JP7253566B2 - Work machine and electric component holding method - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work machine for holding an electrical component contained in a taped electrical component with a holder, and an electrical component holding method for holding an electrical component contained in a container with a holder.

2. Description of the Related Art As described in the following patent document, some work machines hold electrical components housed in taped electrical components with a holder.

JP 2017-126609 A

An object of the present invention is to appropriately supply electrical components contained in taped electrical components or the like.

In order to solve the above problems, the present specification provides a working head which is attached to a feeder for supplying electrical components, and which has a taped electrical component that accommodates the electrical component, and a holder that holds the electrical component. a moving device for moving the working head; a mounting surface on which the taped electrical component containing the electrical component is fixed; and a control device for controlling the movement of the moving device so that the holder holds the electrical component housed in the taped electrical component fixed to the placement surface. A work machine with controlled actuation is disclosed.

Further, in order to solve the above problems, the present specification provides a tape-shaped electrical component to be attached to a feeder that supplies electrical components, and a tape-shaped electrical component that accommodates the electrical components so as to line up and a holding tape that holds the electrical components. a working head having a tool; a moving device for moving the working head; Disclosed is an electric component holding method in which the operation of a moving device is controlled and the electric component held by the taped electric component fixed to the mounting surface is held by the holder.

According to the present disclosure, when the taped electrical component or the container is fixed to the mounting surface, the taped electrical component or the electrical component can be held by the holder from the fixed taped electrical component or the container. Become. As a result, it is possible to appropriately supply taped electrical components or electrical components housed in a container.

It is a perspective view showing a component mounter. 1 is a perspective view showing a component mounting device of a component mounting machine; FIG. It is the schematic which shows a taped component. 1 is a schematic diagram showing a tape feeder; FIG. It is a block diagram which shows a control apparatus. FIG. 10 is a view showing the cut tape component in a state of being adhered to the tray; It is a schematic diagram showing the dimensional information of the cut tape component. It is the schematic which shows the inclination-angle of a cutting|disconnection tape-ized component. FIG. 4 is a diagram conceptually showing the positional coordinates of an electrical component in a cut tape component at an actual position;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as modes for carrying out the present invention.

(A) Configuration of Component Mounting Machine FIG. 1 shows a component mounting machine 10 . The component mounter 10 is a device for mounting components on the circuit board 12 . The component mounter 10 includes an apparatus main body 20, a substrate conveying/holding device 22, a component mounting device 24, a mark camera 26, a parts camera 28, a bulk component supply device 30, a component supply device 32, and a control device (see FIG. 5) 36. I have it. The circuit board 12 includes a circuit board, a three-dimensional structure base material, and the like, and the circuit board includes a printed wiring board, a printed circuit board, and the like.

The device main body 20 is composed of a frame 40 and a beam 42 mounted on the frame 40 . The substrate conveying/holding device 22 is arranged in the center of the frame 40 in the front-rear direction, and has a conveying device 50 and a clamping device 52 . The transport device 50 is a device that transports the circuit board 12 , and the clamp device 52 is a device that holds the circuit board 12 . Thereby, the substrate conveying/holding device 22 conveys the circuit substrate 12 and also holds the circuit substrate 12 fixedly at a predetermined position. In the following description, the direction in which the circuit board 12 is conveyed is called the X direction, the horizontal direction perpendicular to that direction is called the Y direction, and the vertical direction is called the Z direction. That is, the width direction of the mounter 10 is the X direction, and the front-rear direction is the Y direction.

The component mounting device 24 is arranged on the beam 42 and has two working heads 56 and 58 and a working head moving device 62 . Each working head 56, 58 has a suction nozzle (see FIG. 2) 60, and the suction nozzle 60 holds a component. The working head moving device 62 is composed of an X-direction moving device 63, a Y-direction moving device 64, and a Z-direction moving device 65, as shown in FIG. The X-direction moving device 63 and the Y-direction moving device 64 have electromagnetic motors (see FIG. 5) 66 and 68, respectively. , move integrally to any position on the frame 40 . The Z-direction moving device 65 also has electromagnetic motors (see FIG. 5) 70 and 72, and the operation of the electromagnetic motors 70 and 72 individually moves the sliders 74 and 76 vertically. Working heads 56 and 58 are detachably attached to the sliders 74 and 76, respectively. As a result, the working heads 56 and 58 are individually moved vertically by the Z-direction moving device 65 .

The mark camera 26 faces downward and is mounted on the slider 74 and moves with the working head 56 in the X, Y and Z directions. Thereby, the mark camera 26 images an arbitrary position on the frame 40 . As shown in FIG. 1, the parts camera 28 is arranged facing upward between the base material conveying/holding device 22 and the parts supplying device 30 on the frame 40 . Thereby, the parts camera 28 images the parts held by the suction nozzles 60 of the working heads 56 and 58 .

The bulk part supply device 30 is arranged at one end of the frame 40 in the front-rear direction. The discrete component supply device 30 is a device that aligns a plurality of scattered components and supplies the components in an aligned state. In other words, it is a device that aligns a plurality of parts in arbitrary postures in a predetermined posture and supplies the components in the predetermined posture.

The component supply device 32 is arranged at the other end of the frame 40 in the front-rear direction. The component supply device 32 has a tray type component supply device 110 and a feeder type component supply device 112 . The tray-type component supply device 110 is a device that supplies components placed on a tray (see FIG. 6) 116 . The feeder-type component supply device 112 is a device that supplies components using a tape feeder 120 . The tape feeder 120 is detachably attached to a mounting base 122 arranged next to the tray-type component supply device 110 at its lower end.

The tape feeder 120 accommodates taped components, which are tapes containing electrical components, in a wound state, and supplies the electrical components at the supply position by feeding the taped components toward the supply position. . Specifically, the taped component 130 is composed of a carrier tape 132, an electrical component 134, and a top cover tape 136, as shown in FIG. A large number of accommodation recesses 138 and feed holes 140 are formed at equal pitches in the carrier tape 132 , and electrical components 134 are accommodated in the accommodation recesses 138 . A housing recess 138 housing the electrical component 134 is covered with a top cover tape 136 .

4, the tape feeder 120 is composed of a tape reel (not shown), a feeder body 150, a delivery device 152, and a peeling device 154. As shown in FIG. A taped component 130 is wound around the tape reel. Then, the taped component 130 is pulled out from the tape reel and extended to the upper end surface of the feeder body portion 150 . A delivery device 152 having a sprocket 156 is built inside the feeder body 150 . The sprocket 156 is engaged with the feed hole 140 of the taped component 130 extending from the upper end surface of the feeder body 150 . Then, the sprocket 156 is rotated by the feeding device 152 to feed the taped component 130 toward the supply position 158 on the upper end surface of the feeder body 150 .

Further, in the taped component 130 extending on the upper end surface of the feeder main body 150, the top cover tape 136 is peeled off from the carrier tape 132 on the downstream side of the sprocket 156 that engages the feed hole 140. The peeled top cover tape 136 is pulled by the peeling device 154 . As a result, the storage recesses 138 of the taped components 130 are sequentially opened at a location near the supply position 158 on the upper end surface of the feeder main body 150 , and the electrical components 134 are sucked from the opened storage recesses 138 at the supply position 158 . It is retained by nozzle 60 .

The peeling device 154 is positioned downstream from the position where the top cover tape 136 is peeled from the carrier tape 132 of the taped component 130, that is, at a position separated by a predetermined distance L in the direction opposite to the delivery direction of the taped component 130. are placed in For this reason, only taped components 130 having a length dimension equivalent to the distance L (hereinafter referred to as "shortest length dimension") or more are placed in the tape feeder in a state where the top cover tape 136 can be peeled off by the peeling device 154. Cannot be set to 120. That is, the taped component 130 shorter than the shortest length dimension cannot be set on the tape feeder 120 in a state in which the top cover tape 136 can be peeled off by the peeling device 154 . Therefore, the tape feeder 120 cannot feed the electrical components 134 using the taped components 130 shorter than the shortest length dimension.

The control device 36 also includes a controller 170, a plurality of drive circuits 172, and an image processing device 176, as shown in FIG. A plurality of drive circuits 172 are connected to the conveying device 50, the clamp device 52, the working heads 56 and 58, the electromagnetic motors 66, 68, 70 and 72, the tray type component supply device 110, the feeder type component supply device 112 and the bulk component supply device. 30. The controller 170 includes a CPU, ROM, RAM, etc., is mainly a computer, and is connected to a plurality of drive circuits 172 . Accordingly, the controller 170 controls the operations of the substrate conveying/holding device 22, the component mounting device 24, and the like. The controller 170 is also connected to an image processing device 176 . The image processing device 176 processes the image data obtained by the mark camera 26 and the parts camera 28, and the controller 170 obtains various information from the image data.

(B) Operation of Component Mounting Machine The component mounting machine 10 mounts components on the circuit board 12 held by the board conveying/holding device 22 by the above-described configuration. In the component mounter 10, various components are supplied by the tray-type component supply device 110, the feeder-type component supply device 112, and the bulk component supply device 30, and various component mounting operations can be performed. Specifically, for example, in the feeder-type component supply device 112 , when the taped component 130 is sent out toward the supply position 158 in the tape feeder 120 as described above, the carrier tape 132 of the taped component 130 is Top cover tape 136 is peeled off. As a result, the accommodating recess 138 of the carrier tape 132 accommodating the electrical component 134 is opened, and the electrical component 134 is supplied in the supply position 158 while being accommodated in the accommodating recess 138 . Then, the electrical component 134 is attached by the suction nozzle 60 sucking and holding the electrical component 134 from the housing recess 138 .

However, as described above, since taped components 130 shorter than the shortest length cannot be set in the tape feeder 120, the tape feeder 120 supplies electrical components 134 from taped components 130 shorter than the shortest length. you can't. Also, even if the taped component 130 is shorter than the shortest length dimension, it can be set if it is a special device such as a strip tape feeder. not desirable. Therefore, in the mounter 10, by fixing the taped component 130 shorter than the shortest length dimension to the tray 116 of the tray type component supply device 110, the electrical component 134 is supplied from the taped component 130, and the electrical component 134 is supplied. is performed. In the following description, the taped component 130 shorter than the shortest length dimension is described as a cut taped component.

Specifically, as shown in FIG. 6, a reference line 190 is drawn on the upper surface of the tray 116 of the tray-type component supply device 110 so as to extend in the X direction. Then, the operator makes sure that the feed hole (hereinafter referred to as "end feed hole") 140a located at the end of the plurality of feed holes 140 of the cut tape component 200 and the reference line 190 are aligned in the vertical direction. The cut tape component 200 is fixed to the upper surface of the tray 116 with a double-sided tape so that the cut tape component 200 and the reference line 190 are substantially perpendicular to each other while being overlapped. It should be noted that the top cover tape 136 is peeled off from the cut tape component 200 fixed to the tray 116 . That is, the top cover tape 136 is peeled off from the carrier tape 132 and removed. For this reason, the cut tape component 200 is fixed to the tray 116 with the accommodation recess 138 opened. Also, in FIG. 6, six cut tape components 200 are fixed to the tray 116 .

In addition, the controller 170 stores information on the dimensions of the cut tape component 200 (hereinafter referred to as “dimensional information”). Specifically, as shown in FIG. 7, the distance in the width direction of the cut tape component 200 between the end feed hole 140a and the center of the electrical component 134 accommodated in the accommodation recess 138 of the cut tape component 200 (hereinafter referred to as "width direction distance") and β in the length direction of the cut tape component 200 (hereinafter referred to as "longitudinal distance") are measured in advance. In addition, the accommodation pitch P of the electrical components 134 of the cut tape component 200, that is, the distance between the two electrical components 134 accommodated in the two adjacent accommodation recesses 138 in the cut tape component 200 is also measured in advance. ing. The widthwise distance α, the lengthwise distance β, and the accommodation pitch P of the electrical components 134 are stored in the controller 170 as dimension information.

Then, before the electric component 134 is supplied from the cut tape component 200 fixed to the tray 116, the cut tape component 200 is imaged by the mark camera 26, and based on the image data, the cut tape component 200 The position coordinates of the electric component 134 housed in are calculated. Specifically, the mark camera 26 moves above the tray 116 , and the cut tape component 200 fixed to the tray 116 is imaged by the mark camera 26 . Then, the controller 170 analyzes the imaging data and calculates the position coordinates of the sprocket hole 140 . At this time, for example, the position coordinates of the eight sprocket holes 140 are extracted from the imaging data of the cut tape component 200 shown in FIG. The controller 170 also calculates the position coordinates of the reference line 190 based on the imaging data. Then, the position coordinates of the end sprocket hole 140a, which is closest to the position coordinates of the reference line 190 among the position coordinates of the eight sprocket holes, is extracted.

The inclination angle R of the cut tape component 200 is also calculated based on the position coordinates of the eight feed holes 140 . In other words, the worker fixes the cut tape component 200 to the tray 116 so that the cut tape component 200 and the reference line 190 are substantially orthogonal, so that the cut tape component 200 is aligned with the reference line 190. It may not go straight. In addition, since the reference line 190 matches the X direction, the cut tape component 200 does not match the Y direction when the cut tape component 200 is not perpendicular to the reference line 190. This is the case when it is tilted with respect to the Y direction. Therefore, the controller 170 calculates the inclination angle R of the cut tape component 200 with respect to the Y direction based on the positional coordinates of the eight feed holes 140 . Note that the inclination angle R is the position of the cut tape component 200 (the cut tape component 200 indicated by the solid line in FIG. It can also be said to be an inclination angle with respect to the cut tape component 200 (the cut tape component 200 indicated by the dotted line in FIG. 8) at a position orthogonal to the reference line 190 (hereinafter referred to as "orthogonal position").

Then, when the positional coordinates of the end sprocket 140a and the inclination angle R of the cut tape component 200 are calculated, the width direction distance α, the length direction distance β, and the accommodation pitch of the electrical component 134 stored in the controller 170 are calculated. Using P, the position coordinates of the electrical component 134 in the cut tape component 200 at the orthogonal position are calculated. Specifically, the width direction of the cut tape component 200 at the orthogonal position coincides with the X direction, and the length direction of the cut tape component 200 at the orthogonal position coincides with the Y direction. Therefore, by moving the width direction distance α in the X direction from the position coordinates (X0, Y0) of the end sprocket hole 140a and moving the length direction distance β in the Y direction, the plurality of cut tape parts 200 at the orthogonal position The position coordinates of the electrical component 134 closest to the end feed hole 140a (hereinafter referred to as "first electrical component") 134 among the electrical components 134 are calculated. That is, the position coordinates A (XA, YA) of the first electric component 134 in the cut tape component 200 at the orthogonal position are (X0+α, Y0−β). Note that the right direction in FIG. 8 is the positive direction in the X direction, and the upward direction in FIG. 8 is the positive direction in the Y direction.

In addition, among the plurality of electrical components 134 in the cutting tape component 200 at the orthogonal position, the electrical component next to the first electrical component and closest to the end feed hole 140a (hereinafter referred to as "second electrical component") is It is displaced by a distance corresponding to the housing pitch P in the Y direction from the first electrical component. Therefore, the position coordinate A (XA, YA) of the second electrical component in the cut tape component 200 at the orthogonal position becomes (X0+α, Y0-β-P). In addition, among the plurality of electrical components 134 in the cut tape component 200 at the orthogonal position, the third closest from the end feed hole 140a is the third electrical component, and the fourth closest is the fourth electrical component. do. At this time, the position coordinate A (XA, YA) of the third electric component in the cut tape component 200 at the orthogonal position becomes (X0+α, Y0-β-2P), and the position coordinate A (XA, YA) becomes (X0+α, Y0-β-3P). That is, the position coordinates A (XA, YA) of the N-th closest one from the end feed hole 140a among the plurality of electrical components 134 in the cut tape component 200 at the orthogonal position are (X0+α, Y0-β-(N- 1)×P).

このため、上記式を展開することで、実位置の切断テープ化部品２００での電気部品の位置座標Ｂ（ＸＢ，ＹＢ）が、下記式により演算される。
ＸＢ＝ＸＡｃｏｓＲ－ＹＡｓｉｎＲ
ＹＢ＝ＸＡｓｉｎＲ＋ＹＡｃｏｓＲ Next, based on the position coordinates A (XA, YA) of the electrical component at the cut tape component 200 at the orthogonal position and the inclination angle R of the cut tape component 200, the cut tape component 200 at the actual position A positional coordinate B (XB, YB) of the electrical component is calculated. More specifically, as shown in FIG. 8, the cut tape component 200 in the actual position is obtained by rotating the cut tape component 200 in the orthogonal position by the inclination angle R around the end feed hole 140a. Therefore, the positional coordinates B (XB, YB) of the electric parts in the cut tape-shaped part 200 at the actual position are orthogonal to the positional coordinates (X0, Y0) of the terminal feed hole 140, as shown in FIG. It is calculated by rotating the position coordinate A (XA, YA) of the electric component at the position cut tape component 200 by the angle of inclination R. Therefore, by using the formula for the rotation angle on the coordinate plane, the positional coordinates B (XB, YB) of the electrical component at the cut tape component 200 at the actual position are calculated according to the following equation.

Therefore, by developing the above equation, the position coordinates B (XB, YB) of the electric component at the cut tape component 200 at the actual position are calculated by the following equation.
XB = XAcosR - YAsinR
YB = XAsinR + YAcosR

このため、上記式を展開することで、実位置の切断テープ化部品２００での複数の電気部品のうちの末端送り穴１４０ａからＮ番目に近いものの位置座標Ｂ（ＸＢ，ＹＢ）が、下記式により演算される。
ＸＢ＝ＸＡｃｏｓＲ－（ＹＡ－（Ｎ－１）×Ｐ）ｓｉｎＲ
ＹＢ＝ＸＡｓｉｎＲ＋（ＹＡ－（Ｎ－１）×Ｐ）ｃｏｓＲ In other words, the position coordinates B (XB, YB) of the electrical component closest to the end feed hole 140a among the plurality of electrical components in the cut tape component 200 at the actual position are calculated according to the following equations.

Therefore, by developing the above equation, the position coordinates B (XB, YB) of the one closest to the end feed hole 140a among the plurality of electrical components in the cut tape component 200 at the actual position are obtained by the following equation is calculated by
XB = XAcosR - (YA - (N - 1) x P) sinR
YB = XAsinR + (YA - (N - 1) x P) cosR

In this way, when the positional coordinates B (XB, YB) of each of the plurality of electrical components in the cut tape component 200 at the actual position are calculated, the positional coordinates B (XB, YB) and the position of the suction nozzle 60 are calculated. The operations of the X-direction moving device 63 and the Y-direction moving device 64 are controlled so that the position coordinates match. When the work heads 56 and 58 are lowered by the operation of the Z-direction moving device 65 , the electrical component 134 is held by the suction nozzle 60 from the accommodation recess 138 of the cut tape component 200 fixed to the tray 116 .

Next, when the electrical component 134 is supplied by the suction nozzle 60, the working heads 56 and 58 move above the parts camera 28, and the electrical component 134 held by the suction nozzle 60 is imaged by the parts camera 28. . At this time, the controller 170 analyzes the imaging data and calculates information about the holding position of the electrical component 134 by the suction nozzle 60 . Then, the working heads 56 and 58 are moved above the planned mounting position of the circuit board 12, and the electrical component 134 held by the suction nozzle 60 is corrected for errors in the holding position of the component. It is attached to the base material 12 .

Thus, in the component mounter 10, the cut and taped components 200 that cannot be set on the tape feeder 120, that is, the cut and taped components 200 that cannot be set on the tape feeder 120 and supplied as components are placed on the tray 116. , the electrical component 134 is supplied from the cut tape component 200 secured to the tray 116, and the mounting operation of the electrical component 134 is performed. As a result, the electrical component 134 housed in the cut tape component 200 can be mounted using existing equipment such as the tray 116 without preparing a special device such as a strip tape feeder. becomes possible. In addition, it becomes possible to use the cut tape component 200, that is, the tape component 130 shorter than the shortest length dimension without waste. Note that taped components 130 shorter than the shortest length include, for example, taped components 130 that are shorter than the shortest length due to the use of the taped components 130 and taped components 130 for small lots.

In addition, since the cut tape component 200 is fixed to the tray 116 by the operator, it is difficult to fix the position of the electric component 134 on the fixed cut tape component 200 . Therefore, in the component mounter 10, the inclination angle R of the fixed cut tape component 200 is calculated based on the imaging data of the cut tape component 200, and based on the inclination angle R of the cut tape component 200 , the position coordinates of the electric component 134 on the fixed cut tape component 200 are calculated. As a result, it becomes possible to properly hold the electrical component 134 from the fixed cut tape component 200 .

Note that the component mounter 10 is an example of a work machine. The mark camera 26 is an example of an imaging device. The control device 36 is an example of a control device. Working heads 56 and 58 are examples of working heads. The suction nozzle 60 is an example of a holder. The working head moving device 62 is an example of a moving device. The tray 116 is an example of a placement surface. Tape feeder 120 is an example of a tape feeder. Taped component 130 is an example of a taped electrical component. Carrier tape 132 is an example of a tape. Electrical component 134 is an example of an electrical component. Top cover tape 136 is an example of a top tape. The accommodating recess 138 is an example of an accommodating portion. The peeling device 154 is an example of a peeling device.

Moreover, the present invention is not limited to the above embodiments, and can be implemented in various modes with various modifications and improvements based on the knowledge of those skilled in the art. Specifically, for example, in the above-described embodiment, the cut tape component 200 is fixed to the tray 116, but within the movable range of the working heads 56 and 58, the fixing position of the cut tape component 200 is limited. not. For example, the cut tape component 200 may be fixed in an empty space inside the mounter 10 or at a position such as the upper surface of the device where the work head can hold the electrical component of the tape component.

Further, in the above embodiment, the cut tape component 200 is fixed to the tray 116 with double-sided tape, but the cut tape component 200 may be fixed by various methods. For example, an adhesive may be applied to at least one of the tray 116 and the cut tape component 200, and the cut tape component 200 may be fixed by the adhesive. Alternatively, the cut tape component 200 may be fixed to the tray 116 by fixing it with a clip, weight, locking mechanism, or the like. It should be noted that the cut tape component 200 is preferably fixed in close contact with the tray 116 .

In the above embodiment, the cut tape component 200 is fixed to the tray 116 with the top cover tape 136 removed. It need not be removed from component 200 . In other words, the top cover tape 136 should be peeled off from the cut tape component 200 so that the accommodation recess 138 is opened. Also, if a device capable of peeling off the top cover tape 136 from the cut tape component 200 is arranged on the tray 116, the cut tape component 200 is fixed in a state in which the top cover tape 136 is not peeled off. good too. In such a case, the device removes the top cover tape 136 from the adhered cut tape component 200 .

Further, in the above embodiment, the shortest length dimension is the length dimension corresponding to the distance L between the part where the top cover tape 136 is peeled from the carrier tape 132 of the taped component 130 and the peeling device 154. However, the distance L is not a precise value. In other words, the shortest length dimension is a distance in consideration of the slackness of the peeled top cover tape 136, the internal mechanism of the peeling device 154, and the like. It is the length dimension of the taped component 130 in which the top cover tape 136 peeled from 130 cannot be pulled by the peeling device 154 .

In the above embodiment, the cut tape component 200, that is, the tape component 130 shorter than the shortest length dimension is fixed to the tray 116, and the electric component 134 is supplied from the cut tape component 200. However, the electric component 134 may be supplied from the cut tape component 200 by fixing the tape component 130 having the shortest length dimension or more to the tray 116 . As a result, for example, when the width of the taped component 130 is very large, even if there is no tape feeder capable of setting the taped component 130 with the wide width, by applying the present invention, the taped component 130 can be Electrical components 134 can be supplied from taped components 130 of large width.

In the above embodiment, the inclination angle R of the cut tape component 200 is the inclination angle of the cut tape component 200 at the actual position with respect to the cut tape component 200 at the orthogonal position, that is, the angle of inclination with respect to the Y direction. However, the reference direction can be arbitrarily set. For example, the inclination angle R of the cut tape component 200 can be the inclination angle of the cut tape component 200 at the actual position with respect to the X direction, the direction in which any edge of the tray 116 extends.

In the above-described embodiment, the inclination angle R of the cut tape component 200 is calculated based on the position coordinates of the feed hole 140. The inclination angle R of the cut tape component 200 may be calculated based on the electrical component 134 housed in the recess 138, the longitudinally extending edge of the carrier tape 132, and the like.

Further, in the above-described embodiment, the position coordinates of the terminal sprocket hole 140a of the cut tape component 200 are calculated based on the imaging data, and the position coordinates of the terminal sprocket hole 140a and the width direction distance α stored in the controller 170 are calculated. , etc., the position coordinates of the electric component 134 at the cut tape component 200 at the actual position are calculated using the inclination angle R of the cut tape component 200 . In other words, although the positional coordinates of the electric component 134 at the cut tape component 200 at the actual position are indirectly calculated based on the image data, the coordinates at the cut tape component 200 at the actual position are calculated based on the image data. The position coordinates of electrical component 134 may be calculated directly. That is, the electrical component 134 may be recognized based on the imaging data, and the position coordinates of the electrical component 134 may be calculated based on the recognized position of the electrical component 134 . Alternatively, the accommodation recess 138 may be recognized based on the imaging data, and the position coordinates of the electric component 134 may be calculated based on the recognized position of the accommodation recess 138 .

In the above-described embodiment, in the component mounter 10, the electrical component 134 is held by the suction nozzle 60 from the cut tape component 200 fixed to the tray 116, and the held electrical component 134 is transferred to the circuit board 12. Although the mounting work is being performed, the mounting work may not be performed, and the supply work of the electrical component 134 held by the suction nozzle 60 may be performed. That is, for example, the component mounter 10 may include a robot hand or the like, and the electric component 134 held by the suction nozzle 60 may be supplied to the robot hand. Thereby, the working heads 56, 58 function as feeders.

In the above embodiment, the cut tape component 200 is fixed to the tray functioning as the mounting surface, but a container for housing the electrical component may be fixed to the mounting surface. As a container, for example, a plate-shaped member made of resin or metal is formed with a plurality of receiving portions such as recesses, and electrical components are stored in the receiving portions. Specifically, for example, a tray having a plurality of recesses formed thereon may be used. When such a tray is employed as a container, the inclination angle of the tray is calculated, and the inclination angle is used to carry out the work of holding the electrical components accommodated in the tray. At this time, the tilt angle of the tray is calculated based on the edge of the tray, the concave portion, the mark written on the tray, and the like.

In the above embodiment, the drawn reference line 190 serves as a reference for the position coordinates in the XY directions of the work head and the mark camera that moves with the work head, and serves as a coordinate reference for the placement surface. be. For example, when mounting an electrical component on a board, the figure need not be a line as long as it has the same effect as a fiducial mark printed on the board to be imaged. For example, one or more marks may be used instead.

10: Component mounter (working machine) 26: Mark camera (imaging device) 36: Control device 56: Working head 58: Working head 60: Suction nozzle (holder) 62: Working head moving device (moving device) 116: Tray (Placement surface) 120: Tape feeder 130: Tape-formed component (tape-formed electrical component) 132: Carrier tape (tape) 134: Electrical component 136: Top cover tape (top tape) 138: Concave recess (accommodating portion) 154: Peeling device

Claims (6)

a taped electrical component that is attached to a feeder that supplies electrical components and that accommodates the electrical components;
a working head having a retainer for holding an electrical component;
a moving device for moving the working head;
a mounting surface on which the taped electrical component containing the electrical component is fixed and for placing the component to be supplied to the component tray ;
A work machine comprising a control device that controls the operation of the moving device,
The control device is
A working machine that controls the operation of the moving device so that the holder holds the electrical component housed in the taped electrical component fixed to the mounting surface. The taped electrical component is
a tape having an accommodating portion for accommodating an electrical component;
an electrical component housed in the housing;
and a top tape that covers the accommodating portion,
The control device is
2. The movement device according to claim 1, wherein the operation of the moving device is controlled such that the holder holds the electrical component housed in the taped electrical component fixed to the mounting surface with the top tape removed. working machine. In a tape feeder having a peeling device for peeling the top tape from the taped electrical component, the peeling device feeds the taped electrical component from a portion where the top tape is peeled from the tape of the taped electrical component. The tape-forming electrode is arranged at a predetermined distance in a direction opposite to the direction of the tape feeder, and the tape-forming electrode is capable of peeling the top tape by the peeling device while the predetermined distance is set in the tape feeder. When defined as the shortest length dimension of the part,
The control device is
The taped electrical component having a dimension shorter than the shortest length dimension is fixed to the mounting surface, and the moving device is operated so that the electrical component held by the taped electrical component is held by the holder. The working machine according to claim 2, which controls the The work machine is
An imaging device for imaging the taped electrical component fixed to the mounting surface,
The control device is
The inclination angle of the taped electrical component fixed to the mounting surface is calculated based on the imaging data obtained by the image pickup device, and the electrical component housed in the taped electrical component fixed to the mounting surface is determined as described above. The work machine according to any one of claims 1 to 3, wherein the operation of the moving device is controlled so that the holder holds the work machine. The working machine according to any one of claims 1 to 4, wherein a line serving as a reference for fixing the taped electrical component is marked on the mounting surface. It is attached to a feeder that supplies electrical components, and includes a tape-shaped electrical component that accommodates the electrical components in a row, a work head that has a holder that holds the electrical component, and a moving device that moves the work head. and a mounting surface on which the taped electrical component is fixed and the component to be supplied is placed on the component tray ,
An electric component holding method, wherein the holder holds an electric component contained in the taped electric component fixed to the mounting surface by controlling the operation of the moving device.

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