JP2019201025A - Mounting device and mounting method - Google Patents

Abstract

To realize the high accuracy of mounting accuracy in component mounting by a rotary head.SOLUTION: A mounting device for mounting a component holding each nozzle by a rotary head (30) obtained by arranging a plurality of nozzles (32) in a circumferential direction includes: a motor (35) for rotating the rotary head such that the plurality of nozzles pass through a mounting position and a recognition position; a motor (36) for rotating the nozzle angles of the whole nozzles according to a mounting angle of the component held by the nozzles at the mounting position; a recognition unit (38) for recognizing the component held by the nozzles at the recognition position at a recognition angle directed by the rotation of the nozzle angles; and a storage unit (41) for storing a plurality of correction values corresponding to the mounting angle in each recognition angle of the component in order to correct a nozzle position based on a recognition result of the component.SELECTED DRAWING: Figure 3

Description

  The present disclosure relates to a mounting apparatus and a mounting method.

  2. Description of the Related Art Conventionally, a mounting apparatus including a rotary head in which a plurality of nozzles are arranged in the circumferential direction is known (see, for example, Patent Document 1). The rotary head described in Patent Document 1 is connected to a head motor via a timing belt or the like, and the entire head is rotated by power from the motor. Each nozzle of the rotary head is connected to a nozzle motor via a timing belt or the like, and the nozzles are simultaneously rotated by power from the nozzle. Then, the nozzles are turned by rotating the entire head, and the components are mounted on the substrate at a desired mounting angle by rotating the nozzles.

JP 2000-261198 A

  In the rotary head described in Patent Document 1, the component is recognized while the nozzle is turning, and the mounting position of the component is corrected according to the recognition result. However, the mounting accuracy is further increased with the miniaturization of the component. Is required.

  The present disclosure has been made in view of the above points, and an object thereof is to provide a mounting apparatus and a mounting method capable of realizing high mounting accuracy in component mounting by a rotary head.

  A mounting device according to an aspect of the present disclosure is a mounting device that mounts a component held by each nozzle by a rotary head in which a plurality of nozzles are arranged in a circumferential direction, and the plurality of nozzles pass through a mounting position and a recognition position. A first drive source for rotating the rotary head, a second drive source for rotating the nozzle angles of all nozzles in accordance with the mounting angles of the components held by the nozzles at the mounting position, In order to correct the nozzle position based on the recognition result of the component and the recognition unit for recognizing the component held by the nozzle at the recognition angle directed by the rotation of the nozzle angle, according to the mounting angle for each component recognition angle And a storage unit that stores a plurality of correction values.

  According to the present disclosure, in the rotary head in which a plurality of nozzles are arranged in the circumferential direction, the nozzle angles of all the nozzles are rotated in accordance with the mounting angles of the components held by the nozzles in the mounting position. The recognition angle of the component held in the box is changed. The storage unit stores not only an error when the nozzle angle is adjusted to the mounting angle at the mounting position, but also a plurality of correction values in consideration of the recognition result error for each recognition angle that is the nozzle angle at the recognition position. Yes. Therefore, even if the recognition angle of the component held by the nozzle at the recognition position is changed, when the component reaches the mounting position, an optimal correction value is selected in consideration of the error in the recognition result for each recognition angle. By using this correction value, it is possible to correct the nozzle position based on the component recognition result and improve the mounting accuracy.

It is a side surface schematic diagram which shows the whole mounting apparatus of this Embodiment. It is an upper surface schematic diagram which shows the whole mounting apparatus of this Embodiment. It is a side surface schematic diagram of the rotary head of this Embodiment. It is explanatory drawing which shows an example of the nozzle operation | movement of this Embodiment. It is explanatory drawing which shows an example of the memory | storage state of the correction value of a comparative example. It is explanatory drawing which shows an example of the memory | storage state of the correction value of this Embodiment. It is explanatory drawing which shows an example of the nozzle operation | movement of this Embodiment.

  Hereinafter, the mounting apparatus of the present embodiment will be described with reference to the accompanying drawings. FIG. 1 is a schematic side view showing the entire mounting apparatus of the present embodiment. FIG. 2 is a schematic top view showing the entire mounting apparatus of the present embodiment. FIG. 3 is a schematic side view of the rotary head according to the present embodiment. In addition, the mounting apparatus of this Embodiment is only an example, and can be changed suitably.

  As shown in FIGS. 1 and 2, the mounting apparatus 1 is configured to mount the component 25 supplied by the feeder 20 at a predetermined position on the substrate W by the rotary head 30. A substrate transport unit 11 that transports the substrate W in the X-axis direction is disposed at substantially the center of the base 10 of the mounting apparatus 1. The substrate transport unit 11 carries the substrate W before component mounting from one end side in the X axis direction under the rotary head 30 and positions it, and carries the substrate W after component mounting to the other end side in the X axis direction. Yes. A large number of feeders 20 are arranged side by side in the X-axis direction on both sides of the substrate transport unit 11.

  A tape reel is detachably attached to the feeder 20, and a carrier tape (not shown) in which a large number of components 25 are packaged is wound around the tape reel. Each feeder 20 sends out the components 25 in order toward the supply position picked up by the rotary head 30 by the rotation of the sprocket wheel in the apparatus. At the supply position of the rotary head 30, the cover tape on the surface is peeled from the carrier tape, and the component 25 in the pocket of the carrier tape is exposed to the outside. In the present embodiment, a tape feeder is exemplified as the feeder 20, but another feeder may be provided.

  Above the base 10 is provided a moving mechanism 13 that horizontally moves the rotary head 30 in the XY-axis direction and moves it up and down in the Z-axis direction. The moving mechanism 13 includes an X-axis drive unit 14 extending in the X-axis direction, a pair of Y-axis drive units 15 extending in the Y-axis direction, and a Z-axis drive unit 16 extending in the Z-axis direction. The pair of Y-axis drive parts 15 are supported by support parts 17 erected at the four corners of the base 10, and the X-axis drive part 14 is installed on the pair of Y-axis drive parts 15 so as to be movable in the Y-axis direction. ing. A Z-axis drive unit 16 is installed in the X-axis drive unit 14 so as to be movable in the Y-axis direction, and a rotary head 30 is installed in the Z-axis drive unit 16 so as to be movable up and down in the Z-axis direction.

  The rotary head 30 has a plurality of nozzles 32 arranged on the head base 31 in the circumferential direction, and rotates the plurality of nozzles 32 as the head base 31 rotates. The rotation axis of the head base 31 is tilted, and a difference in height occurs in the turning trajectory of the plurality of nozzles 32. When the nozzle 32 passes through the lowest position during turning, the component 25 is picked up from the feeder 20 by the nozzle 32 and the component 25 is mounted at a predetermined position on the substrate W by the nozzle 32. Further, when the nozzle 32 passes through the uppermost position during turning, the component 25 held by the nozzle 32 is recognized, and the nozzle position is corrected based on the recognition result.

  More specifically, as shown in FIG. 3, the rotary head 30 has a head base 31 rotatably supported inside a housing 33, and a plurality of nozzles 32 around a rotation axis 34 of the head base 31. Is configured to be turned. The head base 31 is formed in a substantially truncated cone shape, and is connected to the upper wall of the housing 33 via a rotation shaft 34 inclined at a predetermined angle. A plurality (16 in this embodiment) of nozzles 32 are arranged on the outer periphery of the head base 31. A head motor 35 (first drive source) is connected to the head base 31 via a timing belt or the like, and a nozzle motor 36 (second drive source) is connected to each nozzle 32 via a timing belt or the like. ) Are connected.

  The rotation shaft 34 of the head base 31 is tilted so that the drive shaft of the nozzle 32 faces the vertical direction when the nozzle 32 is positioned at the mounting position where the nozzle 32 is lowest. For this reason, when passing through the mounting position while the nozzle 32 is turning, the component 25 is mounted on the substrate W by driving the drive shaft of the nozzle 32 up and down. The housing 33 is provided with a mirror 37 that reflects the holding state of the component 25 by the nozzle 32 from below when the nozzle 32 is positioned at a recognition position that is point-symmetric with respect to the mounting position. A recognition unit 38 for recognizing the component 25 reflected on the mirror 37 is provided immediately above the mirror 37.

  When the rotary head 30 is rotated around the rotation shaft 34 by the head motor 35, the plurality of nozzles 32 are turned so as to pass through the mounting position and the recognition position. The nozzle angle of the nozzle 32 at the mounting position is adjusted by the nozzle motor 36 in accordance with the mounting angle of the component 25. At this time, since it is necessary to rotate all the nozzles 32 with a single motor 36, the nozzle angles of all the nozzles 32 are rotated not only at the nozzles 32 at the mounting position but also at other positions. By adjusting the nozzle angle of the nozzle 32, the component 25 can be mounted on the substrate W at an appropriate mounting angle.

  The mounting apparatus 1 is provided with a control unit 40 that performs overall control of each part of the apparatus. The control unit 40 is provided with a storage unit 41 that stores correction values, which will be described later, in the control unit 40. The control unit 40 includes a processor that executes various processes, a memory, and the like. The memory is composed of one or a plurality of storage media such as a ROM (Read Only Memory) and a RAM (Random Access Memory) depending on the application. The memory stores a control program for the entire mounting apparatus 1 and a program for causing the mounting apparatus 1 to execute a mounting method using the rotary head 30 while correcting the nozzle position.

  By the way, as shown in FIG. 4A, the rotary head 30 is assigned index numbers 1-16 in order from the head in the turning direction, the index number 1-8 being the first half nozzle, and the index number 9-16 being the second half nozzle. Is set to The mounting position P1 and the recognition position P2 have a point-symmetrical positional relationship. When the nozzle 32 at the head of the first half nozzle (index number 1) reaches the mounting position P1, the nozzle 32 at the head of the second half nozzle (index number 9). Reaches the recognition position P2. In this manner, during mounting of the component 25 by either the first half nozzle or the second half nozzle, the component 25 is recognized by either one of the other nozzles.

  Since there is no preceding nozzle for mounting the component 25 in the first half nozzle, the nozzle angle is not rotated even if the first half nozzle passes the recognition position P2. On the other hand, since the first half nozzle on which the component 25 is mounted precedes the second half nozzle, the nozzle angle is rotated when the second half nozzle passes the recognition position P2. More specifically, when the first half nozzle reaches the mounting position P1, the nozzle angles of all the nozzles 32 are rotated in accordance with the mounting angle of the component 25 held by the nozzle 32 at the mounting position P1, so that the recognition position P2 The nozzle angle of the nozzle 32 of the latter half nozzle is also rotated.

  For example, as shown in FIG. 4B, the nozzle angle is set for each nozzle 32 with reference to the normal direction to the rotation direction of the rotary head 30. If the nozzle 32 (for example, index number 1) for mounting the component 25 is before passing the mounting position P1, the angle adjustment according to the mounting angle of the component 25 is not performed at the mounting position P1, and the nozzle 32 at the recognition position P2 is performed. The nozzle angle is never rotated. Therefore, at the recognition position P2, the nozzle angle of each nozzle 32 is not changed from 0 °, and the component 25 held by the first half nozzle is always recognized with the recognition angle being 0 °.

  As shown in FIG. 4C, after the nozzle 32 (for example, index number 1) for mounting the component 25 has passed the mounting position P1, the nozzle angles of all the nozzles 32 are matched to the mounting angle of the component 25 at the mounting position P1. Is adjusted. When the mounting angle of the component 25 held by the nozzle 32 at the mounting position P1 is adjusted from 0 ° to 90 °, the recognition angle of the component 25 held by the nozzle 32 at the recognition position P2 is changed from 0 ° to 90 °. Is done. Accordingly, the mounting angle of the component 25 held by the first half nozzle is changed, but the recognition angle is not changed, and the mounting angle and the recognition angle of the component 25 held by the second half nozzle may be changed. .

  In such a rotary head 30, the component 25 is mounted on the substrate W at the mounting position P1 based on the recognition result of the component 25 at the recognition position P2. Since the nozzle 32 is misaligned due to the mounting angle of the component 25, it is necessary to correct the nozzle position according to the mounting angle. By storing a correction value corresponding to the mounting angle of the component 25 in the storage unit 41 in advance, the nozzle position of each nozzle 32 can be corrected using the correction value. Note that since the recognition angle of the first half nozzle does not change and only the second half nozzle changes, the correction value is stored separately for the first half nozzle and the second half nozzle.

  In the comparative example shown in FIG. 5, since the recognition angle does not change from 0 ° for the first half nozzles with index numbers 1 to 8, only the recognition angle 0 ° corresponds to the mounting angles 0 °, 90 °, 180 °, and 270 °. Correction value A-D is set. For the latter half nozzles with index numbers 9-16, correction values EH corresponding to mounting angles 0 °, 90 °, 180 °, and 270 ° are set in common at recognition angles 0 °, 90 °, 180 °, and 270 °. Has been. That is, in the comparative example, a correction value common to a plurality of recognition angles is stored for each mounting angle, assuming that the influence of the error due to the recognition angle is extremely small.

  However, as a result of correcting the nozzle position using the correction value described above, the first half nozzle with index number 1-8 can be mounted with high accuracy, but the second half nozzle with index number 9-16 has sufficient mounting accuracy. It was not obtained. As a result of investigation by the present applicant, it was found that the error in the recognition result due to the difference in the recognition angle greatly affects the mounting accuracy, although the influence of the mechanical position shift due to the difference in the recognition angle is small. That is, the change in the appearance of the component 25 due to the deviation of the optical axis of the recognition unit 38 and the degree of light hitting the component 25 also affects the mounting accuracy.

  Therefore, in the mounting apparatus 1 of the present embodiment, a plurality of correction values corresponding to the mounting angles are stored in the storage unit 41 (see FIG. 1) for each recognition angle of the component 25. Thereby, the nozzle position is corrected by an appropriate correction value in consideration of the mounting angle of the component 25 and the recognition angle. In addition to the mechanical error due to the difference in the recognition angle, the error in the recognition result due to the difference in the recognition angle is taken into account, so that the mounting accuracy of the component 25 on the substrate W can be improved. Therefore, there is no variation in the mounting accuracy between the first half nozzle and the second half nozzle, and the component 25 is mounted with high accuracy as in the first half nozzle even with the second half nozzle.

  Hereinafter, the nozzle operation will be described with reference to FIGS. 6 and 7. FIG. 6 is an explanatory diagram illustrating an example of a correction value storage state according to the present embodiment. FIG. 7 is an explanatory diagram showing an example of the nozzle operation of the present embodiment.

  As illustrated in FIG. 6A, the storage unit 41 stores a plurality of correction values corresponding to the mounting angles for each component recognition angle. Since the recognition angle of the first half nozzle is constant as described above, a correction value corresponding to the mounting angle of the component 25 is stored for the index number of the first half nozzle. Since the recognition angle of the latter half nozzle is changed according to the mounting angle of the first half nozzle, a correction value corresponding to the mounting angle is stored for each recognition angle of the component 25 for the index number of the latter half nozzle. In this manner, the storage unit 41 manages the correction values separately for the index numbers of the first and second nozzles.

  Specifically, correction values AD corresponding to mounting angles 0 °, 90 °, 180 °, and 270 ° are set for the recognition angle 0 ° for the index numbers 1-8 of the first half nozzles. For the index numbers 9-16 of the latter half nozzle, correction values ET corresponding to the mounting angles 0 °, 90 °, 180 °, and 270 ° are set for each of the recognition angles 0 °, 90 °, 180 °, and 270. Has been. Here, the four recognition angles and the mounting angle correction values are illustrated, but the storage unit 41 may store correction values corresponding to four or more recognition angles and mounting angles, Correction values corresponding to recognition angles and mounting angles of 4 angles or less may be stored.

  In addition, the storage unit 41 stores correction values corresponding to mounting angles at equal intervals for each recognition angle at equal intervals (90 ° intervals in the present embodiment), and between the recognition angles and the mounting angles. Corresponding correction values are not stored. In this case, the correction value between the recognition angle and the mounting angle may be calculated linearly from the correction value stored in the storage unit 41. For example, when the recognition angle and the mounting angle of index number 9 are both 45 °, the correction values E and F for the recognition angle of 0 ° and the mounting angle of 0 ° and 90 ° and the recognition angle of 90 ° and the mounting angle of 0 ° and 90 °, respectively. Correction values I and J with respect to ° and an average value are calculated as correction values.

  In this way, the nozzle position can be corrected using the correction value between the recognition angle and the mounting angle that are not stored in the storage unit 41. Further, by suppressing the number of correction values stored in the storage unit 41, the resource usage of the storage unit 41 can be reduced. As the nozzle position correction value, an offset amount (X, Y) in the XY directions may be stored, or an offset amount (X, Y, θ) in the XYθ directions may be stored. The XY direction of the nozzle position is corrected by the moving mechanism 13 (see FIG. 1), and the θ direction of the nozzle position is corrected by the motor 36 for the nozzle 32 (see FIG. 3).

  Next, an example of the nozzle operation will be described. For example, as shown in the left diagram of FIG. 7A, when the rotary head 30 is rotated and the nozzle 32 with the index number 1 reaches the recognition position P2, the nozzle 32 with the index number 9 reaches the mounting position P1. At this time, since the nozzle 32 with the index number 9 passes through the mounting position P1 without being mounted, the nozzle angle of the nozzle 32 with the index number 1 is not rotated at the recognition position P2. Therefore, at the recognition position P2, the recognition angle of the component 25 held by the nozzle 32 with the index number 1 is recognized as 0 °. Similarly, the nozzle 32 with the index number 2-8 is recognized with the recognition angle kept at 0 °.

  7A, when the nozzle 32 with index number 1 reaches the mounting position P1, the nozzle angles of all nozzles 32 are 90 ° in accordance with the mounting angle of the component 25 held at index number 1. Adjusted to At the mounting position P1, the correction value B (see FIG. 6) corresponding to the mounting angle of 90 ° is read from the storage unit 41, and the mounting of the component 25 is performed while the nozzle position of the nozzle 32 with the index number 1 is corrected with the correction value B. The operation is performed. At the recognition position P2, the recognition unit 38 (see FIG. 3) recognizes the recognition angle of the component 25 held by the nozzle 32 with the index number 9 in a state where the recognition angle is directed to 90 ° by the rotation of the nozzle angle. Similarly, the mounting operation of the nozzle 32 with the index number 2-8 and the recognition operation with the index number 10-16 are performed.

  7A, when the nozzle 32 with the index number 9 reaches the mounting position P1, the nozzle angles of all the nozzles 32 are 0 ° in accordance with the mounting angle of the component 25 held at the index number 9. Adjusted to At the mounting position P1, the correction value I (see FIG. 6) corresponding to the recognition angle 90 ° and the mounting angle 0 ° is read from the storage unit 41, and the nozzle position of the nozzle 32 with the index number 9 is corrected with the correction value I. However, the mounting operation of the component 25 is performed. Similarly, the mounting operation is performed while correcting the nozzle position with the correction value corresponding to the recognition angle and the mounting angle for the nozzle 32 with the index number 10-16.

  Further, for example, as shown in the central view of FIG. 7B, when the mounting angle of the component 25 held at the index number 1 is 270 °, the correction is made with the correction value D (see FIG. 6) corresponding to the mounting angle 270 ° The mounting operation is performed. At this time, at the recognition position P2, the recognition unit 38 (see FIG. 3) recognizes that the recognition angle of the component 25 held by the nozzle 32 with the index number 9 is directed to 270 ° by the rotation of the nozzle angle. 7B, when the mounting angle of the component 25 held at the index number 9 is 180 °, the correction value S corresponding to the mounting angle 180 ° is used at the recognition angle 270 °. The

  As described above, in the mounting apparatus 1 of the present embodiment, the nozzle angles of all the nozzles 32 are rotated in accordance with the mounting angle of the component 25 held by the nozzle 32 at the mounting position P1, so The recognition angle of the component 25 held by the nozzle 32 is changed. The storage unit 41 has a plurality of correction values in consideration of not only the error when the nozzle angle is adjusted to the mounting angle at the mounting position P1, but also the recognition result error for each recognition angle that is the nozzle angle of the recognition position P2. It is remembered. Therefore, even if the recognition angle of the component 25 held by the nozzle 32 at the recognition position P2 is changed, when the component 25 arrives at the mounting position P1, an optimum correction value considering the recognition result error for each recognition angle is obtained. Selected. By using this correction value, it is possible to correct the nozzle position based on the recognition result of the component 25 and improve the mounting accuracy.

  In the present embodiment, the rotary head with the rotation axis inclined is described as an example, but the present invention is not limited to this configuration. The rotary head only needs to have a plurality of nozzles arranged in the circumferential direction. For example, the rotary head may have a rotation axis made vertical.

  In the present embodiment, a motor connected to a rotary head via a timing belt or the like is exemplified as the first drive source, but the present invention is not limited to this configuration. The first drive source may be configured in any way as long as the rotary head can be rotated.

  In the present embodiment, a motor connected to a plurality of nozzles via a timing belt or the like is exemplified as the second drive source. However, the present invention is not limited to this configuration. The second drive source may be configured in any way as long as it can rotate the nozzle angles of all the nozzles.

  Further, in the present embodiment, the recognition unit is not limited to a configuration that recognizes an image by imaging the component, and may be a configuration that can recognize the component, for example, a configuration that recognizes the component by laser recognition.

  In the present embodiment, the mounting position and the recognition position have a point-symmetric positional relationship, but the present invention is not limited to this configuration. The mounting position and the recognition position may be set at different positions on the turning trajectory of the plurality of nozzles.

  Moreover, in this Embodiment, it was set as the structure by which an index number is attached | subjected in order from the head of a turning direction with respect to a some nozzle, However, It is not limited to this structure. The plurality of nozzles only need to be provided with an identifiable index. For example, an alphabet may be attached instead of the index number.

  In the present embodiment, the storage unit is configured to store the correction value according to the equidistant mounting angle for each equidistant recognition angle. However, the storage unit corresponds to the mounting angle for each recognition angle. It suffices if the correction value is stored, and the recognition angle and the mounting angle do not have to be equidistant.

  In the present embodiment, the component is not particularly limited to an electronic component as long as the component can be mounted on the substrate.

  Moreover, in this Embodiment, a board | substrate is not limited to a printed circuit board, The flexible substrate mounted on the jig | tool board | substrate may be sufficient.

  Further, the program of the present embodiment may be stored in a storage medium. The storage medium is not particularly limited, but may be a non-transitory storage medium such as an optical disk, a magneto-optical disk, or a flash memory.

  Moreover, although this Embodiment and the modified example were demonstrated, what combined the said embodiment and modified example entirely or partially as another embodiment may be sufficient.

  The technology of the present disclosure is not limited to the above-described embodiments and modifications, and various changes, substitutions, and modifications may be made without departing from the spirit of the technical idea. Further, if the technical idea can be realized in another way by the advancement of technology or other derived technology, the method may be used. Accordingly, the claims cover all embodiments that can be included within the scope of the technical idea.

The feature points in the above embodiment are organized below.
The mounting apparatus described in the above embodiment is a mounting apparatus that mounts a component held by each nozzle by a rotary head in which a plurality of nozzles are arranged in the circumferential direction. The plurality of nozzles pass through a mounting position and a recognition position. The first drive source that rotates the rotary head, the second drive source that rotates the nozzle angles of all the nozzles according to the mounting angles of the components held by the nozzles at the mounting position, and the nozzles at the recognition position A recognition unit for recognizing the selected component at a recognition angle directed by the rotation of the nozzle angle, and a plurality of correction values corresponding to the mounting angle for each component recognition angle in order to correct the nozzle position based on the component recognition result And a storage unit for storing.

  The mounting method described in the above embodiment is a mounting method in which components held by each nozzle are mounted by a rotary head in which a plurality of nozzles are arranged in the circumferential direction, and the plurality of nozzles pass through a mounting position and a recognition position. The step of rotating the rotary head at the same time, the step of rotating the nozzle angle of all nozzles according to the mounting angle of the component held by the nozzle at the mounting position, and the rotation of the nozzle angle of the component held by the nozzle at the recognition position From the storage unit storing a plurality of correction values according to the mounting angle for each component recognition angle, and the component recognition angle at the recognition position and the component at the recognition position. Correcting the nozzle position based on the result of component recognition using a correction value corresponding to the mounting angle of the component. The features.

  According to these configurations, since the nozzle angles of all the nozzles are rotated in accordance with the mounting angles of the components held by the nozzles at the mounting position, the recognition angles of the components held by the nozzles at the recognition position are changed. . The storage unit stores not only an error when the nozzle angle is adjusted to the mounting angle at the mounting position, but also a plurality of correction values in consideration of the recognition result error for each recognition angle that is the nozzle angle at the recognition position. Yes. Therefore, even if the recognition angle of the component held by the nozzle at the recognition position is changed, when the component reaches the mounting position, an optimal correction value is selected in consideration of the error in the recognition result for each recognition angle. By using this correction value, it is possible to correct the nozzle position based on the component recognition result and improve the mounting accuracy.

  In the mounting apparatus described in the above embodiment, the mounting position and the recognition position are in a point-symmetrical positional relationship, and the first half nozzle of the plurality of nozzles is not rotated at the recognition position, and the second half nozzle is held by the first half nozzle. The nozzle angle is rotated at the recognition position in accordance with the mounting angle of the selected component. According to this configuration, the driving of the nozzles can be controlled separately for the first half nozzle and the second half nozzle.

  In the mounting apparatus described in the above embodiment, an index number is assigned to the plurality of nozzles in order from the head in the turning direction, and the storage unit corrects the index number of the first half nozzle according to the mounting angle of the component. And a correction value corresponding to the mounting angle is stored for each component recognition angle with respect to the index number of the latter half nozzle. According to this configuration, the correction value can be managed separately for the index number of the first half nozzle and the index number of the second half nozzle.

  In the mounting apparatus described in the above embodiment, the storage unit stores a correction value corresponding to the equally spaced mounting angle for each equally spaced recognition angle, and the correction value between the recognized angle and the mounting angle angle is It is linearly calculated from the correction value stored in the storage unit. According to this structure, it can correct | amend using the correction value between the angles of the recognition angle and the mounting angle which are not memorize | stored in the memory | storage part.

1: Mounting device 25: Component 30: Rotary head 32: Nozzle 35: Motor (first drive source)
36: Motor (second drive source)
38: Recognition unit 41: Storage unit P1: Mounting position P2: Recognition position

Claims (5)

A mounting device for mounting a component held by each nozzle by a rotary head in which a plurality of nozzles are arranged in the circumferential direction,
A first drive source for rotating the rotary head so that the plurality of nozzles pass through a mounting position and a recognition position;
A second drive source that rotates the nozzle angles of all the nozzles in accordance with the mounting angles of the components held by the nozzles of the mounting position;
A recognition unit for recognizing a component held by the nozzle at the recognition position at a recognition angle directed by rotation of the nozzle angle;
A mounting apparatus comprising: a storage unit that stores a plurality of correction values corresponding to mounting angles for each component recognition angle in order to correct a nozzle position based on a component recognition result. The mounting position and the recognition position are point-symmetrical positional relationships,
Among the plurality of nozzles, the nozzle angle of the first half nozzle is not rotated at the recognition position, and the nozzle angle of the second half nozzle is rotated at the recognition position according to a mounting angle of a component held by the first half nozzle. The mounting apparatus according to claim 1. An index number is attached to the plurality of nozzles in order from the top in the turning direction,
The storage unit stores a correction value corresponding to the mounting angle of the component with respect to the index number of the first half nozzle, and stores a correction value according to the mounting angle for each recognition angle of the component with respect to the index number of the second half nozzle. The mounting apparatus according to claim 2. In the storage unit, correction values corresponding to equally spaced mounting angles are stored for each equally spaced recognition angle,
The mounting apparatus according to claim 1, wherein the correction value between the recognition angle and the mounting angle is linearly calculated from the correction value stored in the storage unit. A mounting method for mounting a component held by each nozzle by a rotary head in which a plurality of nozzles are arranged in the circumferential direction,
Rotating the rotary head so that the plurality of nozzles pass through a mounting position and a recognition position;
Rotating the nozzle angles of all nozzles in accordance with the mounting angles of the components held by the nozzles in the mounting position;
Recognizing a component held by the nozzle at the recognition position at a recognition angle directed by rotation of the nozzle angle;
From the storage unit storing a plurality of correction values according to the mounting angle for each component recognition angle, the component recognition angle at the recognition position and the correction value according to the mounting angle of the component at the recognition position are used. And a step of correcting the nozzle position based on the recognition result of the component.

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