JP6503553B2 - Component mounting device - Google Patents

Description

  The present invention relates to a component mounting apparatus for suctioning a component by a suction nozzle and mounting the component on a substrate.

  Conventionally, the component mounting apparatus includes a plurality of suction nozzles supported rotatably around the vertical axis, and after suctioning a plurality of components supplied from the component supply unit by the plurality of suction nozzles, the components are sequentially mounted on the substrate Do. When mounting a component on a substrate, a plurality of suction nozzles are collectively rotated in the same direction by a toothed belt, and the rotation angle of the component to be mounted on the substrate is predetermined at a predetermined angle. Make it an angle). Here, the rotational angle of the part is a parameter that represents the rotational attitude of the part, with the attitude at the time of being supplied by the part supply unit as the attitude at an angle of 0 °. Further, the mounting angle of a part refers to the rotation angle of the part defined as the mounting angle of the part on the substrate. The mounting angle of the component is usually eight angles defined at intervals of 0 ° to 45 °, specifically 0 °, 45 °, 90 °, 135 °, 180 °, 225 ° (or -135 °), Either 270 ° (or -90 °) or 315 ° (or -45 °).

  The suction nozzle sucks the component in a state where the rotation angle is 0 °, and then rotates by an angle corresponding to the mounting angle defined for the suctioned component so that the rotation angle of the component becomes the mounting angle. Since the adjustment of the rotation angle of the suction nozzle is performed via the toothed belt, an error may be caused by the pitch error of the teeth of the toothed belt, but from the viewpoint of reducing the influence of such an error, the rotation of the suction nozzle Is limited to the range of the angle (360 °) corresponding to one rotation of the necessary and large limits (see, for example, Patent Document 1).

  When the rotation range of the suction nozzle is limited to one rotation range as described above, the rotation angle of the suction nozzle when the suction nozzle is maximally rotated in the one rotation range is referred to as "rotation limit angle". Then, the suction nozzle can not be rotated beyond the rotation limit angle, but by switching the rotation direction and rotating the suction nozzle, the suction nozzle is made the desired rotation angle and the rotation angle of the component is the mounting angle. can do. Here, when a component is sucked by the suction nozzle, a shift (rotation shift) in the rotational direction of the component with respect to the suction nozzle is detected, and the rotation shift is canceled when the rotation angle of the component is equal to the mounting angle. The rotation angle of the part is adjusted as it is.

Unexamined-Japanese-Patent No. 2002-185197

  By the way, when the rotation range of the suction nozzle is limited to one rotation as described above, the mounting angles of two parts to be mounted on the substrate continuously are the same, but the directions of rotational deviation are mutually opposite. If this is the case, it may occur that the suction nozzle has to be rotated approximately one turn while sequentially adjusting the rotation angles of the two parts to the mounting angle. For example, the rotation limit angle is 180 °, and the mounting angles of the two parts are both 180 °, and the rotation deviation of one part is 1 ° in one direction, and the rotation deviation of the other part is opposite It is the case that it was 1 degree in the direction. In this case, in order to adjust the rotation angle of one component to the mounting angle, the two suction nozzles are rotated from 0 ° to 179 ° during component suction, and then the rotation angle of the other component is adjusted to the mounting angle Now it is necessary to rotate 358 ° in the opposite direction (approximately one revolution). This is because, after adjusting the rotation angle of one part to the mounting angle, rotating the suction nozzle in the same direction to adjust the rotation angle of the other part to the mounting angle, the suction nozzle rotates in the process. Although this phenomenon occurs because the angle reaches the rotation limit angle, the operation of such a suction nozzle is inefficient and may hinder the improvement of the mounting tact of parts.

  Therefore, an object of the present invention is to provide a component mounting apparatus capable of preventing the amount of rotation of the suction nozzle from increasing when the rotational angles of a plurality of suctioned components are sequentially adjusted to the mounting angle.

  The component mounting apparatus according to the present invention includes a component supply unit for supplying components, a plurality of suction nozzles supported rotatably around upper and lower axes, and sucking the components supplied by the component supply unit, and the plurality of components. The plurality of suction nozzles suctioning the plurality of components, including: a nozzle rotating mechanism that rotates the plurality of suction nozzles that have suctioned around the respective vertical axes; and a nozzle lifting mechanism that individually lifts the plurality of suction nozzles. Are rotated by the nozzle rotation mechanism so that one of the plurality of parts is in a predetermined rotation posture defined by the parts, and then the suction nozzles are individually lowered by the nozzle lifting mechanism. A component mounting apparatus that sequentially executes a series of operations for mounting the component on a substrate for each of the plurality of components, wherein the nozzle rotation mechanism includes the plurality of suction nozzles. The suction nozzle is configured to be collectively rotated in the same direction within the range of one rotation around each vertical axis, and the rotation angle of the suction nozzle is 0 ° at the time of suction of the component. The rotation limit angle, which is the rotation angle of the suction nozzle when the rotation of the suction nozzle is maximized within the range of one rotation, is from 0 ° to 45 ° from the 360 ° angle range corresponding to one rotation of the suction nozzle. A component mounting apparatus characterized in that it is an angle within an angle range excluding eight specific angle ranges extending around each of the specified eight angles.

  According to the present invention, in the component mounting apparatus, it is possible to prevent the amount of rotation of the suction nozzle from becoming large when sequentially adjusting the rotation angles of the plurality of suctioned components to the mounting angle.

The perspective view of the component mounting apparatus in one embodiment of the present invention The perspective view of the mounting head with which the component mounting apparatus in one embodiment of this invention is provided. (A) Front view of the nozzle rotation mechanism of the mounting head provided in the component mounting apparatus according to one embodiment of the present invention (b) Schematic view in plan view Block diagram showing a control system of a component mounting apparatus according to an embodiment of the present invention (A)-(g) The figure which shows the rotation attitude | position of three adsorption nozzles with which the component mounting apparatus in one embodiment of this invention is equipped. The figure which shows the specific angle range about the suction nozzle with which the component mounting apparatus in one embodiment of this invention is equipped (A) (b) (c) (d) The figure which shows the rotation attitude of three suction nozzles with which the component mounting apparatus in one embodiment of this invention is equipped. (A) (b) (c) (d) The figure which shows the rotation attitude of three suction nozzles with which the component mounting apparatus in one embodiment of this invention is equipped.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The component mounting apparatus 1 shown in FIG. 1 is an apparatus for mounting a component 3 on a substrate 2, and on a base 11, a transport conveyor 12 as a substrate transport unit, a plurality of part feeders 13 as a component supply unit, and a component mounting unit. The mounting head 14 and the head moving mechanism 15, and the substrate camera 16 and the component camera 17 as an imaging unit are provided. Here, for convenience of explanation, the left-right direction viewed from the operator OP is taken as an X-axis direction, and the front-back direction viewed from the operator OP is taken as a Y-axis direction. The vertical direction is the Z-axis direction.

  The conveyer 12 carries in the substrate 2 sent from the outside of the component mounting apparatus 1 in the X-axis direction (arrow A shown in FIG. 1), and positions it at a predetermined work position. Then, when the mounting of the component 3 on the substrate 2 is completed, the substrate 2 is carried out of the component mounting apparatus 1. The parts feeder 13 comprises, for example, a tape feeder, and continuously supplies the parts 3 to the parts supply port 13p. The mounting head 14 is provided at its lower end with a plurality of (here, three) suction nozzles 14a for suctioning the component 3 (FIG. 2, FIG. 3 (a), (b)). The head moving mechanism 15 moves the mounting head 14 in the horizontal plane (arrows B and C shown in FIG. 1).

  The substrate camera 16 is attached to the mounting head 14 with the imaging field of view directed downward. The substrate camera 16 moves in the horizontal plane in accordance with the movement of the mounting head 14, and images a pair of substrate marks 2 m (FIG. 1) at the corners of the substrate 2 positioned by the transport conveyor 12 from above. The parts camera 17 is provided on the base 11 at a position between the conveyer 12 and the parts feeder 13 with the imaging field of view directed upward. The component camera 17 picks up an image of the component 3 that the mounting head 14 has attracted by the suction nozzle 14a from below.

  In FIG. 2 and FIGS. 3A and 3B, the mounting head 14 is provided with three outer shafts 32 provided on the base portion 31 in the X-axis direction. Inside each outer shaft 32, an inner shaft 33 extending in the vertical direction is accommodated. The lower end of the inner shaft 33 protrudes below the outer shaft 32, and the above-mentioned suction nozzle 14a is attached to the lower end thereof.

  A lift cylinder 34 is provided above each of the three outer shafts 32. Each raising and lowering cylinder 34 moves the inner shaft 33 vertically in the outer shaft 32. As a result, the suction nozzle 14 a attached to the inner shaft 33 moves up and down below the outer shaft 32. Each outer shaft 32 is provided rotatably about the vertical axis with respect to the base portion 31.

  A nozzle rotation motor 35 is attached to the base portion 31. The drive shaft 35a of the nozzle rotation motor 35 extends downward, and a drive pulley 36 is provided at the lower end thereof. A driven pulley 37 is provided on each of the three outer shafts 32. The three driven pulleys 37 are located at substantially the same height as the drive pulley 36. A toothed belt 38 is wound around the drive pulley 36 and the three driven pulleys 37. Therefore, when the drive pulley 36 rotates, the toothed belt 38 advances, and the three driven pulleys 37 rotate integrally with the outer shaft 32 at the same angle in the same direction. When the outer shaft 32 rotates around the vertical axis, the inner shaft 33 also rotates integrally with the outer shaft 32 around the vertical axis, and along with this, the suction nozzle 14a also rotates around the vertical axis. That is, in the present embodiment, when the driving pulley 36 is rotated by the nozzle rotation motor 35, the three suction nozzles 14a rotate at the same angle in the same direction.

  In FIG. 3, a vacuum passage 33 a communicating with the suction nozzle 14 a is formed in each inner shaft 33. The vacuum passage 33a is connected to a vacuum line 39 leading to a vacuum source (not shown). An adsorption control valve 40 is interposed in the vacuum line 39, and by operating the adsorption control valve 40, a vacuum adsorption force can be generated at the lower end of the adsorption nozzle 14a.

  In FIG. 4, the operation control of the transport conveyor 12, the part feeder 13, the head moving mechanism 15, the elevating cylinder 34, the nozzle rotation motor 35, and the suction control valve 40 is performed by the control device 50 provided in the component mounting apparatus 1. The control device 50 also performs control of the imaging operation by the substrate camera 16 and the imaging operation by the component camera 17. The control device 50 performs image processing of the image data obtained by the imaging operation of the substrate camera 16 and the image data obtained by the imaging operation of the component camera 17 in the image recognition unit 50a (FIG. 4).

  The nozzle rotation motor 35 is controlled by the control device 50 to rotate the drive shaft 35a (that is, the drive pulley 36) and to change the rotation angles of the three suction nozzles 14a via the toothed belt 38. Here, the rotational angle of the part 3 is a parameter that represents the rotational attitude of the part 3 with the attitude at the time of being supplied by the parts feeder 13 as the attitude of an angle of 0 °. In the present embodiment, the nozzle rotation motor 35, the drive pulley 36, the toothed belt 38, the three driven pulleys 37, the three outer shafts 32, and the three inner shafts 33 are rotatably supported around the vertical axis. It functions as a nozzle rotation mechanism 61 for collectively rotating a plurality of (three in this case) suction nozzles 14a around their respective vertical axes. Also, the three lifting cylinders 34 function as a nozzle lifting mechanism 62 for lifting and lowering the three suction nozzles 14 a individually.

  The mounting angles of the parts 3 supplied by the parts feeder 13 are recorded in a program stored in the storage unit 50 b (FIG. 4) by the control device 50. Here, the mounting angle of the part 3 refers to the rotation angle of the part 3 defined as the mounting angle of the part 3 to the substrate 2. Here, the mounting angles of the parts are eight angles defined at intervals of 0 ° to 45 °, specifically 0 °, 45 °, 90 °, 135 °, 180 °, 225 ° (or -135 °). Or 270 ° (or -90 °) or 315 ° (or -45 °).

  In the present embodiment, in order to reduce the influence of the pitch error of the teeth of the toothed belt 38, the rotation range of the three suction nozzles 14a is limited to the range of the angle (360 °) corresponding to the minimum necessary rotation. The drive pulley 36 is rotationally driven in an angular range corresponding to that range. Therefore, assuming that the rotation angle θ of the suction nozzle 14a when the suction nozzle 14a is maximally rotated within the range of one rotation is the rotation limit angle (symbol Φ), the suction nozzle 14a is rotated beyond the rotation limit angle Φ. However, by switching the rotation direction and rotating the suction nozzle 14a, it is possible to set the rotation angle of the component 3 to the mounting angle by setting the rotation angle to a desired rotation angle.

  The nozzle rotation motor 35 is provided with an encoder 35S (FIG. 4) for measuring the number of rotations of the drive shaft 35a, and the controller 50 determines the rotation angle θ of the suction nozzle 14a (FIG. 5) based on the measurement result of the encoder 35S. (A) to (g) are detected. Then, the control device 50 performs adjustment control of the rotation angle of the suction nozzle 14a (directly rotation control of the drive shaft 35a of the nozzle rotation motor 35 based on the rotation angle θ of the suction nozzle 14a detected through the encoder 35S. )I do.

  Here, it is assumed that the rotation limit angle Φ is set to any of the aforementioned angles (eight angles defined at intervals of 0 ° to 45 °) defined as the mounting angle of the component 3. Then, if the mounting angles of the two parts 3 to be mounted on the substrate 2 continuously are the same, and the directions of rotational deviation (rotational deviation) with respect to the suction nozzle 14a are opposite to each other, the two parts In some cases, it may be necessary to rotate the suction nozzle 14 a substantially one turn while sequentially adjusting the rotation angle of 3 to the mounting angle.

  For this reason, in the present embodiment, it is assumed that the nozzle rotation mechanism 61 rotates the plurality of suction nozzles 14a collectively in the same direction within the range of one rotation around their respective vertical axes. An angle range of 360 ° corresponding to one rotation of the suction nozzle 14a from the limit angle 、, and eight specific angle ranges S extending around each of eight angles defined at intervals of 0 ° to 45 ° (dark in FIG. 6 It selects from the angle in the angle range except the area | region shown by, and is trying to set. Here, the eight specific angle ranges S are, for example, angle ranges having a spread by an angle Δ on both sides of each of the eight angles (FIG. 6). The angle Δ is set in consideration of the maximum value of the rotational deviation of the component 3 with respect to the suction nozzle 14a which is expected to occur. In the present embodiment, assuming that the maximum value of the rotational deviation of the component 3 is less than 5 °, the rotational limit angle 限界 is set to == 190 ° with the angle Δ = 5 °.

  When the rotation limit angle Φ is set to 正 = 190 ° as the angle in the positive direction as in the present embodiment, the suction nozzle 14a rotated in the positive direction from the posture of θ = 0 ° (FIG. 5A) is After passing through a posture of θ = 45 ° (FIG. 5 (b)), a posture of θ = 90 ° (FIG. 5 (c)), a posture of θ = 180 ° (FIG. 5 (d)), etc. It stops in the attitude | position of (theta) = 190 degrees corresponding to (FIG.5 (e)). In addition, the suction nozzle 14a rotated in the negative direction from the posture of θ = 0 ° (FIG. 5 (a)) passes through the posture of θ = −90 ° (FIG. 5 (f)), etc. It will stop in the attitude | position of (theta) = -170 degrees (= 190 degrees) which corresponds (FIG.5 (g)).

  In the mounting operation of the component 3 on the substrate 2 by the component mounting apparatus 1, first, the transport conveyor 12 receives and carries in the substrate 2 sent from the outside of the component mounting apparatus 1 and positions it at the work position. When the substrate 2 is positioned at the work position, the mounting head 14 is driven by the head moving mechanism 15 to move in the horizontal plane and move above the substrate 2. When the mounting head 14 is positioned above the substrate 2, the substrate camera 16 picks up the pair of substrate marks 2 m from above, and transmits the obtained image data to the control device 50. The control device 50 processes the image data received from the substrate camera 16 and, based on the result, calculates the positional deviation of the substrate 2 from the normal work position.

  The mounting head 14 moves above the parts feeder 13 when the imaging of the substrate mark 2 m by the substrate camera 16 is completed. Then, the part feeder 13 sucks (picks up) the component 3 to be supplied to the component supply port 13 p by the suction nozzle 14 a. As described above, the mounting head 14 sucks the component 3 in a state where the rotation angle of each suction nozzle 14a is θ = 0 ° (FIG. 7A). Then, the control device 50 reads the mounting angle of each of the plurality of components 3 adsorbed from the program stored in advance.

  When the mounting head 14 sucks the component 3 to the suction nozzle 14 a, the mounting head 14 moves so that the component 3 passes above the component camera 17. At this time, the component camera 17 captures an image of the component 3 from the lower side, and transmits the obtained image data to the control device 50. The control device 50 performs image processing on the image data received from the component camera 17, and based on the result, calculates a rotational deviation of the component 3 with respect to the suction nozzle 14a.

  The mounting head 14 moves above the substrate 2 after the component 3 moves so as to pass above the component camera 17. Then, the component 3 to be mounted on the substrate 2 from now on (referred to as a component 3 to be mounted) is positioned above the target mounting position on the substrate 2. When the component 3 to be mounted is positioned above the target device position, the nozzle rotation motor 35 rotates the drive pulley 36 to collectively arrange the three suction nozzles 14a in order to adjust the rotation angle of the component 3 to be mounted to the mounting angle. And rotate. At this time, if there is a rotational deviation of the component 3 with respect to the suction nozzle 14a calculated through imaging of the component camera 17, the angle at which the suction nozzle 14a should be rotated does not necessarily coincide with the mounting angle, and the rotational deviation is canceled. It is necessary to rotate by the rotation angle which adjusted the value of the mounting angle. When the rotation angle of the component 3 to be mounted is adjusted to the mounting angle in this manner, the lift cylinder 34 lowers the inner shaft 33 (that is, the suction nozzle 14a) to mount the component 3 at the target mounting position.

  Here, for example, the mounting angles of the three components 3 absorbed by the three suction nozzles 14a are all 180 °, and the rotational displacement of the components 3 is 0 for the component located on the leftmost side (left component). °, 5 ° (+ 5 °) in the positive direction for the centrally located part (referred to as the center part), 5 ° (-5 °) in the negative direction for the rightmost part (referred to as the right part) It is assumed that there is (Fig. 7 (b)). Then, the nozzle rotation motor 35 controlled by the control device 50 first rotates the three suction nozzles 14a collectively in the forward direction by 180 ° in order to adjust the rotation angle of the left part to the mounting angle (FIG. 7). (C)). In this state, the rotation angle θ of the suction nozzle 14a is θ = 180 °, and the rotation angle of the left part is 180 °, which matches the mounting angle, but the rotation angle of the center part is 185 °, and the rotation of the right part The angle is 175 °. In this way, when the rotation angle of the left part is adjusted to the mounting angle, the lifting cylinder 34 corresponding to the left part lowers the inner shaft 33 (that is, the suction nozzle 14a) and mounts the left part on the substrate 2 (see FIG. 7 (d).

  When the left-side component is mounted on the substrate 2, the nozzle rotation motor 35 collectively rotates the three suction nozzles 14a in the negative direction by 5 ° in order to adjust the rotation angle of the central component to the mounting angle. (A). In this state, the rotation angle θ of the suction nozzle 14a is θ = 175 °, and the rotation angle of the center part is 180 °, which matches the mounting angle, but the rotation angle of the right part is 170 °. In this manner, when the rotation angle of the central part is adjusted to the mounting angle, the lifting cylinder 34 corresponding to the central part lowers the inner shaft 33 (that is, the suction nozzle 14a) and mounts the central part on the substrate 2 (see FIG. 8 (b).

  When the center part is mounted on the substrate 2, the nozzle rotation motor 35 collectively rotates the three suction nozzles 14a in the forward direction by 10 ° in order to adjust the rotation angle of the right part to the mounting angle (FIG. 8). (C)). In this state, the rotation angle θ of the suction nozzle 14a is θ = 185 °, and the rotation angle of the right part is 180 °, which matches the mounting angle. Thus, when the rotation angle of the right part is adjusted to the mounting angle, the lifting cylinder 34 corresponding to the right part lowers the inner shaft 33 (that is, the suction nozzle 14a) and mounts the right part on the substrate 2 (see FIG. 8 (d).

  As described above, the component mounting apparatus 1 according to the present embodiment rotates the plurality of (here, three) suction nozzles 14a having the plurality of (here, three) components 3 sucked by using the nozzle rotation mechanism 61 to rotate the plurality of components. After one of the components 3 is made to have the specified predetermined rotational attitude (mounting angle) of the component 3, the suction nozzle 14 a is individually lowered by the nozzle lifting mechanism 62 to mount the component 3 on the substrate 2. A series of operations are performed sequentially for each of the three parts 3. Then, at this time, after adjusting the rotation angle of one component 3 to the mounting angle, when trying to adjust the rotation angle of the next component 3 to the mounting angle by rotating the suction nozzle 14a in the same direction. Since the rotation angle of the suction nozzle 14a does not reach the rotation limit angle で in the process, it is not necessary to rotate the suction nozzle 14a almost one time, and the rotation angle range of the suction nozzle 14a is extremely small (10 ° Can be reduced).

  Here, in the component mounting step, temporarily, the rotation limit angle Φ is not Φ = 190 °, and Φ corresponds to one of the eight mounting angles described above (eight angles defined at intervals of 0 ° to 45 °). Assuming that the rotation angle is set to 180 °, the nozzle angle θ exceeds θ = 180 ° when the rotation angle of the right-hand part is adjusted to the mounting angle after the center part having the rotation angle of 175 ° is attached to the substrate 2 It is necessary to rotate the suction nozzle 14a 358.degree. In the negative direction because it can not be rotated. This is not limited to the case where the rotation limit angle Φ is Φ = 180 °, but in the case where a plurality of parts 3 whose mounting angles are specified at angles corresponding to the rotation limit angle Φ are to be mounted continuously. Similar things can occur.

  The mounting head 14 mounts the three parts 3 suctioned by the three suction nozzles 14 a on the substrate 2 (referred to as a part mounting process), and all the parts 3 to be mounted on the substrate 2 are mounted on the substrate 2 Run repeatedly until Then, when the mounting of all the components 3 to be mounted on the substrate 2 is completed, the transport conveyor 12 operates to carry the substrate 2 out of the component mounting apparatus 1.

  As described above, in the component mounting apparatus 1 according to the present embodiment, the nozzle rotation mechanism 61 collectively rotates the plurality of suction nozzles 14 a in the same direction within the range of one rotation around their respective vertical axes. ing. Then, assuming that the rotation angle θ of the suction nozzle 14a is 0 ° at the time of suction of the component 3, the rotation limit, which is the rotation angle of the suction nozzle 14a when the suction nozzle 14a is maximally rotated within the range of one rotation. Within an angle range excluding an angle range of 360 ° corresponding to one rotation of the suction nozzle 14a, and eight specific angle ranges S extending around each of eight angles defined at intervals of 0 ° to 45 °. It is an angle. For this reason, when adjusting the rotation angle of the sucked component 3 to the mounting angle, the rotation angle θ of the suction nozzle 14a does not reach the rotation limit angle Φ, and the suction nozzle 14a is not rotated substantially once. Therefore, the rotation angle of the component 3 can be adjusted to the mounting angle by the rotation operation of the suction nozzle 14a always in a very small angle range. That is, when the rotational angles θ of the plurality of components 3 adsorbed are sequentially adjusted to the mounting angle, the amount of rotation of the suction nozzle 14a can be prevented from increasing, and the mounting tact of the components can be improved.

  In the above-described embodiment, the rotation limit angle a of the suction nozzle 14a is set to Φ = 190 °, but the rotation limit angle 角度 is within the angle range excluding the above-described eight specific angle ranges S from the angle range of 360 °. Any angle may be used if it is an angle of. In this way, as described above, there is no situation where the suction nozzle 14a has to be rotated approximately once when adjusting the rotation angle of the component 3 to the mounting angle, and rotation of the suction nozzle 14a in an extremely small angle range is always achieved. In operation, the rotation angle of the part 3 can be adjusted to the mounting angle. In the above embodiment, the maximum value of the rotational deviation of the component 3 is less than 5 °, and the angle Δ = 5 °. However, when the rotational deviation of the component 3 is predicted to be 5 ° or more , Δ may be a numerical value larger than 5 ° (for example, the angle Δ = 10 ° or the like). Alternatively, the rotation limit angle を is set to eight angles, ie, 22.5 °, 67.5 °, 112.5 °, 157.5 °, which are the middle angles of the above eight angles, regardless of the angle Δ. , 202.5 ° (-157.5 °), 247.5 ° (-112.5 °), 292.5 ° (-67.5 °), 337.5 ° (-22.5 °) You may take it.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above. For example, in the above-described embodiment, the number of suction nozzles 14a which one nozzle rotation motor 35 drives collectively is three, but this is only an example, and the suction where one nozzle rotation motor 35 is collectively driven The number of nozzles 14a may be plural, and is not limited to three.

  Provided is a component mounting apparatus capable of preventing the amount of rotation of a suction nozzle from increasing when the rotational angles of a plurality of suctioned components are sequentially adjusted to a mounting angle.

1 part mounting apparatus 2 substrate 3 parts 13 parts feeder (part supply part)
14a Suction nozzle 61 Nozzle rotating mechanism 62 Nozzle lifting mechanism Φ Rotation limit angle S Specific angle range

Claims (2)

A component supply unit that supplies components; a plurality of suction nozzles that are rotatably supported around upper and lower axes and that suction the components that are supplied by the component supply unit; and a plurality of suction nozzles that suction the plurality of components A nozzle rotation mechanism for rotating around each of the vertical axes, and a nozzle lifting mechanism for lifting and lowering the plurality of suction nozzles individually, and rotating the plurality of suction nozzles suctioning the plurality of components by the nozzle rotation mechanism After one of the plurality of parts is brought into a predetermined rotational posture defined by the parts, the suction nozzle is individually lowered by the nozzle lifting mechanism to mount the A component mounting apparatus for sequentially executing the operations of
The nozzle rotation mechanism is configured to collectively rotate the plurality of suction nozzles in the same direction within a range of one rotation around their respective vertical axes,
When it is assumed that the rotation angle of the suction nozzle is 0 ° at the time of suction of the component, the rotation limit angle which is the rotation angle of the suction nozzle when the suction nozzle is maximally rotated within the range of one rotation is The angles within the range of 360 ° corresponding to one rotation of the suction nozzle, excluding the eight specific angles extending around each of the eight angles defined at intervals of 0 ° to 45 °. A component mounting apparatus characterized in that   The component mounting apparatus according to claim 1, wherein the eight specific angle ranges are angle ranges having a spread of 5 ° on both sides of each of the eight angles.

Images