device 300 sets 180.
When the component holding posture is detected, the suction surface 201 of the general suction nozzle 190 is imaged again while the holding head 130 is at the second imaging position. Engaging member 3 of holding head posture returning device 300
04 is configured to be engageable with the engaged member 174 at two rotational positions separated by 180 degrees with respect to the engaged member 174 located at an arbitrary rotational position. At a position 180 degrees apart,
The engaged member 1 of the holding head 130 located at the original position of rotation
74 or the engaged member 174 of the holding head 130 positioned 180 degrees from the original rotation position.

After the second image pickup, when the holding head 130 reaches the holding head posture returning position, it is rotated by 180 degrees,
The rotation position is returned to the rotation original position. When the holding head 130 reaches the holding portion detection / selection position, the rotary holding body 1
86 is rotated by a holding section selection device (not shown) provided at the holding section detection / selection position, the general suction nozzle 190 held by the second nozzle holding section 192 is positioned at the working position, and the suction surface 201 Is imaged. The replacement of the general suction nozzles 190 is performed in a state where the holding head 130 is located at the original rotation position, and the holding head 130 is located at the original rotation position in the first imaging for each of the plurality of general suction nozzles 190. Done in the state. The same applies to the reference suction nozzle 190. Hereinafter, similarly, the imaging is performed twice for all the suction nozzles 190 of the holding head 130, and the position of the nozzle rotation axis is detected for each of them.

When the position of the nozzle rotation axis of the general suction nozzle 190 is detected based on the image pickup of the suction surface 201, the positional error between the image pickup center and the reference nozzle rotation axis of the reference suction nozzle 190 is obtained. First, the position error between the nozzle rotation axis of the general suction nozzle 190 and the imaging center is obtained. The position error is obtained by adding positive and negative signs. This position error is a position error of the general nozzle rotation axis with respect to the reference nozzle rotation axis, and the component camera 3
The holding head 13 is detected for each of 50 and 352.
R in association with code data of 0, code data of the nozzle holding unit 192, and types of component cameras 350 and 352.
It is stored in the AM 406. The position error of the nozzle rotation axis of the general suction nozzle 190 is also represented by ΔXA and ΔYA, like the position error of the reference nozzle rotation axis. As described above, the peculiar displacement of the suction position caused by rotating the electronic component 38 to correct the rotational position error Δθ when the electronic component 38 is mounted is the nozzle acquired for each of the suction nozzles 190 as described above. Calculated using the axis of rotation. At this time, with respect to the general suction nozzle 190, the position of the general nozzle rotation axis, which is the rotation axis thereof, is obtained based on the position of the reference nozzle rotation axis and the position error with respect to the reference nozzle rotation axis, and is used to calculate the deviation of the unique suction position. To be

Acquisition of the position of the suction surface 201 of the suction nozzle 190 with respect to the nozzle rotation axis, that is, the eccentricity of the suction surface 201 will be described. The suction pipe 200 is intentionally eccentric with respect to the nozzle body 192, and the amount of eccentricity is known from the design, but it is caused by manufacturing error of the suction pipe 200, assembly error, bending of the suction pipe 200, and the like. Due to the eccentricity error, the actual amount of eccentricity does not always have the design magnitude,
An accurate amount of eccentricity is acquired based on the image of the suction surface 201. In the present embodiment, the eccentricity includes an eccentricity error due to a manufacturing error or the like, in addition to the design eccentricity.

Since the suction surface 201 is eccentric to the axis of the nozzle body 192, as shown in FIG. 11, the center of the image of the outer shape of the suction surface 201 and the nozzle rotation axis A.
And the positional deviations ΔXN and ΔYN are the amount and direction of eccentricity of the suction surface 201 with respect to the nozzle rotation axis A. In the present embodiment, the amount of eccentricity and the directions ΔXN and ΔYN of the suction surface 201 are determined by the image of the suction surface 201 and the nozzle rotation obtained by imaging the holding head 130 at the set rotation position, that is, the original rotation position. Based on the axis (the rotation axis of the suction nozzle 190 having the suction surface 201), the positive and negative signs are given to each of all the suction nozzles 190. The same applies to the general suction nozzle 190 and the reference suction nozzle 190. The amount and direction of the eccentricity of the suction surface 201 is detected based on the image data obtained by the image pickup of either one of the component cameras 350 and 352, for example, the camera with the larger image pickup magnification. The amount and direction of the detected eccentricity of the suction surface 201 is determined by the holding head 130 and the nozzle holding unit 1.
It is stored in the RAM 406 in association with each code data 92.

The unique suction position is the same for all kinds of supplied electronic parts 38, and there is no position error of the feeder 36 or nozzle rotation axis, and the suction surface 20
If 1 is provided coaxially with the nozzle rotation axis without any positional error, the unique suction position of the electronic component 38 supplied by the feeder 36 stopped at the component supply position coincides with the reference nozzle rotation axis. By doing so, the center of the suction surface 201 and the unique suction position should coincide with each other when the electronic component 38 is sucked. However, in reality, there is at least one of a positional error of the feeder 36, a positional error of the nozzle rotation axis, and a positional error of the center of the suction surface 201 of the suction nozzle 190 with respect to the nozzle rotation axis.
Further, the peculiar suction position differs depending on the type of the electronic component 38.
Since the relative displacement occurs in the Y-axis direction, the table movement data is set and corrected based on the unique suction position and the like, and the suction surface 201 is eccentric with respect to the nozzle rotation axis to rotate the suction surface 201. As a result, the suction surface 201 sucks the unique suction position of the electronic component 38 without displacement.

The position errors ΔXA and ΔYA of the nozzle rotation axis obtained as described above, the eccentricity ΔXN of the suction surface 201,
ΔYN and the preset position difference Δ of the unique suction position
Table movement data is set based on XB, ΔYB, etc.
The stop position of the component supply device 14 is corrected, the elimination rotation angle and direction of the holding head 130 are set, and the suction surface 201 is rotated by the rotation of the holding head 130.
Is swung around the nozzle rotation axis, and when the suction nozzle 190 receives the electronic component 38, the displacement between the center of the suction surface 201 and the unique suction position is in the X-axis direction and Y direction.
It is performed in a state where it is canceled in any of the axial directions. Further, the positional error of the feeder 36 in each of the X-axis and Y-axis directions is also acquired, and the suction nozzle 19
0 is set so that the electronic component 38 can be adsorbed on the adsorption surface 201 without displacement. As will be described below, the table movement data is corrected in consideration of the change in the position of the suction surface 201 in the X axis direction due to the turning of the suction surface 201 for eliminating the displacement in the Y axis direction. Hereinafter, the elimination of the relative positional deviation will be described by taking the case where the general suction nozzle 190 receives the electronic component 38 in which the unique suction position is set at a position deviated from the center of the opening 26 as an example. In order to eliminate the relative positional deviation in the case of, the nozzle rotation axis line position errors ΔXA and ΔYA are both set to 0, and
Similar to the case of the general suction nozzle 190, relative positional deviation when receiving the electronic component 38 whose unique suction position coincides with the center of the opening 26 is performed with the positional differences ΔXB and ΔYB set to zero.

The table movement data is set in advance based on the unique suction position, and the rotation angle and the direction of the holding head 130 for correcting the table movement data and eliminating the relative displacement are set with the suction nozzle 190. If the combination with the feeder 36 that supplies the electronic component 38 to the suction nozzle 190 is determined, the operation is performed. As described above, the electronic component 3 by the feeder 36 of the component supply device 14
The supply order of 8 is set in advance, and in principle, the feeder 36 is moved to the component supply position to supply the electronic component 38 in accordance with the supply order, but the suction nozzle 190 and the feeder 3 are supplied.
The combination with 6 depends on various factors. For example,
When an electronic component 38 that is not mounted as planned due to a suction error occurs, when the electronic component 38 is mounted (supplied) by interrupting the electronic component 38 in a preset mounting order (supply order), a suction tube When the bending of 200 or the wear of the suction surface 201 exceeds the set amount and the defective suction nozzle 190 that is not used for suction of the electronic component 38 occurs, the suction nozzle 190 and the suction nozzle 190 are generated every time such a situation occurs. A combination with the feeder 36 is set. Further, when the electronic components 38 are continuously mounted on a plurality of printed wiring boards 60 of the same type, the set mounting order (supply order) of the electronic components 38 is basically the same for each printed wiring board 60. However, the suction nozzles 190 that receive the electronic components 38 are not necessarily the same, and for example, the feeder 36 may be installed according to the suction nozzles 190 that start mounting the electronic components 38 on the printed wiring board 60.
The combination with is set. If the combination is set before the mounting work is started, the table movement data may be corrected, or the table movement data may be corrected according to the combination while being supplied. Even when the table movement data is corrected in advance, if the combination of the suction nozzle 190 and the feeder 38 changes, the correction is performed accordingly. The suction nozzle 19 that receives the electronic component 38 at the component receiving position
When the combination of 0 and the feeder 36 that supplies the electronic component 38 to the suction nozzle 190 is determined, the feeder 36 is determined based on the unique suction position, the position error of the nozzle rotation axis, the eccentricity of the suction surface 201, and the like. Table movement data for moving the table to the component supply position may be created.

First, the elimination of the positional deviation in the Y-axis direction due to the rotation of the suction head 201 due to the rotation of the holding head 130 will be described. Before the position error of the feeder 36 is acquired, the position deviation in the Y-axis direction between the center of the suction surface 201 and the unique suction position is eliminated based on the position error ΔYA, the eccentricity ΔYN, and the position difference ΔYB. The rotation angle and direction of the holding head 130 are set. Position error ΔYA
Uses the position error obtained by the image pickup of one of the two component cameras 350 and 352, for example, the component camera having the larger image pickup magnification.

The holding head 130 is rotated from the state in which it is located at the original rotation position at the Y-axis direction positional deviation elimination execution position in order to correct and eliminate the positional deviation in the Y-axis direction. Therefore, the holding head 130 is rotated to the rotation position after the positional deviation in the Y axis direction is eliminated, which is the rotational position in which the positional deviation in the Y axis direction is eliminated, and the elimination rotation, which is the rotation angle of the holding head 130 for eliminating the positional deviation. The angle and the canceling rotation direction are set to 0 degree when the holding head 130 is located at the original rotation position.

In order to obtain the elimination rotation angle and direction, the turning radius of the suction surface 201, that is, the distance between the nozzle rotation axis and the center of the suction surface 201, and the suction surface 201 when the holding head 130 is located at the original rotation position. And the angle formed by the straight line passing through the center of the suction surface 201 and the nozzle rotation axis with the X axis.
In the present embodiment, as shown in FIG. 14, an XY coordinate plane whose origin is the position of the nozzle rotation axis is assumed, and its X
On the Y coordinate plane, the position of the center of the suction surface 201, the angle formed by the straight line passing through the center of the suction surface 201 and the nozzle rotation axis with the X axis, and the elimination rotation angle and direction are obtained.

The turning radius is obtained when the suction surface 201 is imaged at two rotational positions and the position of the nozzle rotation axis is obtained as described above. As shown in FIG. 10 (b), half the distance between the centers M1 and M2 of the suction surfaces 201 when the holding head 130 is located at each of the two rotational positions is the turning radius R, and the two rotational positions Is obtained from the coordinates of the centers M1 and M2 of the respective suction surfaces 201 at. The turning radius may be calculated based on the coordinates of the center position of the suction surface 201 and the coordinates of the position of the nozzle rotation axis when the holding head 130 is located at one of the two rotation positions.

Further, as shown in FIG. 14, the holding head 1
The suction surface 201 in the state where 30 is located at the original position of rotation
The angle θ0 formed by the straight line passing through the center of the nozzle and the axis of rotation of the nozzle with the X axis is the coordinate of the center position of the suction surface 201 (x0, y
If it is 0), it is expressed by the equation (1). The coordinates of the center position of the suction surface 201 are obtained from the eccentricities ΔXN and ΔYN. θ0 = tan ^-1 y0 / x0 (1)

The angle θ0 is Y at the center position of the suction surface 201.
If the coordinate value is 0 and the X coordinate value is a positive value, it is 0 degree,
The counterclockwise direction is the positive direction, and it is obtained between -180 degrees and +180 degrees. Therefore, when the Y coordinate value of the central position of the suction surface 201 is larger than 0, the angle θ0 has a positive value, and when the Y coordinate value is smaller than 0, the angle θ0 has a negative value. The angle θ0 is calculated together with the turning radius R,
The turning radius R and the angle θ 0 are calculated for all the suction nozzles 190, and are stored in the RAM 406 as values unique to the suction nozzles 190 in association with the code data of the holding head 130 and the nozzle holding unit 192. In addition, the coordinates (x0
, Y0) and the turning radius R and the angle θ0,
The relationship expressed by equation (2) holds. (X0, y0) = (Rcos θ0, Rsin θ0) (2)

In the state where the holding head 130 is located at the original rotation position, the peculiar suction position (xk, xk) of the electronic component 38 on the XY coordinate plane with the position of the nozzle rotation axis as the origin.
yk) and the central position (x0, y0) of the suction surface 201 is shown in FIG.
5 when the center of the suction surface 201 coincides with the unique suction position of the electronic component 38 in the Y-axis direction, the center of the suction surface 201 and the nozzle rotation axis (XY coordinate shown in FIG. 15). The relationship expressed by the equation (3) is established among the angle θk formed by the straight line passing through the (origin of the surface) and the X axis, the Y coordinate value yk, and the turning radius R. Y coordinate value yk
Is obtained from the position error ΔYA of the nozzle rotation axis and the position difference ΔYB of the inherent suction position. Position error ΔY
A is acquired with respect to the reference nozzle rotation axis, the unique suction position positional difference ΔYB is set with respect to the center of the opening 26, and the position error of the feeder 36 has not been acquired yet.
When the reference suction nozzle 190 is stopped at the component receiving position and the feeder 36 is stopped at the component supplying position, the reference nozzle rotation axis and the component center (the center of the component supplying unit 37 and the center of the opening 26) are Y. If it is considered that they coincide in the axial direction, the Y coordinate value yk is obtained from ΔYA and ΔYB. yk = Rsin θk (3) Equation (4) is obtained from Equation (3). θk = sin ⁻¹ (yk / R) (4) If 0 ° ≦ θk <360 °, then as shown in FIG.
There are two θ k that satisfy equation (4). If the smaller of these two solutions is θkmin, the larger is 180 °-
θkmin. If θkmin is less than 180 degrees,
Both θkmin and 180 ° -θkmin have positive values,
If kmin is greater than 180 degrees, θkmin is a positive value, 18
0 ° -θkmin becomes a negative value. If θkmin is 180 degrees, 180 ° -θkmin becomes zero.

The acquisition of the elimination rotation angle and direction is performed in a state where the holding head 130 is located at the original rotation position, and at that time, the angle formed by the straight line passing through the center of the suction surface 201 and the nozzle rotation axis with the X axis Since it is θ 0, the rotation angle of the holding head 130 for aligning the center of the suction surface 201 with the unique suction position of the electronic component 38 in the Y-axis direction and for locating the position deviation in the Y-axis direction is eliminated. θm is θk
min-θ0 or 180 ° -θkmin-θ0. Considering the shortening of the mounting cycle time, the smaller absolute value of the rotation angle θm is set as the elimination rotation angle. Holding head 130
The rotation direction of is obtained by the positive and negative signs attached to the rotation angle θm.

When the absolute value of the rotation angle θm exceeds 180 degrees, the rotation angle is smaller when the holding head 130 is rotated in the direction opposite to the direction obtained by the positive or negative sign of the angle θm. I'm done. The sum of the absolute value of the angle θm and the absolute value of the rotation angle in the opposite direction is 360 degrees. If the angle θm is a positive value, the rotation angle in the opposite direction is a negative value, and the angle θm If is a negative value, the rotation angle in the opposite direction is a positive value. Therefore, the absolute value of the rotation angle θm is 18
If the angle θm exceeds 0 degrees and the angle θm is a positive value, the angle θm
The rotation angle in the opposite direction can be obtained by subtracting 360 degrees from, and the magnitude of the rotation angle is compared by its absolute value, and the angle θm
If is a negative value, the rotation angle in the opposite direction is obtained by adding 360 degrees to the angle θm, and the magnitude of the rotation angle is compared with the absolute value. The rotation direction is 360 from the angle θm.
It depends on the sign of the value obtained by subtracting or adding the degree. If the angle θm is exactly 180 degrees, the rotation direction may be either forward or reverse, for example, the forward direction.

If the combination of the suction nozzle 190 that receives the electronic component 38 at the component receiving position and the feeder 36 that supplies the electronic component 38 to the suction nozzle 190 is determined, the positional error ΔYA acquired for the suction nozzle 190 and the eccentricity are obtained. ΔYN, turning radius R, angle θ0, and position difference Δ of the unique suction position set for the electronic component 38
Based on YB, the elimination rotation angle and direction are obtained as described above. Then, when the holding head 130 reaches the Y-axis direction misregistration elimination execution position with the suction nozzle 190 that receives the electronic component 38 positioned at the working position, the holding head 130 is in accordance with the combination of the electronic component 38 and the suction nozzle 190. The holding head 130 is rotated by the Y-axis direction misregistration eliminating device in the set angle and in the set direction based on the set misregistration eliminating rotation angle and direction. Engagement member 30 of Y-axis direction misalignment eliminating device
Reference numeral 4 denotes a holding head 1 which is located at an original position of rotation.
30 to be engaged with the engaged member 174 of the rotating device 30.
8 to rotate the holding head 130. As a result, the center of the suction surface 201 is swung around the nozzle rotation axis, and as shown in FIG.
The electronic component 38 is moved in the axial direction to a position that coincides with the unique suction position of the electronic component 38, and the positional deviation in the Y-axis direction between the center of the suction surface 201 and the unique suction position is eliminated. The position deviation in the Y-axis direction is eliminated before the suction nozzle 190 receives the electronic component 38, and the suction surface 201 is moved in the state where the holding head 130 is moved to the component receiving position and stopped. The electronic component 38 is received in a state in which the center of the and the unique suction position of the electronic component 38 are matched in the Y-axis direction and the positional deviation in the Y-axis direction is eliminated. Note that, in FIG. 12 and the like, the arrows attached to the position error and the eccentricity in the Y-axis direction indicate the direction of the position error and the eccentricity, respectively.

The magnitude of the relative position shift that can be eliminated by the turning of the suction surface 201 between the center of the suction surface 201 and the unique suction position is determined by the size of the turning radius R of the suction surface 201. Therefore, the eccentric distance of the suction surface 201 is set to a distance sufficient to eliminate the positional deviation in the Y-axis direction. However, the eccentric distance depends on the body 19 of the suction nozzle 190.
8 and the diameter of the adsorption tube 200, and it may not be possible to eliminate all depending on the magnitude of the relative positional deviation. In that case, the rotation angle and direction of the holding head 130 are set so that the relative positional deviation in the Y-axis direction is reduced most.

If the holding head 130 is rotated to eliminate the positional deviation in the Y-axis direction and the suction surface 201 is swung around the nozzle rotation axis, the position of the center position of the suction surface 201 in the X-axis direction changes. To do. Therefore, the amount of change and the direction of the central position of the suction surface 201 in the X-axis direction are obtained, and are corrected by correcting the table movement data. This change amount and the direction ΔXm are shown in FIG.
As shown in FIG. 5, the holding head 130 has an X coordinate value X0 ′ when the center of the suction surface 201 is aligned with the unique suction position of the electronic component 38 in the Y-axis direction, and the holding head 130 has the original rotation position. Is obtained by the difference from the X coordinate value X0 of the center of the suction surface 201 in the state
It is expressed by equation (5) and is obtained by adding positive and negative signs. This position change is eliminated by correcting the moving distance of the component supply table, that is, by correcting the stop position of the feeder 36. Xm = x0′−x0 = Rcos θk−x0 (5) The angle θk is −θ0 from the one of θkmin−θ0, 180 ° −θkmin−θ0 which is the rotation angle for eliminating the positional deviation. Is excluded (added θ0). θkmin−θ
When the absolute value of 0,180 ° −θkmin−θ0 is larger than 180 °, θk is obtained by removing −θ0 from the value when 360 ° is not subtracted or added.

Since the holding head 130 is rotated in order to eliminate the displacement in the Y-axis direction as described above, when changing the posture of the electronic component 38, the component posture changing device is operated at the component posture changing position. The engagement member 304 is rotated by the rotation device 308, and is previously positioned at a rotation position where it can engage with the engaged member 174 of the holding head 130 rotated from the original rotation position. Further, at the component posture correcting position, the engaging member 304 of the component posture correcting device is set to Y
In consideration of the rotation of the holding head 130 for eliminating the positional deviation in the axial direction, the holding head 130 is preliminarily positioned at a rotation position where it can be engaged with the engaged member 174.

The elimination of the positional deviation in the X-axis direction between the center of the suction surface 201 and the unique suction position of the electronic component 38 will be described. In the X-axis direction, the position difference Δ of the unique suction position
The table movement data is set based on XB and is corrected based on the position error ΔXA, the eccentricity ΔXN, and the change ΔXm of the center position due to the turning of the suction surface 201, and the table movement device 46 corrects the corrected table movement data. Based on the above, the component supply tables 30 and 32 are moved and stopped in a state where the relative positional deviation in the X-axis direction between the center of the suction surface 201 and the unique suction position is eliminated.
These position error ΔXA and eccentricity ΔXN are
It is detected based on the image pickup of the suction surface 201 by 50 and 352. As described above, it is converted into a position error at the component receiving position in consideration of the difference between the component receiving position and the component holding posture detection position. The table move data is modified. Y between the center of the suction surface 201 and the unique suction position
The same applies to the case of obtaining the rotation angle and direction of the holding head 130 for eliminating the positional deviation in the axial direction, and further, the suction surface 201 is imaged from below by the component cameras 350 and 352 in the Y-axis direction of the image. The calculation is performed in consideration of the reversal of the position of. Change in center position ΔX
m is also obtained by performing these conversions. The position errors ΔXA and the like shown in FIGS. 12, 13, 15, and 18 are the position errors that have been converted and taken into consideration. The same applies to the positions and angles shown in FIGS. 14 to 16. The nozzle rotation axis is the camera part 35.
Each of the component cameras 350 and 352 is detected based on the image pickup by both 0 and 352. To correct the table movement data, the position error detected based on the image pickup by one of the component cameras, For example, the position error detected based on the image pickup by the component camera having the larger image pickup magnification is used. The position of the general nozzle rotation axis may be detected based on the image pickup by one of the two component cameras 350 and 352, for example, the component camera with the larger image pickup magnification. This is because the position of the general nozzle rotation axis is obtained by the reference nozzle rotation axis and the position error of the general nozzle rotation axis with respect to the reference nozzle rotation axis, and this position error is the same even if the component cameras are different.

As shown in FIG. 12B, the unique suction position of the electronic component 38 is the opening 26 at the center of the component supply unit 37.
Is deviated from the center of X in the X-axis direction, and there is a positional error ΔXA on the nozzle rotation axis of the suction nozzle 190.
Since the eccentricity of the suction surface 201 of the suction tube 200 is ΔX N, the holding head 130 is rotated in order to eliminate the displacement in the Y axis direction between the center of the suction surface 201 and the unique suction position of the electronic component 38. If the position change of the center of the suction surface 201 in the X-axis direction that occurs is ΔXm, table movement data is created based on the position difference ΔXB, and the position error ΔX is generated.
It is modified based on A etc. In the figure, an arrow T indicates the moving direction of the component supply table when supplying electronic components, and the direction of the arrow attached to the position error or the like in the X axis direction is the moving direction of the component supply table for correcting the position error or the like. Indicates.

The table movement data is set so that the peculiar suction position of the electronic component 38 is positioned at a preset position with respect to the reference nozzle rotation axis in the X-axis direction, and the table movement data includes the position error ΔXA and eccentricity. Corrected based on .DELTA.XN and position change .DELTA.Xm. The table movement data is, as shown in FIG.
The center of 6 is set based on the position difference ΔXB between the position of the component supply table and the peculiar suction position in the state where the center of 6 coincides with the rotation axis of 190 reference nozzles of the standard suction located at the component receiving position. . Note that the position error of the feeder 36 is not acquired at the start-up inspection, and the feeder 36 is not acquired until the position error of the feeder 36 is acquired.
The data is created assuming that there is no position error in. Creation and modification of table movement data are performed for all feeders 36 that supply electronic components 38. Holding head 1
After mounting the electronic component 38, the electronic component 38 is returned to the original rotation position at the holding head posture returning position. If the holding head 130 is not rotated to eliminate the positional deviation in the Y-axis direction, the electronic component 38 is moved to the original rotation position. Receiving and attracting surface 20
Eccentricity with respect to the nozzle rotation axis of a plurality of suction nozzles 1
For each of the 90, the same occurs every time the electronic component 38 is sucked. The position error of the nozzle rotation axis is unique to the suction nozzle 190. Therefore, the electronic component 3
If the suction nozzles 190 that receive 8 are the same, the table movement data can be corrected using the same position error ΔXA and eccentricity ΔXN. Position errors ΔX acquired as unique values for all suction nozzles 190
The table movement data can be corrected using A and the eccentricity ΔXN.

The holding head 1 for eliminating the displacement in the Y-axis direction between the center of the suction surface 201 and the unique suction position.
The same applies to the setting of the rotation angle and the direction of 30, and the holding heads 13 for all the suction nozzles 190.
The position error ΔYA, the eccentricity ΔYN, the turning radius R, and the angle θ0, which are respectively acquired as unique values when 0 is located in the original rotation position, are stored for each suction nozzle 190.
Is read for each suction nozzle 190, and the elimination rotation angle and direction are set.

To correct the table movement data, the suction surface 2
A positional change ΔXm of the suction surface 201 in the X-axis direction due to the turning of 01 is required.
And the feeder 36 are determined, and if the elimination rotation angle and direction are set, the obtained position change ΔX is obtained.
The table movement data is modified using m. The table movement data is corrected if the combination of the suction nozzle 190 and the feeder 36 is determined, and the component supply table is moved based on the corrected table movement data, and the feeder 36 is stopped. Figure 1
As shown in FIG. 3, the peculiar suction position of the electronic component 38 and the center position of the suction surface 201 are also matched in the X-axis direction.

When the suction nozzle 190 located at the acting position of the holding head 130 is located at the component receiving position as described above, the peculiar suction position of the electronic component 38 and the center of the suction surface 201 are also in the X-axis direction. Also in the Y-axis direction, the positional deviation is eliminated and the positions are aligned. In this state, the suction nozzle 190 is brought close to the feeder 36 to receive the electronic component 38 from the component supply unit 37. Since the center of the suction surface 201 is aligned with the unique suction position of the electronic component 38, even if the electronic component 38 is small, the suction nozzle 190 can stably suction.

The detection and correction of the position error of the feeder 36 will be described. The position error of the feeder 36 is acquired during mounting of the electronic component 38 in this embodiment. Electronic component 38
The table movement data is set and corrected based on previously obtained data such as the unique suction position of the holding head 130.
Even if the suction surface 201 is swung to eliminate the positional deviation by rotating, the inherent suction position of the electronic component 38 and the central position of the suction surface 201 may shift. It is considered that this is because the position of the feeder 36 has an error. The position error of the feeder 36 is, for example, the manufacturing error of the feeder 36, the feeder support base 34 of the feeder 36, or the like.
It is caused by an error in the mounting position to, an error in the stop position of the feeder 36, and the like. Further, due to a manufacturing error of the component accommodating concave portion of the tape-shaped electronic component 22, a deviation occurs between the center of the suction surface 201 and the unique suction position. The error on the feeder 36 side that causes the deviation between the center of the suction surface 201 and the unique suction position is collectively referred to as the position error of the feeder 36.
Then, in the present embodiment, the horizontal position error ΔX obtained by imaging the electronic component 38 held by the suction nozzle 190.
Based on E and ΔYE, the X-axis direction of the feeder 36 and Y
Each position error in the axial direction is acquired.

As shown in FIG. 17, when the horizontal position errors ΔXE and ΔYE of the electronic component 38 are detected, the horizontal position errors ΔXE and ΔYE are used to determine the X-axis direction and the Y-axis with respect to the image pickup center at the center of the suction surface 201. The positional deviation in the direction is subtracted, and the positional errors ΔXF and ΔYF in the X-axis direction and the Y-axis direction of the feeder 36 are stored in the RAM 406 for each feeder 36 that has supplied the electronic component 38. The position errors ΔXF and ΔYF are obtained with positive and negative signs.
In the present embodiment, the horizontal position errors ΔXE and ΔYE are obtained for the peculiar suction position of the electronic component 38. The positions of the imaging center and the reference nozzle rotation axis are aligned with each other, and the center position of the suction surface 201 on the imaging screen is obtained by the eccentricity of the suction surface 201 if the suction nozzle 190 is the reference suction nozzle 190. Suction nozzle 19
If 0 is the general suction nozzle 190, it is obtained based on the position error of the general nozzle rotation axis with respect to the reference nozzle rotation axis and the eccentricity of the suction surface 201. When the posture of the electronic component 38 is changed, the electronic component 3 obtained by imaging
Based on the unique suction position of 8, the center position of the suction surface 201, the position of the nozzle rotation axis, the posture change angle and the direction,
Each positional error in the X-axis direction and the Y-axis direction between the center position of the suction surface 201 and the unique suction position in the state where the suction nozzle 190 is not rotated for changing the posture is obtained. When the number of electronic components 38 supplied by the same feeder 36 reaches the set number, the average value of the position errors of the electronic components 38 in the X-axis direction and the Y-axis direction of the feeder 36 obtained is obtained, Positional errors ΔXF and ΔYF of the feeder 36 in the X-axis direction and the Y-axis direction are considered. The calculated position error is stored in the RAM 406 in association with the mounting position of the feeder 36 on the feeder support base 34. Note that, in FIG. 17, an image of the electronic component 38 viewed from above is illustrated for easy understanding, but in reality, the electronic component 38 is viewed from above on the imaging screen. An image in which the position of the image in the open state in the Y-axis direction is reversed is formed.

When the feeder 36 is displaced as shown by a chain double-dashed line in FIG. 18, a positional error of the feeder 36 is detected, and positional errors ΔXF and ΔYF are generated as shown in FIG. 18 about the center of the opening 26. Then, in addition to the position error ΔYA of the nozzle rotation axis and the like, the position error ΔYF is also included to rotate the holding head 130 to eliminate the positional deviation in the Y-axis direction between the inherent suction position and the center of the suction surface 201. Angles and directions are required. FIG. 18 shows the position error of the feeder 36 with respect to the center of the opening 26. However, if the feeder 36 has a position error, the inherent suction position of the electronic component 38 is also displaced by the position error, and the position error in the Y-axis direction. The Y coordinate value yk for obtaining the rotation angle and direction of the holding head 130 for eliminating the positional deviation is acquired by using the positional error ΔYF in addition to the positional error ΔYA and the positional difference ΔYB, and ΔYF is eliminated. Therefore, the elimination rotation angle and direction are required. Further, based on ΔXF in addition to the positional error ΔXA of the nozzle rotation axis, ΔXF is also eliminated, and the table movement data is corrected so that the unique suction position and the center of the suction surface 201 coincide with each other in the X-axis direction. To be done. The holding head 1 for eliminating the position error ΔYF even in the position change ΔXm of the suction surface 201 in the X-axis direction due to the turning.
It is acquired based on the angle θk for obtaining the rotation angle of 30, and is used to correct the table movement data, and the component supply table is moved according to the data. Further, the holding head 130 is rotated in the determined direction by the rotational angle determined so as to eliminate the position error ΔYF. As a result, the center of the suction surface 201 and the unique suction position of the electronic component 38 are matched in both the X-axis direction and the Y-axis direction, and the suction nozzle 1 in which the positional deviation is eliminated
90 can securely adsorb the electronic component 38. This correction is also based on the difference in the position between the component receiving position and the component holding posture detection position, and the component cameras 350 and 352 set the electronic component 3
This is performed in consideration of the reversal of the position of the image in the Y-axis direction when the image of 8 is picked up from below.

If the position error of the feeder 36 is eliminated as described above, the electronic component 38 can be sucked more reliably and stably even if the electronic component 38 is small, and the positioning accuracy and processing accuracy of the feeder 36 can be relaxed. Etc. are possible.

The position error of the feeder 36 is detected in parallel with the mounting work, but it may be carried out only once during the mounting work which is continuously carried out, or may be carried out when a preset condition is satisfied. , You may go all the time. The preset condition is, for example, the electronic component 3 by one feeder 36.
This means that the number of supplies of 8 has reached the set number, and the count of the number of supplies of the electronic component 38 is restarted each time a position error is detected. This set number is set to be larger than the set value, which is the cumulative number of position errors for obtaining the position errors ΔXF and ΔYF. In any case, the position error ΔXF, ΔYF
Is repeatedly performed, the table movement data is corrected using the newly detected position error, and the elimination rotation angle and direction for eliminating the Y-axis direction positional deviation are obtained.

As is apparent from the above description, in the present embodiment, the holding head 130 of the control device 400 is rotated to be positioned at two image pickup positions, and the suction surface is attached to the component cameras 350 and 352 at each image pickup position. A portion that detects the eccentricity of the suction surface 201 with respect to the nozzle rotation axis in the state where the holding head 130 is located at the original rotation position constitutes a relative position acquisition unit, and a unique suction position and acquisition of the electronic component 38. The table movement data is set and corrected based on the eccentricity of the sucked surface 201, the positional error of the nozzle rotation axis, the positional deviation caused by eliminating the positional deviation in the Y-axis direction, and the positional error of the feeder 36, and based on the table movement data. And controls the table moving device 46 to move and stop the component supply tables 30 and 32, and to hold the parts. The Y-axis direction misregistration eliminating device is rotated so as to eliminate the misregistration in the Y-axis direction between the center of the suction surface 201 and the unique suction position of the electronic component 38, and the suction nozzle 190 is moved in that state. Electronic component 38
The part for receiving the parts constitutes a parts reception controller. Further, a part of the control device 400 that detects a position error of the feeder 36 based on imaged data obtained by imaging the electronic component 38 held by the suction nozzle 190 constitutes a feeder position error detection part.

According to the present invention, the holding head is moved by the holding head moving device to an arbitrary position in the plane perpendicular to the rotation axis of the holding head to receive the electric component from the component supplying device and mount it on the circuit board. It can also be applied to a component mounting system. In this type of electrical component mounting system, the holding head is provided on the moving member together with, for example, the head rotating device and the approaching / separating device, and the moving member is moved by the moving member moving device.
It can be moved to any position on the horizontal XY coordinate plane.

The holding head holds a suction nozzle whose suction surface is concentric with the rotation axis of the holding head, and the center of the suction surface is the center of the suction surface in accordance with preset head movement data. Is moved to a position that matches. However, when there is an error in the center position of the suction surface due to bending of the suction pipe or manufacturing error and it is eccentric with respect to the head rotation axis, the relative displacement between the center of the suction surface and the unique suction position is large. May be. For example, as indicated by the chain double-dashed line in FIG. 19, the position of the electronic component 500 is displaced due to the position error of the feeder, the position of the unique suction position is displaced, and the eccentricity error of the suction surface 502 of the suction nozzle is caused by the head rotation axis line. On the other hand, if it occurs on the side where the deviation from the inherent suction position becomes large, a suction error may occur.

Therefore, if the position error of the suction surface 502 with respect to the head rotation axis in the state where the holding head is located at the preset rotation position is acquired, the suction surface 502 is swung when the component is received and the unique suction position is obtained. It is possible to adsorb the electronic component in a state where the electronic component is approached to and the positional deviation is reduced. The eccentricity of the suction surface can be used to reduce the relative positional deviation and the occurrence of suction errors without modifying the preset head movement data. In an electric component mounting system in which the holding head is moved to an arbitrary position by the head moving device, in various other cases, the eccentricity of the suction surface is used to make the center of the suction surface relative to the unique suction position. It is possible to eliminate the positional deviation as much as possible.

When detecting a position error or the like of the nozzle rotation axis of the suction nozzle during the non-mounting work, the position error of the image pickup device may be adjusted and the position error may be corrected by calculation. For example, the position of the imaging device is adjusted when detecting the position error of the nozzle rotation axis, etc. during manufacturing or maintenance, but it is not performed after that, and the image is taken when the position error of the suction surface etc. is detected during the start-up inspection. Even if the position error of the device is detected, it is not adjusted, and the position error of the imaging device is corrected by calculation. In this case, a horizontal position error of the electronic component is detected with respect to the detected reference nozzle rotation axis, and a reference is made based on the position error of the imaging device with respect to the reference nozzle rotation axis and the position error with respect to the reference nozzle rotation axis of the general nozzle rotation axis. The position of the rotation axis of the suction nozzle other than the suction nozzle is acquired, and the positional deviation of the suction position peculiar to the electronic component due to the correction of the rotational position error of the electronic component is detected.

Further, in each of the above-mentioned embodiments, the suction surface of the suction nozzle is imaged by the component image pickup device for picking up an image of the electronic component held by the suction nozzle, but an image pickup device different from the component image pickup device is provided, The suction surface may be imaged by the imaging device.

Further, although two component cameras are provided in the electronic component mounting system of the embodiment shown in FIGS. 1 to 18, only one component camera may be provided. At this time, the imaging magnification of the component camera may be adjusted.

In each of the above embodiments, the feeder 3
The position error 6 is acquired based on the image pickup of the electronic component 38 sucked by the suction nozzle 190, and is eliminated after the mounting work of the electronic component 38 on the printed wiring board 60 is started. It may be acquired before the start of the work and canceled from the start of the mounting work. For example, the reference mark is provided on each of the plurality of feeders 36 supported by the feeder support base 34, the image is picked up by the image pickup device, and the actual position data of the reference mark obtained by the image pickup and the normal position data without deviation are provided. To obtain the position error. The imaging device is provided, for example, at a fixed position near the component receiving position, and the feeder is moved to the imaging device by moving the component supply table so that the reference mark is imaged. In this case, the portion for obtaining the position error of the feeder based on the imaged data of the reference mark of the control device constitutes the feeder position error acquisition unit. Alternatively, the suction nozzle is caused to receive the inspection chip in the same manner as when the electronic component 38 is actually mounted on the printed wiring board 60 in a state in which the position error of the nozzle rotation axis is corrected, and the suctioned inspection chip is used. The position error of the feeder may be detected by imaging the chip with a component camera, obtaining the difference between the center of the suction surface and the preset suction position of the inspection chip. The received inspection chip is mounted on an inspection board, and the mounted inspection chip is imaged by an imaging device that images the reference mark on the printed wiring board, and the position error of the feeder is detected based on the imaging result. May be. The inspection chip may be an electronic component, and the inspection board may be a printed wiring board. If the inspection chip is an inspection-dedicated chip, for example, it is held by a feeder like an electronic component, the feeder is attached to a feeder support base, and the inspection chip is positioned at a position where an image is picked up by an imaging device.

The image pickup device for picking up the suction surface of the suction nozzle may be any device that can obtain an image of the suction nozzle from the direction facing the suction nozzle. In each of the above-described embodiments, the image pickup device is composed of a CCD camera and is provided in parallel with and downward from the holding head, but it may be provided so as to face the holding head. The imaging device that images the suction surface of the suction nozzle may be a surface imaging device that acquires a two-dimensional image of a subject all at once, or may be a line sensor. The line sensor has a large number of image pickup elements arranged in a straight line, and a two-dimensional image is obtained by repeatedly taking an image while moving the image pickup element relative to the subject.

Although some embodiments of the present invention have been described in detail above, these are merely examples, and the present invention is described in the above-mentioned [Problems to be solved by the invention, means for solving problems and effects]. Various modifications and improvements can be performed based on the knowledge of those skilled in the art, including the described embodiments.

[Brief description of drawings]

FIG. 1 is a plan view schematically showing an electronic component mounting system according to an embodiment of the present invention.

FIG. 2 is a side view (partial cross section) showing a component mounting apparatus of the electronic component mounting system.

FIG. 3 is a plan view showing a cover of a feeder that constitutes a component supply device of the electronic component mounting system.

FIG. 4 is a diagram for explaining a stop position when the holding head of the component mounting apparatus is turned.

FIG. 5 is a front view (partial cross section) showing a holding head posture returning device of the component mounting apparatus.

FIG. 6 is a front view (partial cross section) showing a suction nozzle held by a holding head of the component mounting apparatus.

FIG. 7 is a front view (partial cross section) showing an imaging system for imaging an electronic component of the component mounting apparatus.

FIG. 8 is a block diagram showing a part of the control device for controlling the electronic component mounting system, which is deeply related to the present invention.

FIG. 9 is a diagram illustrating a unique suction position of an electronic component held by the feeder and positioned by a component supply unit.

FIG. 10 is a diagram illustrating detection of a rotation axis of the suction nozzle.

FIG. 11 is a diagram illustrating detection of eccentricity of the suction surface of the suction nozzle.

FIG. 12 is a diagram for explaining setting and correction of feeder movement data based on a positional error of the nozzle rotation axis and the like, and elimination of positional deviation in the Y-axis direction.

FIG. 13 is a diagram for explaining elimination of misalignment in the X-axis direction between the center of the suction surface and the unique suction position of the electronic component.

FIG. 14 is a diagram illustrating acquisition of a turning radius and the like of the suction surface.

FIG. 15 is a diagram for explaining elimination of positional deviation in the Y-axis direction between the center of the suction surface and the unique suction position of the electronic component based on the rotation of the suction surface.

FIG. 16 is a diagram illustrating acquisition of the turning angle of the suction surface for eliminating the positional deviation in the Y-axis direction.

FIG. 17 is a diagram illustrating acquisition of a position error of the feeder.

FIG. 18 is a diagram for explaining elimination of the positional error of the feeder.

FIG. 19 is a diagram illustrating elimination of misalignment between the center of the suction surface and the unique suction position of the electronic component in the electronic component mounting system according to another embodiment of the present invention.

[Explanation of symbols]

12: Electronic component mounting system 14: Component supply device
16: Electronic component mounting device 18: Printed wiring board holding device 38: Electronic component 60: Printed wiring board
64: Printed wiring board holding device moving device 130:
Holding head 132: Head turning device 134: Relative movement device
190: Suction nozzle 200: Suction tube 201: Suction surface 300: Holding head posture restoration device 358: Imaging device 400: Control device

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 3C007 AS08 DS01 FS02 FT10 FU01                       KT02 NS17                 5E313 AA03 AA11 AA18 CC03 CC04                       CD06 DD02 DD03 DD13 DD33                       EE02 EE03 EE24 EE35 EE37                       FF24 FF26 FF28 FF33 FF40

Claims (5)

[Claims] 1. A holding head, which rotates about a rotation axis, holds a suction nozzle for sucking and holding an electric component on a suction surface at a lower end thereof in a posture extending parallel to the rotation axis, and the suction nozzle holds the component. An electric component supply method for receiving an electric component from a component supply device in which a feeder for sequentially supplying the electric components one by one in a supply unit is arranged such that the component supply units are aligned. The suction surface is eccentric with respect to the rotation axis of the holding head, and is parallel to the straight line between the center of the suction surface and the suction target point of the electric component positioned in the component supply unit. Direction, and at least one of the straight line and the direction perpendicular to the rotation axis is displaced relative to the suction surface when the holding head rotates about the rotation axis. In a state of being eliminated as much as possible by turning about the axis, the EC supplying method characterized by causing the receiving of the electrical component. 2. The relative position acquisition step of acquiring the relative position of the suction surface with respect to the rotation axis of the holding head, and the holding head and the component supply device based on the relative position acquired in the relative position acquisition step. And a relative movement step of relatively moving the suction surface and the suction target point so that a relative positional deviation between them becomes as small as possible, And a supply step of causing the suction nozzle to receive an electric component from the component supply unit, the electric component supplying method according to claim 1. 3. In the relative movement step, the holding head is swung in a circular swirl locus, stopped at a predetermined point on the swirl locus, and the component of the component supply device. The electrical component supply method according to claim 1 or 2, wherein the supply unit is moved in a direction of a tangent to the turning trajectory. 4. A suction target point of an electric component positioned in the component supply unit of the component supply device has a positional error in a direction perpendicular to a tangent to the turning trajectory of the holding head and a rotation axis of the holding head. In this case, the holding head is rotated to the rotational position where the eccentricity of the suction surface eliminates the position error of the suction target point as much as possible, and the center of the suction surface and the suction target point are 4. The electric component supplying method according to claim 3, wherein the deviation in the direction parallel to the tangent to the turning trajectory of the holding head is eliminated by controlling the stop position of the component supplying device. 5. A component supply device in which a feeder for sequentially supplying one electrical component at a component supply unit is arranged such that the component supply units are aligned, and a circuit board on which the electrical component is to be mounted. A substrate holding device that holds a suction head, a holding head that is rotatable about a rotation axis, and that holds the suction nozzle in a posture that is detachable and extends parallel to the rotation axis, and a holding head that is held by the holding head. A suction nozzle having a suction surface that is eccentric to the rotation axis of the head by a set distance, a head rotation device that rotates the holding head, a rotation of the holding head, the component supply device, and the substrate holding device. A relative movement device that relatively moves in a direction intersecting the axis, the holding head and the component supply device are made to approach each other in a direction parallel to the rotation axis, An approaching / separating device for separating, and a control device for controlling the head rotating device, the relative moving device, and the approaching / separating device, and the control device is provided at the center of the suction surface and the component supply unit. With respect to the suction target point of the positioned electric component, at least one relative positional deviation between the direction parallel to the straight line and the direction perpendicular to the straight line and the rotation axis is set to the rotation around the rotation axis of the holding head. An electrical component mounting system including a component reception control unit for receiving an electrical component in a state where it is eliminated as much as possible by turning of the suction surface.