JP7053528B2 - Rotary head type component mounting machine - Google Patents

Description

The present invention relates to a rotary head type component mounting machine that automatically replaces a suction nozzle held in a rotary head (rotary mounting head) with a suction nozzle mounted on a nozzle station. ..

In the rotary head type component mounting machine, as described in Patent Document 1 (Japanese Unexamined Patent Publication No. 2003-347996), a replacement suction nozzle is mounted on a nozzle station (nozzle changer) installed in the component mounting machine. Then, the suction nozzle held in the rotary head is automatically replaced with the suction nozzle on the nozzle station. Further, in the rotary head type component mounting machine described in Patent Document 1, six nozzle holders (work heads) are provided on the rotary head (work tower) so as to be able to move up and down, and the suction nozzles can be replaced in each nozzle holder. In order to shorten the replacement time of the suction nozzle, the arrangement pitch of the suction nozzles of the nozzle holder and the arrangement pitch of the suction nozzles of the nozzle station are set to the same arrangement pitch, and the suction nozzles are held. At the time of replacement, the two nozzle holders are raised and lowered at the same time above the nozzle station so that the two suction nozzles can be replaced at the same time.

Japanese Patent Application Laid-Open No. 2003-347996

The problem to be solved by the present invention is to improve the operation of simultaneously moving the two nozzle holders up and down to replace the two suction nozzles at the same time when the suction nozzles are replaced in the rotary head type component mounting machine. Is.

In order to solve the above problems, the invention according to claim 1 comprises a rotary head that replaceably holds a predetermined number of suction nozzles at a predetermined nozzle pitch in the circumferential direction, and a suction nozzle held by the rotary head. A nozzle station in which a plurality of nozzle accommodating portions for arranging a plurality of suction nozzles for replacement are formed , and the rotary head is rotated to rotate the predetermined number of suction nozzles in the rotation direction of the rotary head. Head rotation mechanism to move the rotary head in the XY direction between the component suction area for component suction operation, the component mounting area for component mounting operation, and the nozzle replacement area for replacement of the suction nozzle. A Z-axis drive mechanism that moves the suction nozzle down and up along the Z axis in the component suction area, the component mounting area, and the nozzle replacement area to perform component suction, component mounting, and replacement of the suction nozzle. In a head-type component mounting machine provided with a head rotation mechanism, a head moving mechanism, and a control means for controlling the operation of the Z-axis drive mechanism, the Z-axis drive mechanism is two of the rotary heads. The basic configuration is that the nozzle holder can be lowered at the same time.

Further, according to the first aspect of the present invention, the nozzle station has two suction nozzles at the same pitch as the two Z-axis pitches so that two suction nozzles can be replaced at the same time. Two suction nozzles are arranged and the rotary head is moved in a direction intersecting the direction connecting the two Z axes by a distance shorter than the pitch of the two Z axes each time the suction nozzles are replaced at the same time. The plurality of suction nozzles are arranged so that they can be replaced at the same time, and the control means moves the rotary head to the nozzle replacement area by the head moving mechanism to replace the suction nozzles. The nozzle removal operation of accommodating the two suction nozzles held in the two nozzle holders in the two vacant nozzle accommodating portions of the nozzle station, and the two nozzle holders of the nozzle station in the two nozzle holders. The nozzle holding operation for holding the suction nozzles is alternately repeated to replace the suction nozzles two at a time, and each time the suction nozzles are replaced at the same time, the rotary head is crossed with the direction connecting the two Z axes. It is characterized in that the next suction nozzle is replaced at the same time by moving the two Z-axis pitches by a distance shorter than the pitch .

FIG. 1 is a plan view of a main part of a rotary head type component mounting machine showing an embodiment of the present invention. FIG. 2 is a block diagram showing a configuration of a control system of a component mounting machine. FIG. 3 is a perspective view of the entire rotary head as viewed from diagonally above. FIG. 4 is a perspective view of the entire rotary head as viewed from diagonally below. FIG. 5 is a bottom view of the rotary head. FIG. 6 is a perspective view of the nozzle station. FIG. 7 is a plan view of a main part of the nozzle station for explaining the replacement order of the suction nozzles of the nozzle station. FIG. 8 is a flowchart showing a processing flow of the first half of the suction nozzle replacement operation control program. FIG. 9 is a flowchart showing the processing flow of the latter half of the suction nozzle replacement operation control program. FIG. 10 is a bottom view of the rotary head for explaining the nozzle replacement reference position on the rotary head side.

Hereinafter, an embodiment embodying a mode for carrying out the present invention will be described.
First, the configuration of the rotary head type component mounting machine will be described with reference to FIGS. 1 and 2.

The rotary head type component mounting machine has a conveyor 12 that conveys the circuit board 11, a component supply device 13 such as a tape feeder and a tray feeder, and a suction nozzle 14 (FIGS. 3 to 3) for components supplied by the component supply device 13. (See FIG. 5), a rotary head 15 that is sucked and mounted on the circuit board 11, a component image pickup camera 16 that captures images of the parts sucked on the suction nozzle 14 from the lower surface side thereof, and a suction nozzle 14 held by the rotary head 15. It is configured to include a nozzle station 17 or the like in which a plurality of suction nozzles 14 for exchanging with the nozzle station 17 are arranged. As shown in FIG. 6, in the nozzle station 17, a plurality of nozzle accommodating recesses 18 accommodating the suction nozzle 14 are formed in a plurality of rows at a predetermined pitch.

The component mounting machine has a component suction area for performing a component suction operation, a component image pickup area for capturing a component sucked on the suction nozzle 14 with a component image pickup camera 16, a component mounting area for performing a component mounting operation, and a suction nozzle 14. A head moving mechanism 20 (see FIG. 2) for moving the rotary head 15 in the XY direction is provided between the rotary head 15 and the nozzle replacement area for performing the replacement operation.

As shown in FIGS. 3 and 4, in the rotary head 15, a predetermined number of suction nozzles 14 for sucking parts sent to the parts suction position by the parts supply device 13 can be replaced at a predetermined nozzle pitch in the circumferential direction. It is held in. Further, as shown in FIG. 2, in the rotary head 15, a plurality of suction nozzles 14 are formed in a circle of the rotary head 15 by rotating (rotating) the rotary head 15 around its axis (R axis). A head rotation mechanism 21 that swivels in the circumferential direction and a Z-axis drive that lowers the suction nozzle 14 at a predetermined stop position (above the component suction position) of the swivel trajectory of the suction nozzle 14 to suck the component to the suction nozzle 14. A mechanism 22 and a nozzle rotation mechanism 23 for rotating (rotating) the suction nozzle 14 around its axis and correcting the direction of the parts sucked on the suction nozzle 14 are provided.

In this embodiment, Z-axis drive mechanisms 22 are provided at two locations around the rotary head 15, and the two suction nozzles 14 are simultaneously lowered by these two Z-axis drive mechanisms 22 to cause the two suction nozzles 14. The parts can be sucked at the same time, or can be replaced at the same time as the two suction nozzles 14 of the nozzle station 17.

As shown in FIGS. 3 and 4, each Z-axis drive mechanism 22 uses a Z-axis motor 25 as an actuator, and the feed screw 26 is rotated by the Z-axis motor 25 to slide a Z-axis slide (not shown). By moving the nozzle holder 28 in the vertical direction along the Z axis, the Z-axis slide is engaged with an engaging piece (not shown) provided at the upper end of the nozzle holder 28 of the rotary head 15, and the nozzle holder 28 is moved up and down. By moving the suction nozzle 14 interchangeably held under the nozzle holder 28, the suction nozzle 14 is moved up and down. A linear motor may be used as the Z-axis motor 25 to move the Z-axis slide in the vertical direction. Alternatively, a linear solenoid, an air cylinder, or the like may be used instead of the linear motor.

On the other hand, the component mounting machine is provided with a mark imaging camera 30 (see FIG. 2) that is integrally moved with the rotary head 15 by the head moving mechanism 20 to capture a reference mark of the circuit board 11 from above. ..

The control device 41 (control means) of the component mounting machine includes an input device 42 such as a keyboard, a mouse, and a touch panel, and a storage device 43 (storage means) such as a hard disk, RAM, and ROM for storing various programs and data. , A liquid crystal display, a display device 44 such as a CRT, and the like are connected.

While the component mounting machine is in operation, the rotary head 15 is moved to the component suction area by the head moving mechanism 20 to perform a component suction operation, and then the rotary head 15 is moved to the component image pickup area and sucked by the suction nozzle 14. The component is imaged from the lower surface side of the component with the component image pickup camera 16, and after recognizing the suction posture, suction position, and angle deviation of the component, the rotary head 15 is moved to the component mounting area to perform the suction position. And the operation of correcting the deviation of the angle and mounting the component on the circuit board 11 is repeated. In the component suction area, the two suction nozzles 14 located above the component suction position are simultaneously lowered to simultaneously suck the two components on the two suction nozzles 14, and then the two suction nozzles 14 are used. Is repeatedly raised to the original height position, and the parts are sequentially sucked to a predetermined number of suction nozzles 14 held by the nozzle holder 28 of the rotary head 15.

As shown in FIGS. 4 and 5, head reference marks 46 are provided at four locations (at least two locations) on the lower surface side of the rotary head 15 concentrically with the center of rotation at equal intervals. The control device 41 of the component mounting machine captures the four head reference marks 46 on the lower surface of the rotary head 15 with the component imaging camera 16 and recognizes the positions of the four head reference marks 46 at four locations. It also functions as a head position and tilt angle detecting means for detecting the position (XY coordinates of the center point) and the tilt angle (θ) of the rotary head 15 based on the position of the head reference mark 46. By doing so, since the deviation of the position and the tilt angle of the rotary head 17 can be detected, the position correction amount and the tilt angle correction amount of the rotary head 17 can be accurately obtained, and the position and the tilt angle of the rotary head 17 can be obtained accurately. Even if the displacement is corrected, the two suction nozzles 14 held by the rotary head 17 can be replaced at the same time as the two suction nozzles 14 of the nozzle station 17. Moreover, the position and tilt angle of the rotary head 17 can be detected by image processing using the component image pickup camera 16 equipped in the component mounting machine.

On the other hand, the nozzle station 17 is replaceably installed within the moving range of the rotary head 15 in the component mounting machine. As shown in FIG. 6, station reference marks 47 are provided at two diagonal corners of the upper surface of the nozzle station 17. The control device 41 of the component mounting machine captures images of the two station reference marks 47 provided on the nozzle station 17 from above by the mark imaging camera 30, and recognizes the positions of the two station reference marks 47. It also functions as a station position and tilt angle detecting means for detecting the position (XY coordinates of the center point) and the tilt angle (θ) of the nozzle station 17 based on the positions of the two station reference marks 47. By doing so, it is possible to detect the position and tilt angle of the nozzle station 17 by image processing using the mark imaging camera 30 that captures the substrate mark of the circuit board 11 equipped in the component mounting machine. can.

In this embodiment, as shown in FIGS. 6 and 7, the nozzle station 17 has two suction nozzles 14 (nozzle accommodating recesses 18) arranged in a plurality of rows and the nozzle stations 17 are simultaneously replaced. The distance between the (nozzle accommodating recesses 18) is the same as the distance (nozzle pitch) between the two nozzle holders 28 that are simultaneously replaced by the rotary head 15. In other words, in the nozzle station 17, a plurality of suction nozzles 14 are arranged at the same pitch as the pitch of the two Z axes so that two suction nozzles 14 can be replaced at the same time.

The control device 41 of the component mounting machine marks and captures two station reference marks 47 of the nozzle station 17 when the rotary head 15 is moved to the nozzle replacement area by the head moving mechanism 20 to automatically replace the suction nozzle 14. After imaging with the camera 30 to recognize the positions of the two station reference marks 47 and detecting the position and tilt angle of the nozzle station 17, the position of the rotary head 15 is detected by the nozzle station 17 by the head moving mechanism 20. The head rotation mechanism 21 corrects the rotation angle of the rotary head 15 so as to match the detection tilt angle of the nozzle station 17, and the two Z-axis drive mechanisms 22 correct the rotation angle of the rotary head 15. The two suction nozzles 14 held in the nozzle holder 28 are lowered at the same time and replaced at the same time as the two suction nozzles 14 of the nozzle station 17.

At this time, the two suction nozzles 14 held by the two nozzle holders 28 of the rotary head 15 are accommodated in the two vacant nozzle accommodating recesses 18 of the nozzle station 17, and the two nozzle holders 28 are accommodated. The two suction nozzles 14 of the nozzle station 17 are held. It should be noted that the nozzle removal operation of accommodating the two suction nozzles 14 held in the two nozzle holders 28 in the two vacant nozzle accommodating recesses 18 of the nozzle station 17 and the nozzle station in the two nozzle holders 28. The nozzle holding operation for holding the two suction nozzles 14 of 17 may be alternately repeated, or the nozzle removal operation may be continuously repeated to remove all the suction nozzles 14 to be replaced from the rotary head 15. After the removal, the nozzle holding operation may be continuously repeated.

Further, in this embodiment, in order to correct the displacement of the rotary head 15 and the deviation of the tilt angle at the time of automatic replacement of the suction nozzle 14, the control device 41 of the component mounting machine is based on four heads on the lower surface of the rotary head 15. By imaging the mark 46 from below with the component image pickup camera 16 and recognizing the positions of the four head reference marks 46 as images, the position and inclination of the rotary head 15 based on the positions of the four head reference marks 46. The angle is detected, and the position correction amount and the tilt angle correction amount of the rotary head 15 are calculated based on the detection value of the position and tilt angle of the rotary head 15 and the detection value of the position and tilt angle of the nozzle station 17, and the two are calculated. The suction nozzle 14 is replaced at the same time.

Further, as shown in FIG. 6, on the upper surface of the flange portion 14a of the suction nozzle 14, the identification information of the suction nozzle 14 (hereinafter referred to as “nozzle ID”) is recorded with a one-dimensional code or a two-dimensional code. A code label 48 (nozzle ID recording unit) is provided. The control device 41 of the component mounting machine moves the rotary head 15 to the nozzle replacement area by the head moving mechanism 20 to automatically replace the suction nozzles 14, and then the nozzles of the suction nozzles 14 arranged in the nozzle station 17 By imaging the ID code label 48 with the mark imaging camera 30 and performing image processing, it also functions as a nozzle ID reading means for reading the nozzle ID of the suction nozzle 14.

Further, in this embodiment, the control device 41 of the component mounting machine is the suction nozzle 14 of the nozzle station 17 based on the nozzle ID read from the nozzle ID code label 48 of each suction nozzle 14 arranged in the nozzle station 17. When it is determined that the arrangement order is different from the exchange order, the arrangement order of the suction nozzles 14 of the nozzle station 17 is exchanged so as to match the exchange order by the exchange operation of the suction nozzle 14. At this time, among the suction nozzles 14 arranged in the nozzle station 17, the suction nozzles 14 having a different replacement order are held by the nozzle holder 28 of the rotary head 15 and transferred to the vacant nozzle accommodating recess 18 of the nozzle station 17. After that, the suction nozzles 14 in the correct replacement order are held in the nozzle holder 28 of the rotary head 15, and the operation of transferring the suction nozzles 14 to the nozzle accommodating recesses 18 in the correct arrangement order is repeated to arrange the suction nozzles 14 in the nozzle station 17. Swap the order to match the swap order. Depending on the arrangement order of the suction nozzles 14 of the nozzle station 17, two suction nozzles 14 may be replaced at the same time, but if the two suction nozzles 14 cannot be replaced at the same time, the suction nozzles 14 should be replaced one by one. It should be.

In this embodiment, as shown in FIG. 7, the nozzle station 17 has the minimum amount of movement of the rotary head 15 from the position of the suction nozzle 14 to be replaced at the same time to the position of the suction nozzle to be replaced at the same time. The suction nozzles 14 are arranged so as to be. Specifically, every time the suction nozzle 14 is replaced at the same time, the rotary head 15 is moved in the direction intersecting the direction connecting the two Z axes by a distance shorter than the pitch of the two Z axes, and two suction nozzles 14 are simultaneously replaced. They are arranged so that they can be exchanged. As a result, the replacement time of the suction nozzle 14 can be shortened.

In the example of FIG. 7, a total of 16 suction nozzles 14 (A1 to A4, B1 to B4, C1 to C4, D1 to D4) are arranged in four rows of four in each row in the nozzle station 17. When holding a total of 20 suction nozzles 14 of the nozzle station 17 in a total of 16 nozzle holders 28 of the rotary head 15, for example, first, for example, the first suction nozzle 14 (A1) in the first row and the third row. After the first suction nozzle 14 (C1) of the eye is held by the two nozzle holders 28 at the same time, the rotary head 15 is moved by the head moving mechanism 20 in the direction of the next replacement order (two Zs as shown in FIG. 7). The rotary head 15 is moved by the arrangement pitch of the suction nozzles 14 (a distance shorter than the pitch of the two Z axes ) in the direction intersecting the direction connecting the axes), and the rotary head 15 is moved by the head rotation mechanism 21 at a distance of 1 between the nozzle holders 28. Rotate by the pitch angle to place the two nozzle holders 28 in the following order above the second suction nozzle 14 (A2) in the first row and the second suction nozzle 14 (C2) in the third row. Positioning is performed so that these two suction nozzles 14 (A2, C2) are simultaneously held by the two nozzle holders 28. After that, the rotary head 15 is rotated by the head rotation mechanism 21 by an angle of one pitch, and the two nozzle holders 28 in the following order are transferred to the third suction nozzle 14 (A3, C3) in the first row and the third row. ), And these two suction nozzles 14 (A3, C3) are held by the two nozzle holders 28 at the same time, and then the rotary head 15 is rotated by an angle of one pitch by the head rotation mechanism 21. Then, the two nozzle holders 28 in the following order are positioned above the fourth suction nozzles 14 (A4, C4) in the first row and the third row, and these two suction nozzles 14 (A4, C4) are positioned above. C4) is held by the two nozzle holders 28 at the same time.

When all the suction nozzles 14 (A1 to A4, C1 to C4) in the first and third rows are held in the nozzle holder 28 of the rotary head 15, the suction nozzles 14 (B1 to 4) in the second and fourth rows are finished. B4, D1 to D4) shift to the holding operation. The holding operation of the suction nozzles 14 (B1 to B4, D1 to D4) in the second and fourth rows is close to the suction nozzles 14 (A4, C4) at the end (fourth) of the first and third rows. Start from the suction nozzles 14 (B4, D4) at the end (fourth) of the second and fourth rows. After that, the rotary head 15 is moved by the head moving mechanism 20 in the direction opposite to the above by the arrangement pitch of the suction nozzles 14, the third suction nozzle 14 (B3, D3), and the second suction nozzle 14 (B2, D2). ), The second suction nozzle 14 (B2, D2) and the first suction nozzle 14 (B1, D1) are sequentially held by the two nozzle holders 28 at the same time.

The replacement operation of the suction nozzle 14 of the present embodiment described above is executed by the control device 41 as follows according to the suction nozzle replacement operation control programs of FIGS. 8 and 9. This program is repeatedly executed at a predetermined cycle while the power of the control device 41 is turned on. When this program is started, first, in step 101, it waits until there is an instruction to replace the suction nozzle. Then, when the suction nozzle replacement instruction is given, the process proceeds to step 102, the rotary head 15 is positioned above the component imaging camera 16 by the head moving mechanism 20, and four head reference marks on the lower surface of the rotary head 15 are marked. The 46 is imaged by the component image pickup camera 16, and the positions of the four head reference marks 46 are image-recognized. Then, in the next step 103, the positions and tilt angles of the rotary head 15 are detected based on the positions of the four head reference marks 46, and the two nozzles that simultaneously descend by the two Z-axis drive mechanisms 22. The position of the holder 28 (suction nozzle 14) is calculated, and the position between the two nozzle holders 28 (suction nozzle 14) is calculated as the nozzle replacement reference position (see FIG. 10) on the rotary head 15 side.

After that, the process proceeds to step 104, the mark imaging camera 30 is positioned above the nozzle station 17 by the head moving mechanism 20, and the two station reference marks 47 of the nozzle station 17 are imaged by the mark imaging camera 30. Recognize the positions of the two station reference marks 47. Then, in the next step 105, the position and tilt angle of the nozzle station 17 are calculated based on the positions of the two recognized station reference marks 47, and the nozzle station 17 is calculated based on the position and tilt angle of the nozzle station 17. The position of each nozzle accommodating recess 18 and the nozzle replacement reference position (see FIG. 7) on the nozzle station 17 side are calculated. Here, the nozzle replacement reference position on the nozzle station 17 side is an intermediate position between the two suction nozzles 14 (two nozzle accommodating recesses 18) to be replaced at the same time in the nozzle station 17. The processing of steps 104 to 105 may be performed before the processing of steps 102 to 103.

After that, the process proceeds to step 106, the tilt angle correction amount of the rotary head 15 is calculated based on the tilt angle of the nozzle station 17 and the tilt angle of the rotary head 15, and the head is rotated according to the tilt angle of the nozzle station 17. The mechanism 21 corrects the tilt angle of the rotary head 15. Then, in the next step 107, the rotary head 15 is moved to the nozzle replacement area by the head moving mechanism 20, and the nozzle replacement reference position on the rotary head 15 side is aligned with the nozzle replacement reference position on the nozzle station 17 side.

After that, the process proceeds to step 108 of FIG. 9, and the allowable amount of misalignment between the positions of the two nozzle holders 28 that simultaneously lower the rotary head 15 and the position of the suction nozzle 14 of the nozzle station 17 can be exchanged at the same time. Determine if it is less than or equal to the value. As a result, if it is determined that the amount of misalignment is equal to or less than the allowable value, the process proceeds to step 109, and the two nozzle holders 28 of the rotary head 15 are simultaneously lowered by the two Z-axis drive mechanisms 22 to perform the 2nd step. The two suction nozzles 14 of the nozzle station 17 are simultaneously held by the nozzle holder 28 of the book.

On the other hand, if it is determined in step 108 that the amount of misalignment exceeds the allowable value, it is determined that simultaneous replacement is not possible, and the process proceeds to step 110 to the nozzle holder 28 of one of the two nozzle holders 28. After holding one suction nozzle 14 of the nozzle station 17, the other nozzle holder 28 holds the other suction nozzle 14. That is, the suction nozzles 14 are held one by one.

After that, the process proceeds to step 111, and it is determined whether or not to replace the suction nozzle 14 next time. If it is determined that the suction nozzle 14 is to be replaced next time, the process proceeds to step 112, and the rotary head is moved by the head moving mechanism 20. The two 15s are moved to the next nozzle replacement reference position on the nozzle station 17 side, and the rotary head 15 is rotated by the head rotation mechanism 21 by an angle corresponding to one pitch of the nozzle holder 28 spacing, and then simultaneously replaced. Nozzle holder 28 is positioned on the two suction nozzles 14 to be replaced at the same time after the nozzle station 17, and the process returns to step 108. After that, the above-mentioned processing is repeated, and each nozzle holder 28 of the rotary head 15 holds each suction nozzle 14 of the nozzle station 17 in order.

After that, when the operation of holding all the nozzle holders 28 of the rotary head 15 by the suction nozzle 14 is completed, it is determined as "No" in the above-mentioned step 111, and this program is terminated.

By the way, since the work of replacing the suction nozzle 14 on the nozzle station 17 is manually performed by the operator, if the nozzle station 17 is configured to be replaceable as in this embodiment, the parts can be replaced even during the operation of the component mounting machine. In the ample work space outside the mounting machine, the operator can perform the work of replacing the suction nozzle 14 on the nozzle station 17 with sufficient time, and prepare for the next replacement of the nozzle station 17. It can be kept and is convenient. However, if the nozzle station 17 is configured to be replaceable, the nozzle station 17 installed in the component mounting machine is likely to be tilted or misaligned.

In consideration of this point, in this embodiment, the position and tilt angle of the nozzle station 17 are detected, and the position and tilt angle of the rotary head 15 are corrected according to the detection result to obtain two suction nozzles 14. Since the nozzle stations 17 are replaced at the same time, even if the nozzle station 17 is tilted or misaligned, the two suction nozzles 14 held by the rotary head 17 can be replaced with the two suction nozzles of the nozzle station 17. It can be replaced at the same time as 14.

The present invention may be configured such that the nozzle station 17 cannot be replaced, and even in this case, the intended object of the present invention can be achieved.

Further, in the above embodiment, the suction nozzle 14 is provided with a nozzle ID code label 48 as a nozzle ID recording unit for recording the nozzle ID, but an electronic tag (RF tag, IC tag, radio wave tag) for storing the nozzle ID is provided. , Also called a radio tag), and a reader (nozzle ID reading means) for reading the nozzle ID from the electronic tag may be provided on the component mounting machine side.

In addition, the present invention is not limited to the above embodiment, for example, the number of suction nozzles 14 to be configured so that three or more suction nozzles 14 can be replaced at the same time, or to be held by the rotary head 15 (the number of nozzle holders 28). ), The number of suction nozzles 14 arranged in the nozzle station 17 may be changed, the arrangement pattern and replacement order of the suction nozzles 14 in the nozzle station 17 may be changed, etc., within the range that does not deviate from the gist. Needless to say, it can be changed in various ways.

11 ... Circuit board, 12 ... Conveyor, 13 ... Parts supply device, 14 ... Suction nozzle, 15 ... Rotary head, 16 ... Parts imaging camera, 17 ... Nozzle station, 18 ... Nozzle accommodating recess, 20 ... Head movement mechanism, 21 ... Head rotation mechanism, 22 ... Z-axis drive mechanism, 23 ... Nozzle rotation mechanism, 28 ... Nozzle holder, 30 ... Mark imaging camera, 41 ... Control device (control means), 46 ... Head reference mark, 47 ... Station reference mark , 48 ... Nozzle ID code label (nozzle ID recording unit)

Claims (3)

A rotary head that replaceably holds a predetermined number of suction nozzles at a predetermined nozzle pitch in the circumferential direction,
A nozzle station in which a plurality of nozzle accommodating portions for arranging a plurality of suction nozzles for replacing the suction nozzles held by the rotary head are formed , and a nozzle station.
A head rotation mechanism that rotates the rotary head to rotate the predetermined number of suction nozzles in the rotation direction of the rotary head.
A head moving mechanism for moving the rotary head in the XY direction between the component suction area for performing the component suction operation, the component mounting area for performing the component mounting operation, and the nozzle replacement area for replacing the suction nozzle.
A Z-axis drive mechanism that moves the suction nozzle down and up along the Z axis in the component suction area, the component mounting area, and the nozzle replacement area to perform component suction, component mounting, and replacement of the suction nozzle.
In a rotary head type component mounting machine provided with a control means for controlling the operation of the head rotation mechanism, the head movement mechanism, and the Z-axis drive mechanism.
The Z-axis drive mechanism is configured to have two Z-axis so that two nozzle holders of the rotary head can be lowered at the same time.
In the nozzle station, two suction nozzles are arranged at the same pitch as the two Z-axis pitches so that two suction nozzles can be replaced at the same time, and the suction nozzles are simultaneously exchanged. Each time the rotary head is replaced, the rotary head is moved in a direction intersecting the direction connecting the two Z axes by a distance shorter than the pitch of the two Z axes so that the suction nozzles can be replaced by two at the same time. Suction nozzles are arranged,
When the rotary head is moved to the nozzle replacement area by the head moving mechanism to replace the suction nozzles, the control means uses the two suction nozzles held by the two nozzle holders. The nozzle removing operation of accommodating the two vacant nozzle accommodating portions of the nozzle station and the nozzle holding operation of holding the two suction nozzles of the nozzle station in the two nozzle holders are alternately repeated to obtain the suction nozzle. , And each time the suction nozzles are replaced at the same time, the rotary head is moved in a direction intersecting the direction connecting the two Z axes by a distance shorter than the pitch of the two Z axes to perform the next suction. A rotary head type component mounting machine characterized by simultaneous replacement of nozzles. A station position and tilt angle detecting means for detecting the position and tilt angle of the nozzle station are provided.
The control means corrects the position of the rotary head by the head moving mechanism based on the station position and the position of the nozzle station detected by the tilt angle detecting means, and the rotation angle of the rotary head by the head rotation mechanism. The rotary head type component mounting machine according to claim 1, wherein is corrected so as to match the tilt angle of the nozzle station detected by the station position and the tilt angle detecting means. The rotary head type component mounting machine according to claim 1 or 2 , wherein the actuator of the Z-axis drive mechanism is a linear motor.

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